CN217200443U - Conveyance apparatus and conveyance system - Google Patents

Abstract

An embodiment of the utility model provides a haulage equipment and handling system. The handling apparatus includes: a main body; the walking driving mechanism is connected to the longitudinal walking wheel set and the transverse walking wheel set through the walking transmission mechanism so as to drive the longitudinal walking wheel set and the transverse walking wheel set to roll along the longitudinal direction and the transverse direction respectively; the sensor is arranged on the main body and comprises a first sensor group and/or a second sensor group, the first sensor group comprises an obstacle sensor and/or a material sensor, the second sensor group comprises a positioning sensor, and the obstacle sensor is used for detecting whether an obstacle exists in front of the carrying equipment or not; the material sensor is used for detecting whether materials are loaded on the carrying equipment in front of the carrying equipment; the positioning sensor is used for detecting the position of the carrying equipment. Through setting up different sensors, haulage equipment's function is abundanter.

Description

Conveyance apparatus and conveyance system

Technical Field

The utility model relates to a technical field of commodity circulation specifically relates to a haulage equipment and handling system who has it.

Background

With the rapid development of the logistics industry, the requirements for material handling and storage are higher and higher, and the handling equipment is basically an indispensable tool. The carrying equipment plays a vital role in the links of material transportation, storage, delivery, loading and unloading and the like. The handling equipment needs to be moved accurately to the desired position in order to be able to handle the desired material. Moreover, the conveying equipment often encounters other conveying equipment or obstacles during the moving process. Therefore, the work environment of the conveyance apparatus is complicated. However, the function of the conveyance device is too simple to satisfy the above-described requirements. Therefore, it is desirable to provide a new type of handling apparatus.

SUMMERY OF THE UTILITY MODEL

In order to at least partially solve the problems in the prior art, according to an aspect of the present invention, a carrying apparatus is provided. The handling apparatus includes: a main body; the walking driving mechanism is connected to the longitudinal walking wheel set and the transverse walking wheel set through the walking transmission mechanism so as to drive the longitudinal walking wheel set and the transverse walking wheel set to roll along the longitudinal direction and the transverse direction respectively; the sensors are arranged on the main body and comprise a first sensor group and/or a second sensor group, the first sensor group comprises an obstacle sensor and/or a material sensor, the second sensor group comprises a positioning sensor, and the obstacle sensor is used for detecting whether an obstacle exists in front of the carrying equipment or not; the material sensor is used for detecting whether materials are loaded on the carrying equipment in front of the carrying equipment; the positioning sensor is used for detecting the position of the carrying equipment.

According to another aspect of the utility model, still provide a handling system. The handling system comprises: a handling apparatus as described in any of the above; and a transverse rail and a longitudinal rail; the longitudinal traveling wheel set of the carrying equipment can roll on the longitudinal rail, and the transverse traveling wheel set of the carrying equipment can roll on the transverse rail.

Through setting up different sensors, can realize the location, keep away the barrier, detect multiple functions such as material. Therefore, accidents such as collision can be avoided, the safety is improved, and the movement of the carrying equipment can be planned more, so that the working efficiency is improved. So, haulage equipment's function is abundanter to be convenient for realize intelligent control. The user experience is better. The market competitiveness of the carrying equipment is better.

Drawings

The following drawings of the present invention are used herein as part of the present invention for understanding the present invention. There are shown in the drawings embodiments of the present invention and the description thereof for the purpose of illustrating the principles of the invention. In the drawings, there is shown in the drawings,

fig. 1 is a plan view of an internal structure of a carrying apparatus according to one of the present invention;

fig. 2 shows an internal structure of the carrying apparatus;

FIG. 3 shows the internal structure of the handling apparatus with parts removed;

FIG. 4 shows the internal structure of the handling apparatus with parts removed;

FIG. 5 shows the internal structure of the handling apparatus with parts removed;

FIG. 6 shows the internal structure of the handling apparatus with parts removed;

fig. 7 is a perspective view showing a partial structure of the carrying apparatus;

fig. 8 is a left side view showing a partial structure of the carrying apparatus;

FIG. 9 is a plan view showing a partial structure of the carrying apparatus;

fig. 10 is a right side view showing a partial structure of the carrying apparatus;

fig. 11 is a perspective view showing a partial structure of the carrying apparatus; and

fig. 12 is a partially enlarged view showing a partial structure of the conveyance apparatus.

Detailed Description

It will be understood by those skilled in the art that the following description is merely exemplary of the preferred embodiments of the present invention, and that the present invention may be practiced without one or more of these specific details. In addition, some technical features that are well known in the art are not described in detail in order to avoid obscuring the present invention.

According to an aspect of the present invention, a traveling device (hereinafter, referred to as a traveling device) for a conveying apparatus is provided. The running gear can be applied to a handling device. The walking device can be arranged in the carrying equipment to control the carrying equipment to move. Therefore, according to another aspect of the present invention, there is also provided a carrying apparatus. The handling apparatus may be used for handling material. Handling equipment includes, but is not limited to, four-way carts. The handling apparatus may be applied to a handling system. Therefore, according to still another aspect of the present invention, there is also provided a handling system. For clarity and conciseness of description, a vertical direction, a longitudinal direction, and a lateral direction are defined. The vertical direction, the longitudinal direction and the transverse direction may be perpendicular to each other. The vertical direction generally refers to the height direction of the handling apparatus. The longitudinal direction generally refers to the length direction of the handling apparatus. The lateral direction generally refers to the width direction of the handling apparatus.

As shown in fig. 1 to 10, the handling apparatus may include a traveling device, a lift driving mechanism 120, and a lift transmission mechanism 500. The traveling device may include a traveling driving mechanism 110, a traveling transmission mechanism 200, and a traveling wheel group. The travel drive mechanism 110 may provide power for movement of the handling apparatus. For example, the travel drive mechanism 110 may employ various types of drive mechanisms known in the art or that may occur in the future, including but not limited to motors. In some embodiments, the travel drive mechanism 110 may include a motor 151 and a reducer 152. The motor 151 may be connected to a decelerator 152. The speed reducer 152 may be connected to the travel drive mechanism 200.

The travel drive mechanism 110 may be connected to the travel wheel set by a travel transmission mechanism 200. The travel driving mechanism 110 can drive the traveling wheels of the traveling wheel set to roll, thereby moving the carrying device. The travel drive 200 may include one or more combinations of a gear drive, a chain drive, a belt drive, a worm drive, a cam drive, and the like. Specifically, the road wheel sets may include a longitudinal road wheel set 300 and a lateral road wheel set 400. The longitudinal road wheel set 300 may include a plurality of longitudinal road wheels. The lateral road wheel set 400 may include a plurality of lateral road wheels. The number of longitudinal road wheels and the number of transverse road wheels can be the same or different. That is, the number of longitudinal road wheels includes, but is not limited to, eight as shown in the figures. The number of lateral road wheels includes, but is not limited to, four as shown in the figures.

The travel drive mechanism 110 may be connected to the longitudinal travel wheel set 300 through the travel transmission mechanism 200. In this way, the travel driving mechanism 110 can drive the longitudinal traveling wheels of the longitudinal traveling wheel set 300 to roll along the longitudinal direction Y-Y, so as to move the carrying device along the longitudinal direction Y-Y. The travel drive mechanism 110 may be connected to the transverse travel wheel set 400 through the travel transmission mechanism 200. In this way, the travel drive mechanism 110 can drive the transverse traveling wheels of the transverse traveling wheel set 400 to roll along the transverse direction X-X, so as to move the carrying device along the transverse direction X-X. The number of travel drive mechanisms 110 may be arbitrary. For example, a plurality of travel drive mechanisms 110 may be disposed within the handling apparatus. The plurality of travel driving mechanisms 110 may drive the longitudinal travel wheel group 300 and the lateral travel wheel group 400, respectively. Specifically, the travel drive mechanism 110 may include two. Illustratively, a travel drive 110 may also be provided in the handling apparatus. One travel driving mechanism 110 drives the longitudinal traveling wheel set 300 and the lateral traveling wheel set 400. The following description will be given taking an example in which the conveyance apparatus is provided with a travel drive mechanism.

The lift driving mechanism 120 may provide power for the lifting of the carrier. Illustratively, the lift drive mechanism 120 may employ various types of drive mechanisms known in the art or that may come into existence in the future, including but not limited to a motor. The lifting driving mechanism 120 may be connected to the longitudinal running wheel set 300 through the lifting transmission mechanism 500 to drive the longitudinal running wheel set 300 to lift; or the lifting driving mechanism 120 may be connected to the transverse traveling wheel set 400 through the lifting transmission mechanism 500 to drive the transverse traveling wheel set 400 to be lifted. The lifting transmission 500 may include one or more combinations of a gear transmission, a chain transmission, a belt transmission, a worm gear transmission, a cam mechanism, and the like. Illustratively, the lift drive mechanism 120 may include a gearbox.

Illustratively, the travel drive mechanism 110 and the lift drive mechanism 120 may extend in the longitudinal direction Y-Y. The projections of the travel drive 110 and the lifting drive 120 in a vertical plane parallel to the longitudinal direction Y-Y are at least partially distributed in an overlapping manner. The vertical plane refers to a plane extending in the vertical direction among a plurality of planes parallel to the longitudinal direction Y-Y. The transverse direction X-X and the longitudinal direction Y-Y are two directions perpendicular to each other in a horizontal plane, the vertical plane being perpendicular to the horizontal plane. Specifically, the travel drive 110 has a first projection in the aforementioned vertical plane, and the lift drive 120 has a second projection in the vertical plane. At least a portion of the first projection and the second projection overlap each other. That is, the travel drive 110 can block at least a portion of the lift drive 120, as viewed in the transverse direction X-X, e.g., from below to above in fig. 1.

In the carrying apparatus according to the embodiment of the present invention, since the projections of the traveling drive mechanism 110 and the lifting drive mechanism 120 in the plane parallel to the longitudinal direction are at least partially distributed in an overlapping manner (hereinafter, referred to as an overlapping arrangement), not arranged in order along the longitudinal direction. The design is beneficial to reducing the size of the conveying equipment in the longitudinal direction and realizing the miniaturization of the conveying equipment.

Another embodiment still provides a handling system, including horizontal track, vertical track and the utility model discloses any kind haulage equipment of embodiment. The transverse tracks may extend in a transverse direction X-X. The longitudinal rail may extend in a longitudinal direction Y-Y. The transverse rails and the longitudinal rails may be connected to each other or may be spaced apart. The transverse rails may be parent roadways. The longitudinal rails may be sub-lanes. Parent and child roadways are well known in the art and therefore will not be described in further detail herein. The lateral road wheels in the lateral road wheel set 400 are rollable on the lateral rails. Thus, the handling device can be moved on the transverse rails. The longitudinal road wheels in the longitudinal road wheel set 300 can roll on the longitudinal rails. The handling device can thus be moved on the longitudinal rails. That is, the lateral traveling wheel group 400 may be a parent lane traveling wheel group, and the longitudinal traveling wheel group 300 may be a child lane traveling wheel group. It should be noted that the handling system may not need to be provided with the transverse rails and the longitudinal rails. Illustratively, the handling system may also be provided with a transverse side and a longitudinal side. The lateral road wheels of the lateral road wheel set 400 are rollable on the lateral plane. Thus, the handling device can be moved in the lateral plane. The longitudinal road wheels in the longitudinal road wheel set 300 are rollable on the longitudinal plane. Thus, the handling device can be moved in the longitudinal plane. Therefore, the embodiment of the utility model provides a haulage equipment can be for there being rail haulage equipment, also can be for trackless haulage equipment.

For the convenience of understanding the embodiment of the present invention, the following will take the embodiment that the lifting driving mechanism 120 is connected to the transverse traveling wheel set 400 through the lifting transmission mechanism 500 as an example, and the working processes of the travelling device, the handling apparatus and the handling system, and the linkage relationship among the internal components thereof will be described in detail.

The transverse running wheel set 400 may be higher than the longitudinal running wheel set 300 when the handling apparatus moves on the longitudinal rails. In this way, the transverse running wheel set 400 can be disengaged from the rail, preventing interference. When the carrying device moves to the intersection of the longitudinal rail and the transverse rail and needs to be reversed to the transverse rail to move, the lifting driving mechanism 120 can drive the transverse traveling wheel set 400 to descend through the lifting transmission mechanism 500. When the transverse traveling wheel set 400 descends to fall on the transverse rail, the elevation driving mechanism 120 drives the transverse traveling wheel set 400 to continue descending through the elevation transmission mechanism 500. In this process, the longitudinal running wheel set 300 may be jacked up to be higher than the lateral running wheel set 400. Thus, the longitudinal running wheel block 300 can be separated from the rail, preventing interference. At this time, the carrier apparatus can move on the transverse rails. On the contrary, when the handling apparatus moves to the intersection of the longitudinal rail and the transverse rail and needs to be reversed to the longitudinal rail to move, the lifting driving mechanism 120 may drive the transverse traveling wheel set 400 to ascend through the lifting transmission mechanism 500. The longitudinal running wheel set 300 may be relatively lowered, and when the longitudinal running wheel set 300 is lowered to fall on the longitudinal rail, the elevation driving mechanism 120 drives the lateral running wheel set 400 to continue to be raised through the elevation transmission mechanism 500. In this process, the lateral running wheel group 400 may be higher than the longitudinal running wheel group 300. In this way, the transverse running wheel set 400 can be disengaged from the rail, preventing interference. At this time, the carrier apparatus may move on the longitudinal rails.

Illustratively, the walking means of the carrying apparatus may include a body 600. Body 600 may include any suitable structure. Illustratively, the body 600 may be used to provide support for components such as the travel drive mechanism 110 and the lift drive mechanism 120. The main body 600 may be provided with a first bin 681 and a second bin 682 thereon. The first and second bins 681, 682 may be adjacent in the horizontal direction. The spatial size of the first and second bins 681, 682 can be the same or different.

Illustratively, the main body 600 may include a bottom panel 610, a first longitudinal side panel 621, a second longitudinal side panel 622, a first lateral side panel 651, and a second lateral side panel 652. The bottom plate 610 may be configured in a plate shape extending in a horizontal direction. The base plate 610 may have two edges extending in the longitudinal direction Y-Y and two edges extending in the transverse direction X-X. Edges extending in the longitudinal direction Y-Y are referred to herein as longitudinally extending edges and edges extending in the transverse direction X-X are referred to herein as transversely extending edges. The first and second longitudinal side panels 621 and 622, respectively, may extend upward from longitudinally extending edges of the bottom panel 610. The first and second lateral side plates 651 and 652, respectively, may extend upwardly from laterally extending edges of the bottom panel 610. The bottom panel 610, the first longitudinal side panel 621, the second longitudinal side panel 622, the first lateral side panel 651, and the second lateral side panel 652 may enclose a first bin 681 and a second bin 682.

The travel drive mechanism 200 and set of travel wheels may be disposed about the first and second bins 681, 682. Illustratively, the travel drive mechanism 200 and the set of travel wheels may surround the first and second bins 681 and 682, respectively. Illustratively, the travel drive mechanism 200 and the set of travel wheels may surround the entirety of the first and second bins 681, 682. The handling device may also include a power component 810 and an electrical component 820. The power module 810 may employ various types of power sources known in the art or that may come into existence in the future, including but not limited to one or a combination of dry cells, lead-acid batteries, lithium batteries, and the like. The power supply assembly 810 may be electrically connected to the travel drive 110, the lift drive 120, etc. to provide power. The power component 810 may be disposed within the first compartment 681. The electrical components 820 include, but are not limited to, levels, controllers, and the like. The electrical component 820 may be electrically connected to the power supply component 810, the travel drive mechanism 110, the lift drive mechanism 120, and the like. The electrical component 820 may be disposed within the second bin 682. So configured, the first and second bins 681 and 682 can both be more regular spaces since there are not too many other components passing through. Thus, there may be more space for the power components 810 and electrical components 820. The power components 810 and electrical components 820 may be provided in larger format models to improve the performance of the handling apparatus. In addition, the power supply assembly 810 and the electrical assembly 820 are relatively concentrated, so that arrangement of cables is facilitated, the internal space of the carrying equipment can be optimized, the size of the carrying equipment is reduced, the carrying equipment can be moved in a narrower space, and the applicability is better. The carrying system adopting the carrying equipment can also improve the space utilization rate, thereby reducing the cost.

Illustratively, the travel drive mechanism 110 and the lift drive mechanism 120 may be disposed within the first bin 681. So configured, the travel drive 110 and/or lift drive 120 may be located closer to the power module 810, thereby facilitating electrical connection to the power module 810.

Illustratively, the travel drive 110 and the lift drive 120 may be located on either side of the power assembly 810 along the transverse direction X-X. That is, the travel drive mechanism 110, the power supply unit 810, and the elevation drive mechanism 120 may be sequentially distributed in the lateral direction X-X, with the power supply unit 810 being located between the travel drive mechanism 110 and the elevation drive mechanism 120. The lift drive 500 may be disposed about the first bin 681 and/or the second bin 682. Thus, a space for disposing the power module 810 and the electrical module 820 is large.

Illustratively, the travel drive 200 may include a drive shaft 250. The travel drive mechanism 110 may be coupled to the drive shaft 250 to drive the drive shaft 250 to rotate. The driving axle 250 is used for driving at least a part of the road wheels of the longitudinal running wheel set 300 and the transverse running wheel set 400 to roll. The drive shaft 250 may extend in a transverse direction X-X. The power module 810 may be provided with a recess (not shown) extending therethrough in the transverse direction X-X. The drive shaft 250 may be disposed through the recess. Illustratively, the recess may include a through hole, a groove, or the like. By designing the power supply module 810 in a special shape, the space in the first bin 681 can be fully utilized, thereby increasing the volume of the power supply module 810 and increasing the amount of electricity.

Illustratively, as shown in fig. 11, electrical assembly 820 may include a first device 821 and a second device 822. The first device 821 and the second device 822 may be layered in a vertical direction within the second bin 682. First device 821 may be located below second device 822. So set up, can make full use of vertical direction's space to reduce the space that electric component 820 took up in the horizontal direction. For example, the first device 821 and the second device 822 may be rotated by different angles to prevent the cables of the two from interfering, so that the arrangement of the cables may be facilitated.

Illustratively, first device 821 may include a travel drive mechanism driver. The drive mechanism driver may be used to adjust the rotational speed, torque, etc. of the travel drive mechanism 110. The second device 822 may include a power supply controller. The power supply controller is used to adjust parameters of the power supply assembly 810 such as current, power, etc. This allows the performance of the handling device to meet the desired requirements. Illustratively, the handling apparatus may further include a rack assembly 830. Bracket assembly 830 may include upper bracket 831. The upper bracket 831 may cross the first device 821 in a horizontal direction. Illustratively, the upper bracket 831 may be a U-shaped bracket. The opening of the U-shaped bracket may face the first device 821. The first means 821 may be located between two side walls and a top wall of the U-shaped bracket. The upper bracket 831 may be fixed to the main body 600. Illustratively, the upper bracket 831 may be fixed to the bottom plate 610. The second device 822 may be fixed to the upper bracket 831. By providing the upper support 831, it is possible to realize that the first device 821 and the second device 822 are layered in the vertical direction. Illustratively, the bracket assembly 830 may also include an underlying bracket 832. The bottom bracket 832 may be secured to the body 600. Specifically, the bottom bracket 832 may be secured to the bottom plate 610. The first device 821 may be secured to an underlying support 832. The mounting and securing of the first device 821 may be facilitated by the provision of the underlying support 832.

Illustratively, the body 600 may include a spacer 680 coupled to the base plate 610. The partition 680 may extend in the transverse direction X-X. The partition 680 may separate a first bin 681 and a second bin 682. Thus, the main body 600 has a simple structure and a low manufacturing cost.

Illustratively, the drive shaft 250 may be disposed adjacent to the partition 680. The travel transmission mechanism 200 may further include a first transmission gear and a second transmission gear. The first transmission gear may be fixed to the driving shaft 250. The first transmission gear may be a first bevel gear 711. The first bevel gear 711 may be provided on the driving shaft 250 to coaxially rotate with the driving shaft 250. The second transfer gear is rotatably mounted on the bulkhead 680. The second drive gear may be meshed with the first drive gear. The second transfer gear may be a second bevel gear 712. This will be described in detail below. As such, the partition 680 may also act as a support to mount other components in addition to separating the first and second bins 681, 682.

Illustratively, the handling apparatus may further include a cable tray 840. The cable bridge 840 may be T-shaped. The cable bridge 840 may include a longitudinal section 841 and a transverse section 842. The longitudinal segment 841 may span the second bin 682 in the longitudinal direction Y-Y. The transverse segment 842 may extend in a transverse direction X-X. The transverse segment 842 may be connected to the longitudinal segment 841. The cables for the power assembly 810 and the electrical assembly 820 may be routed through a cable tray 840. The cable bridge 840 may be provided with a wire inlet and a wire outlet. The number of the inlet and outlet ports is not limited. Cables for the power module 810 and the electrical module 820 may be routed through the cable tray 840 via inlets and outlets. So set up, cable testing bridge 840 can play the effect of fixing and protection to the cable. In addition, the whole layout can be beautiful. And, through reasonable setting, the cable can rationally be arranged, makes things convenient for equipment maintenance.

In the above embodiment, by appropriately setting the shapes and configurations of other components (e.g., battery and electric component) of the carrying apparatus, there is a possibility that the structure of the carrying apparatus is made compact and the size is made small. Therefore, the carrying equipment can move in a narrower space, and the carrying system adopting the carrying equipment can also improve the space utilization rate, thereby reducing the cost.

Illustratively, the handling apparatus may further comprise a sensor. The sensor may be provided on the body 600. The sensor may include a first sensor group and/or a second sensor group. The body 600 may comprise a pair of outer side walls opposite in the transverse direction X-X, such as an outer side wall of the first longitudinal side panel 621 and an outer side wall of the second longitudinal side panel 622). The first sensor set may be disposed on the pair of outer side walls. The first sensor set may include obstacle sensors and/or material sensors 920. Illustratively, the handling apparatus may further comprise a controller. The controller may be provided on the main body 600. The controller can be built by adopting electronic elements such as a timer, a comparator, a register, a digital logic circuit and the like, or can be realized by adopting processor chips such as a singlechip, a microprocessor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), an Application Specific Integrated Circuit (ASIC) and the like and peripheral circuits thereof. The sensor may transmit the detected signal to the controller. The controller may control the handling device to perform a corresponding action based on the signal.

The obstacle sensor may be used to detect whether there is an obstacle in front of the conveying apparatus. According to the detection result of the obstacle sensor, the obstacle avoidance device can be used for performing actions such as obstacle avoidance, alarming, obstacle identification and the like. Including but not limited to opposing handling equipment, dropped materials, etc. The type of the obstacle sensor is not limited, and includes but is not limited to a photo sensor and an image sensor. The detection direction of the obstacle sensor may be toward the outside of the conveying apparatus. Specifically, the detection direction of the obstacle sensor is directed directly forward of the center of the conveyance apparatus. The term "outside" refers to the side of the external environment adjacent the handling apparatus. The "inner" means a side close to the inside of the carrier.

In particular, the obstacle sensors may include a longitudinal obstacle sensor 911 and/or a lateral obstacle sensor 912. The detection direction of the longitudinal obstacle sensor 911 is directed directly forward in the longitudinal direction Y-Y, which may be toward the center of the conveyance apparatus. Illustratively, the longitudinal obstacle sensor 911 may include two. Two longitudinal obstacle sensors 911 may be respectively disposed at both sides of the body 600. In this way, the longitudinal obstacle sensor 911 can detect an obstacle when the conveyance apparatus reciprocates in the longitudinal direction Y-Y. The detection direction of the lateral obstacle sensor 912 is directed directly in the lateral direction X-X, which may be toward the center of the conveying apparatus. Illustratively, the lateral obstacle sensor 912 may include two. Two lateral obstacle sensors 912 may be respectively disposed at both sides of the body 600 in the lateral direction X-X. In this way, the lateral obstacle sensor 912 can detect an obstacle when the conveyance device reciprocates in the lateral direction X-X.

The material sensor 920 may be used to detect whether material is carried on other handling equipment in front of the handling equipment. According to the detection result of the material sensor 920, the method can be used for performing actions such as obstacle avoidance, alarming, material identification and the like. Illustratively, the material sensor 920 may include a plurality. A plurality of material sensors 920 may be respectively disposed outside the main body 600. In this way, the material sensor 920 may detect material in different directions as the handling apparatus moves. Illustratively, longitudinal obstacle sensor 911 may be located directly below material sensor 920. In this way, the material sensor 920 may detect whether material is carried on other handling apparatus moving in the longitudinal direction Y-Y. The detection direction of the material sensor 920 may be toward the upper front of the handling apparatus. The front upper direction means a forward direction. Since the material is usually supported above the handling device, it can be detected accurately whether it is loaded or not, compared to other orientations. The material sensor 920 is not limited in kind, and includes but is not limited to a photo sensor and an image sensor.

Illustratively, an antenna 991 and/or an indicator light 992 may also be provided on both sides of the body 600. The antenna 991 may be used to transmit wireless signals. The indicator 992 may be used to display the operational status of the handling apparatus, such as power level, operating time, fault information, etc.

Illustratively, the body 600 may be rectangular. The rectangle may have two first diagonal corners located on one diagonal and two second diagonal corners located on the other diagonal. An obstacle sensor (e.g., longitudinal obstacle sensor 911) is disposed on each of the two first diagonal corners. The detection directions of the two obstacle sensors are opposite in the longitudinal direction Y-Y. A material sensor 920 may be disposed on each of the two first diagonal corners. The detection directions of the two material sensors 920 are opposite in the longitudinal direction Y-Y.

The handling apparatus may also include a handling assembly 950 and a charging assembly. The steering member 950 may be disposed on one of the two second opposite corners. The steering assembly 950 includes, but is not limited to, one or more of a scram button, a power button, an anti-lock button, and a reset button. The manipulation member 950 may be located on one outer sidewall of the body 600 extending in the longitudinal direction Y-Y. So set up, the maintenance personal operation of can being convenient for, and be convenient for centralized control.

The charging assembly may be disposed on the other of the two second opposite corners. The charging assembly may include an automatic connector 981 and/or a manual charging interface 982. The automatic connector 981 and/or the manual charging connector 982 may be electrically connected to the power supply assembly 810. The charging assembly may be located on one outer sidewall of the body 600 extending in the longitudinal direction Y-Y. So set up, can be convenient for charge.

Illustratively, the first sensor set may further include a material unbalance loading sensor. The material unbalance loading sensor can be used for detecting whether materials on the carrying equipment are in unbalance loading. According to the detection result of the material unbalance loading sensor, the device can be used for performing actions such as alarming, stopping and the like. The offset loading includes, but is not limited to, offset, deflection, and the like. The type of the material unbalance loading sensor is not limited, and includes but not limited to a photoelectric sensor. The photosensor may be, for example, a diffuse reflection sensor. The detection direction of the material unbalance loading sensor can be towards the upper part of the carrying equipment along the vertical direction.

Illustratively, the material offset sensors may include a first material offset sensor 941, a second material offset sensor 942, and a third material offset sensor 943. The first material unbalance sensor 941 and the second material unbalance sensor 942 may be disposed on one of a pair of outer side walls (e.g. the outer side wall of the first longitudinal side plate 621). A third material offset load sensor 943 may be disposed on the other of the pair of outer side walls (e.g., the outer side wall of the second longitudinal side plate 622). First material offset sensor 941 and third material offset sensor 943 are opposite in the transverse direction X-X. So configured, the first material off-loading sensor 941 and the second material off-loading sensor 942 can be used to detect whether a material is offset in the longitudinal direction Y-Y. First material off-load sensor 941 and third material off-load sensor 943 may be used to detect if material is off-set in the lateral direction X-X. The first material off-load sensor 941, the second material off-load sensor 942, and the third material off-load sensor 943 may be used to detect whether a material is deflected in a horizontal direction.

The second sensor group may include a position sensor 930. The position sensor 930 may be used to detect the position of the handling apparatus. According to the result detected by the positioning sensor 930, it can be used for accurate positioning. The type of the position sensor 930 is not limited, and includes but is not limited to a barcode scanner and an image sensor. The detection direction of the position sensor 930 may be directed downward in the vertical direction of the conveyance apparatus. For example, different two-dimensional codes can be arranged at different positions on the handling system. The handling apparatus can be precisely positioned by recognizing the two-dimensional code by the positioning sensor 930.

Illustratively, the bottom plate 610 of the main body 600 may be provided with a bottom plate opening. The body 600 may also include a dam 690. The dam 690 may extend upward from the edge of the floor opening. The space enclosed by the dam 690 may be shaped like a frustum of a prism. Position sensor 930 may be positioned at the top of apron 690 with the detection direction down. By providing the dam 690, the detection range of the position sensor 930 is expanded. Also, the top of the dam 690 is small in size, facilitating sealing to prevent foreign substances such as dust from entering the inside of the main body 600.

Through setting up different sensors, can realize multiple functions such as location, keep away the barrier, detect the material. Therefore, accidents such as collision can be avoided, the safety is improved, and the movement of the carrying equipment can be planned more, so that the working efficiency is improved. So, haulage equipment's function is abundanter to be convenient for realize intelligent control. The user experience is better. The market competitiveness of the carrying equipment is better.

The carrying apparatus may further include a crane 140 provided on the main body 600. The longitudinal traveling wheel set 300 or the lateral traveling wheel set 400 may be provided on the crane 140. The elevation driving mechanism 120 may be connected to the elevation frame 140. The elevation driving mechanism 120 may drive the elevation frame 140 to ascend and descend through the elevation transmission mechanism 500 to drive the longitudinal traveling wheel set 300 or the transverse traveling wheel set 400 to ascend and descend. Specifically, the crane 140 is movable between a lifting position, an intermediate position, and a lowering position in the vertical direction. Exemplarily, taking the crane 140 connected to the transverse traveling wheel set 400 as an example, when the crane 140 is at the lifting position, the transverse traveling wheel set 400 may be higher than the longitudinal traveling wheel set 300; when the lifting frame 140 is in the middle position, the transverse traveling wheel set 400 and the longitudinal traveling wheel set 300 are in the same horizontal plane; when the crane 140 is in the lowered position, the transverse running wheel group 400 may be lower than the longitudinal running wheel group 300.

As shown in fig. 12, the second sensor group may further include a lifting position sensor. The lift position sensors may include a lift position sensor 961, a mid position sensor 962, and a lower position sensor 963. The lift position sensor 961 may be used to detect whether the lift frame 140 is in the lift position. The neutral position sensor 962 may be used to detect whether the crane 140 is in the neutral position. The descending position sensor 963 may be used to detect whether the crane 140 is located at the descending position. The types of the lift position sensor 961, the neutral position sensor 962, and the down position sensor 963 are not limited, and include, but are not limited to, photoelectric sensors. Illustratively, the lift position sensor 961, the neutral position sensor 962, and the lower position sensor 963 may be U-shaped sensors. So set up, can detect crane 140's position, prevent that crane 140's position from taking place the deviation to cause dangerous accident to take place.

The handling device may also comprise, for example, a lifting plate (not shown). The lifting plate may be covered on the lifting frame 140. The lifting plate is movable with the crane 140 between a lifting position and a predetermined position. The predetermined position may be below the raised position and above the lowered position. The lifting plate may be supported on the main body 600 when it is in a predetermined position. The lifting plate may be located above the body 600. The lifting plate may be used to hold material. When the crane 140 is in the lifting position, the lifting plate can lift up the material placed on, for example, a bin, so that it can be transported. During the lowering of the crane 140, the lifting plate may be moved to a predetermined position. At this time, the lifting plate may fall over the main body 600.

The second sensor set may also include a lift plate position sensor 970. The lift plate position sensor 970 may be used to detect whether the lift plate is lowered to a predetermined position, thereby ensuring safety of operation. The type of the lift plate position sensor 970 is not limited, and includes, but is not limited to, a photoelectric sensor, etc. Illustratively, the lift plate position sensor 970 may be two proximity switches. The proximity switch may be of any configuration including, but not limited to, a cylindrical proximity switch. Two cylindrical proximity switches may be located on either side of the lifting plate, for example in the transverse direction X-X.

Illustratively, the longitudinal running wheel set 300 may include a first longitudinal running wheel set 310 and a second longitudinal running wheel set 320. The first longitudinal running wheel set 310 and the second longitudinal running wheel set 320 may be located at both sides of the handling apparatus. The first and second longitudinal running wheel groups 310 and 320 may be respectively provided on the opposite outer sidewalls of the body 600 in the transverse direction X-X. In other words, the first longitudinal running wheel group 310 and the second longitudinal running wheel group 320 may be disposed at the outer sides of the first longitudinal side plate 621 and the second longitudinal side plate 622, respectively.

The first and second longitudinal running wheel sets 310 and 320, respectively, may comprise a plurality of pairs of longitudinal running wheel pairs 330. Pairs of longitudinal running wheel pairs 330 may be spaced apart in the longitudinal direction Y-Y. Each longitudinal road pair 330 may include a pair of longitudinal road wheels. A guide wheel 370 may be disposed between adjacent longitudinal road wheels within each longitudinal road wheel pair 330. The guide wheel 370 is rotatable along an axis extending in the vertical direction. The guide wheels 370 may roll along the inner side walls of the longitudinal rails as the handling device moves on the longitudinal rails. When the handling device is ready to move from the transverse rail to the longitudinal rail, if the body 600 is not aligned with the longitudinal rail, the body 600 may rub against the longitudinal rail, or even fail to move onto the longitudinal rail. By arranging the guide wheels 370, on one hand, the main body 600 can be prevented from rubbing against the inner side wall of the longitudinal rail; on the other hand, the device can play a role in guiding and ensure that the carrying equipment moves onto the longitudinal rail smoothly. In addition, the guide wheels 370 can make full use of the distance between a pair of longitudinal road wheels, so that the carrying device is more compact in structure and small in size.

Illustratively, the longitudinal road wheels may be provided with rims 340. Specifically, the rim 340 may be disposed on the outermost longitudinal road wheel in the longitudinal direction Y-Y in the first longitudinal road wheel set 310 and/or the second longitudinal road wheel set 320. The rim 340 may be coaxially connected to the end of the longitudinal road wheel on which it is located facing the outer side wall. The space surrounded by the outer side of the rim 340 may be frustoconical and have an increasing radius in a direction towards the outer side wall. The rim 340 may abut against the inner side wall of the longitudinal rail. By providing the rim 340, when the handling apparatus moves on the longitudinal rail, the handling apparatus can be prevented from being separated from the longitudinal rail, ensuring smooth movement.

For example, the first longitudinal running wheel group 310 and the second longitudinal running wheel group 320 may be respectively connected to both ends of the driving shaft 250. So configured, the travel driving mechanism 110 can drive the longitudinal travel wheels of the first longitudinal travel wheel set 310 and the longitudinal travel wheels of the second longitudinal travel wheel set 320 to roll along the longitudinal direction Y-Y. Thus, the number of the travel driving mechanisms 110 can be reduced, and the structure of the conveying apparatus can be made compact and the size thereof can be made small. And, the cost can also be reduced. And the longitudinal traveling wheels in the first longitudinal traveling wheel set 310 and the longitudinal traveling wheels in the second longitudinal traveling wheel set 320 can synchronously roll along the longitudinal direction Y-Y, so that the carrying equipment can stably move along the longitudinal direction Y-Y.

Illustratively, the travel drive mechanism 200 may include a first longitudinal drive assembly 210 and a second longitudinal drive assembly 220. The first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 may be disposed on a circumferential side of the body 600. The first longitudinal transmission assembly 210 may be connected between the travel drive mechanism 110 and the first longitudinal running wheel set 310. Thus, the travel driving mechanism 110 can drive the longitudinal traveling wheels of the first longitudinal traveling wheel set 310 to roll along the longitudinal direction Y-Y through the first longitudinal transmission assembly 210. The second longitudinal transmission assembly 220 may be connected between the travel drive 110 and the second longitudinal running wheel set 320. Thus, the travel driving mechanism 110 can drive the longitudinal traveling wheels of the second longitudinal traveling wheel set 320 to roll along the longitudinal direction Y-Y through the second longitudinal transmission assembly 220.

Illustratively, the first longitudinal running wheel set 310 may be connected with one end of the driving shaft 250 through the first longitudinal transmission assembly 210. In this way, the driving shaft 250 can drive the longitudinal traveling wheels of the first longitudinal traveling wheel set 310 to roll along the longitudinal direction Y-Y through the first longitudinal transmission assembly 210. The second longitudinal running wheel set 320 may be connected to the other end of the driving shaft 250 through the second longitudinal transmission assembly 220. In this way, the driving axle 250 can drive the longitudinal traveling wheels of the second longitudinal traveling wheel set 320 to roll along the longitudinal direction Y-Y through the second longitudinal transmission assembly 220. The travel driving mechanism 110 and the elevation driving mechanism 120 may be spaced apart along the extending direction of the driving shaft 250.

Specifically, as shown in fig. 7-10, each of the first longitudinal drive assembly 210 and the second longitudinal drive assembly 220 may be a flexible drive assembly. The flexible transmission can drive the longitudinal walking wheels to roll through the flexible transmission ring. Flexible drives include, but are not limited to, belt drives, chain drives, or other flexible drives. The first and second longitudinal drive assemblies 210 and 220, respectively, may be one or a combination of belt drive assemblies, chain drive assemblies, or other flexible drive assemblies.

Illustratively, the flexible drive ring may comprise a belt, for example, taking the first longitudinal drive assembly 210 as a belt drive assembly. In this way, the traveling driving mechanism 110 can drive the longitudinal traveling wheels of the first longitudinal traveling wheel set 310 to roll along the longitudinal direction Y-Y through the belt. Illustratively, the flexible drive ring may comprise a chain, for example, with the first longitudinal drive assembly 210 being a chain drive assembly. In this way, the travel driving mechanism 110 can drive the longitudinal travel wheels of the first longitudinal travel wheel set 310 to roll along the longitudinal direction Y-Y through the chains.

The inventor finds that the flexible transmission component has good elasticity compared with other transmission structures, so that the effect of buffering and absorbing vibration can be realized. Moreover, the flexible transmission assembly also has the advantages of stable transmission, low noise, simple structure and the like. Therefore, the traveling driving mechanism 110 is connected to the first longitudinal traveling wheel set 310 and the second longitudinal traveling wheel set 320 through the first longitudinal flexible transmission assembly 210 and the second longitudinal flexible transmission assembly 220, respectively, so that the traveling device operates more stably and has lower noise. Moreover, because the number of the longitudinal traveling wheels in the first longitudinal traveling wheel group 310 and the second longitudinal traveling wheel group 320 is large, if a hard transmission connection assembly of the gear set needs to be provided with more gears, especially in long-distance transmission, while the first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 of the present application adopt flexible transmission assemblies, which is very beneficial to realizing transmission connection between the large number of longitudinal traveling wheels. Therefore, the walking device of the application has the advantages of more compact structure and smaller size. Thus, the size of the carrying device can be reduced, and the carrying device can move in a narrower space, so that the carrying device is better in applicability. The carrying system adopting the carrying equipment can also improve the space utilization rate, thereby reducing the cost.

Illustratively, the flexible drive assembly may include a first stage assembly 280 and a second stage assembly 290. The first longitudinal road wheel set 310 may include a ground engaging wheel 350 and a ground engaging wheel 360 spaced apart along the longitudinal direction Y-Y. The second longitudinal road wheel set 320 may also include a ground engaging wheel 350 and a ground engaging wheel 360 spaced apart along the longitudinal direction Y-Y. The travel drive mechanism 110 may be coupled to the ground engaging wheels 350 via the first stage assembly 280. The ground engaging wheels 350 may be connected to the ground engaging wheels 360 through a second stage assembly 290.

When the distance between the longitudinal travelling wheels is too long, the length of the flexible transmission ring is too long. This results in a large bounce and unstable operation of the flexible drive ring during rotation. Moreover, the flexible transmission ring is not easy to arrange, and the difficulty of design and production is high. Simultaneously, in order to prevent that flexible driving ring from droing easily after long-term the use, flexible driving ring need set up more bigger take-up pulleys. And the flexible drive ring may be divided into a plurality of flexible drive rings by staging the flexible drive assemblies into a first stage assembly 280 and a second stage assembly 290. In this way, the length of each flexible drive ring can be relatively shortened. Therefore, each flexible transmission ring has small bounce when rotating and runs stably. Moreover, each flexible transmission ring is easy to arrange, and the design and production difficulty is low. Simultaneously, every flexible drive ring uses still to be difficult for droing after long-term the use, and every flexible drive ring need not to set up too much take-up pulley. More space may be created within first stage assembly 280 and second stage assembly 290 due to the reduction of the tensioner. This space can be exploited, for example, for routing cables, as will be described in more detail below. Therefore, the walking device has a compact structure and a small size.

It should be noted that the present invention is not limited to the above-mentioned embodiments, and that many variations and modifications can be made according to the teachings of the present invention, for example, the flexible transmission assembly may further include a third stage assembly, a fourth stage assembly, and the like. Such variations and modifications are intended to fall within the scope of the present invention as claimed.

Illustratively, the first stage assembly 280 may be located between the second stage assembly 290 and the ground engaging wheels 350 and 360 along the lateral direction X-X. In other words, the ground engaging wheels 350 and ground engaging wheels 360 may be located on one side of the first stage assembly 280 and the second stage assembly 290 may be located on the other side of the first stage assembly 280 in the lateral direction X-X. So set up, second level subassembly 290 and driving walking wheel 350 and driven walking wheel 360 can protect first level subassembly 280, prevent that first level subassembly 280 from being destroyed by external force. Thus, even if the second stage assembly 290 is damaged by external force, the travel drive mechanism 110 can still drive the active travel wheels 350 to roll through the first stage assembly 280, thereby maintaining normal movement.

Illustratively, the ground engaging wheels 350 may include a first ground engaging wheel 351 and a second ground engaging wheel 352. The driven road wheels 360 may include a third road wheel 361 and a fourth road wheel 362. The first and second road wheels 351 and 352 may be located between the third and fourth road wheels 361 and 362 in the longitudinal direction Y-Y. In other words, the third and fourth traveling wheels 361 and 362 may be located at the outer side and the first and second traveling wheels 351 and 352 may be located at the inner side in the longitudinal direction Y-Y. The third travel wheel 361 may be connected to the first travel wheel 351 by a second stage assembly 290. The fourth road wheel 362 may be connected to the second road wheel 352 by another second stage assembly 290. The two second stage components 290 may be the same or different. So configured, the length of each flexible drive ring can be further shortened.

Illustratively, the distance of the third road wheel 361 to the first road wheel 351 is smaller than the distance of the third road wheel 361 to the second road wheel 352 in the longitudinal direction Y-Y. The distance from the fourth row of road wheels 362 to the second road wheel 352 is less than the distance from the fourth row of road wheels 362 to the first road wheel 351. In other words, the third traveling wheel 361, the first traveling wheel 351, the second traveling wheel 352, and the fourth traveling wheel 362 may be arranged in order along the longitudinal direction Y-Y. So configured, the second stage assembly 290 can be connected between adjacent road wheels, thereby shortening the length of the flexible drive loop of the second stage assembly 290. And, the structure of flexible transmission subassembly is more succinct, the overall arrangement of being convenient for. And, by proper arrangement, the two second stage assemblies 290 can adopt the same structure, thereby reducing the variety of components and facilitating the design and production.

Illustratively, the first stage assembly 280 may include a drive wheel 281, a tension wheel 282, and a flexible drive ring 283. The driving wheel 281 may be provided on the driving shaft 250 to coaxially rotate with the driving shaft 250. The flexible driving ring 283 may be sleeved on the shaft of the driving road wheel 350 (i.e., the first road wheel 351 and the second road wheel 352). The driving pulley 281 and the tension pulley 282 may be in contact with the flexible driving ring 283 on both the inner and outer sides of the flexible driving ring 283. It will be appreciated that when the flexible drive assembly is a belt drive assembly, the drive wheel 281 and tension wheel 282 may be pulleys. When the flexible drive assembly is a chain drive assembly, the drive wheel 281 and the tension wheel 282 can be sprockets. The walking drive mechanism 110 can be connected to the driving wheel 281 through the walking transmission mechanism 200 to drive the driving wheel 281 to rotate. The driving wheel 281 can drive the flexible driving ring 283 to rotate, so as to drive the active road wheel 350 to roll along the longitudinal direction Y-Y.

Illustratively, the second stage assembly 290 may include a flexible drive ring 291. The flexible drive ring 291 may be fitted over the respective shafts of a drive road wheel 350 and a driven road wheel 360. The driving travelling wheel 350 rotates along with the flexible transmission ring 283, so as to drive the flexible transmission ring 291 to rotate, and further drive the driven travelling wheel 360 to rotate.

The flexible driving ring 283 may be loosened due to abrasion or the like after long-term use, and thus may have poor driving (for example, tooth jumping) or come off. The tension wheel 282 may be used to tension the flexible drive ring 283 to inhibit loosening of the flexible drive ring 283. In addition, the tension wheel 282 can increase the wrap angle between the flexible driving ring 283 and the driving wheel 281, thereby improving the driving torque and reducing the abrasion. Therefore, the first stage assembly 280 has a simple structure and good transmission performance.

Illustratively, the drive wheel 281 may be located outside of the flexible drive ring 283. Tensioning wheel 282 may include a first tensioning wheel 284 and a second tensioning wheel 285. A first tensioning wheel 284 may be located between the first travel wheel 351 and the drive wheel 281. The center of the first tension wheel 284 may be located outside a first line between the center of the first traveling wheel 351 and the center of the driving wheel 281. Here, "outside of the first wire" is referred to relative to the flexible driving ring 283, which refers to a side of the first wire facing outside of the flexible driving ring 283. That is, the center of the first tensioning wheel 284 is disposed away from the center of the flexible driving ring 283 with respect to the first connection line. A second tensioning wheel 285 may be located between second road wheel 352 and drive wheel 281. The center of the second tensioning wheel 285 may be located outside of a second line between the center of the second road wheel 352 and the center of the driving wheel 281. Here, "outside of the second connecting line" is also referred to relative to the flexible driving ring 283, which refers to a side of the second connecting line facing outside of the flexible driving ring 283. That is, the center of the second tensioning wheel 285 is located away from the center of the flexible drive ring 283 relative to the second line. So configured, the first tensioning wheel 284 and the second tensioning wheel 285 can further increase the wrap angle of the flexible driving ring 283 and the driving wheel 281, thereby improving the driving torque and reducing the wear.

Illustratively, the walking device may further comprise a longitudinal side panel (e.g. the first longitudinal side panel 621 or the second longitudinal side panel 622, as shown in fig. 5) extending in the longitudinal direction Y-Y. The longitudinal side plate may be provided with a plurality of mounting portions. The tension pulley 282 is selectively mounted to one or more of the plurality of mounting portions to vary the position of the tension pulley 282. Illustratively, the mounting portion may include a long hole 624 provided on the side plate. The tension pulley 282 can move within the elongated hole 624 to change positions. With this arrangement, the position of the tension wheel 282 can be adjusted according to the specific structure and wear of the flexible driving ring 283, so that the flexible driving ring 283 can maintain a desired tension.

Illustratively, the longitudinal running wheel group 300 may be disposed outside the longitudinal side plates. The longitudinal transmission assembly may be disposed inboard of the longitudinal side plates. The outer side of the longitudinal side plate refers to the side of the longitudinal side plate facing the outside of the running gear. Exemplarily, as shown in fig. 5, the outer side of the first longitudinal side panel 621 refers to a side of the first longitudinal side panel 621 facing upward and rightward, and the outer side of the second longitudinal side panel 622 refers to a side of the second longitudinal side panel 622 facing downward and leftward.

The axis of the longitudinal road wheels of the first longitudinal road wheel group 310 may pass through the first longitudinal side plate 621 to extend to the inside of the first longitudinal side plate 621. The longitudinal road wheels of the first longitudinal road wheel set 310 are rollable with respect to the first longitudinal side plate 621. The axle of the longitudinal road wheel of the second longitudinal road wheel group 320 may pass through the second longitudinal side plate 622 to extend to the inside of the second longitudinal side plate 622. The longitudinal road wheels of the second longitudinal road wheel set 320 are rollable with respect to the second longitudinal side plate 622. The first longitudinal transmission assembly 210 may be connected to the axle of the longitudinal road wheels of the first longitudinal running wheel set 310, thereby driving the longitudinal road wheels of the first longitudinal running wheel set 310 to roll. The first longitudinal transmission assembly 210 may be connected to the axle of the longitudinal road wheels of the second longitudinal road wheel set 320, thereby driving the longitudinal road wheels of the second longitudinal road wheel set 320 to roll.

The outer side of the longitudinal side plates may also be provided with electrical elements. The electrical components include, but are not limited to, the lateral obstacle sensor 912, the antenna 991, and the like. Threading holes 623 may be provided on the longitudinal side plates. The cables of the electric components may pass through the threading holes 623 to extend to the inner sides of the longitudinal side plates. The cable of the electrical component includes, but is not limited to, a power cable or a signal cable, etc. So set up, the arrangement of the cable of being convenient for to optimize running gear's inner space.

Illustratively, threading aperture 623 may be located on the inside of flexible drive ring 283. The number and size of the tension pulleys 282 may also be reduced appreciably as the length of the flexible drive ring 283 is reduced. In this way, more space is created inside the flexible drive ring 283. The cables may be routed within the space. Therefore, the walking device has a compact structure and a small size.

Illustratively, the travel drive mechanism 200 may further include a first transverse drive assembly 230 and a second transverse drive assembly 240. The first and second traverse drive assemblies 230 and 240 may be disposed on a circumferential side of the body 600.

The first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 may be disposed at opposite sides of the main body 600. The first and second traverse drive assemblies 230 and 240 may also be disposed on opposite sides. For example, the first longitudinal driving assembly 210 and the first transverse driving assembly 230 may be disposed at an upper side of the body 600 in fig. 1. The second longitudinal driving assembly 220 and the second traverse driving assembly 240 may be disposed at a lower side of the body 600 in fig. 1.

The lateral running wheel group 400 may include a first lateral running wheel group 410 and a second lateral running wheel group 420. The first transverse transmission assembly 230 may be connected between the travel drive mechanism 110 and the first transverse running wheel set 410. In this way, the travel driving mechanism 110 can drive the transverse traveling wheels of the first transverse traveling wheel set 410 to roll along the transverse direction X-X through the first transverse transmission assembly 230. The second transverse transmission assembly 240 may be connected between the drive shaft 250 and the second transverse running wheel set 420. In this way, the travel driving mechanism 110 can drive the transverse traveling wheels of the second transverse traveling wheel set 420 to roll along the transverse direction X-X through the second transverse transmission assembly 240.

Specifically, the travel drive mechanism 110 may be coupled to the first transverse drive assembly 230 via a first hard drive linkage assembly 710. Also, the travel drive mechanism 110 may be coupled to the second traverse drive assembly 240 via a second hard drive linkage assembly 720.

The gear hard drive comprises a mode of carrying out transmission by meshing a plurality of same or different gears. That is, the first and second hard drive linkage assemblies 710 and 720, respectively, may be gear sets. The gears include, but are not limited to, one or more combinations of cylindrical gears, bevel gears, non-circular gears, racks, and worm gears.

The inventor finds that under the condition that two parts needing transmission connection are close to each other, compared with a structure adopting flexible transmission such as belt transmission or chain transmission, the structure adopting hard gear transmission connection has the advantages of compact structure, high transmission precision, reliable work, small vibration, low noise, long service life, high transmission efficiency and the like. Therefore, the walking driving mechanism 110 is connected with the first transverse transmission assembly 230 and the second transverse transmission assembly 240 through the first hard transmission connecting assembly 710 and the second hard transmission connecting assembly 720, respectively, so that the walking device has a compact structure and a small size. Thus, the size of the carrying device can be reduced, and the carrying device can move in a narrower space, so that the carrying device is better in applicability. The carrying system adopting the carrying equipment can also improve the space utilization rate, thereby reducing the cost.

A first hard drive link assembly 710 may be connected between the drive shaft 250 and the first cross drive assembly 230. The running gear may have a first side (i.e. the upper side in fig. 1) and a second side (i.e. the lower side in fig. 1) opposite in the transverse direction X-X. The first transverse running wheel set 410 and the first transverse transmission assembly 230 may be located on a first side of the running gear opposite in the transverse direction X-X. The travel drive mechanism 110 may be located on a second side of the travel apparatus opposite the lateral direction X-X. By providing a drive shaft 250, a remote drive can be achieved.

The first transverse running wheel set 410 and the first transverse transmission assembly 230 may extend in the longitudinal direction Y-Y. The first hard drive connection assembly 710 may include a first bevel gear 711 and a second bevel gear 712. The first bevel gear 711 may be provided on the driving shaft 250 to coaxially rotate with the driving shaft 250. Second bevel gear 712 may be connected to first cross-drive assembly 230. The first bevel gear 711 and the second bevel gear 712 may mesh. Thus, the axis of the first bevel gear 711 and the axis of the second bevel gear 712 may be perpendicular. The travel drive mechanism 110 can drive the drive shaft 250 to rotate, so as to drive the first bevel gear 711 to rotate. The first bevel gear 711 can drive the second bevel gear 712 to rotate, so as to drive the first transverse transmission assembly 230 to rotate, and further drive the transverse road wheels of the first transverse road wheel set 410 to roll along the transverse direction X-X. So configured, the first transverse traveling wheel set 410 and the first transverse transmission assembly 230 are disposed at one side of the conveying apparatus, so that the occupied middle space of the conveying apparatus can be reduced. Since the driving shaft 250 and the first traverse transmission assembly 230 are perpendicular to each other, transmission can be achieved by providing a first bevel gear 711 and a second bevel gear 712.

The first hard drive link assembly 710 may also include a first cylindrical gear 713 and a second cylindrical gear 714. The first cylindrical gear 713 may be coaxially coupled to the second cylindrical gear 712. The second bevel gear 712 is rotatable coaxially with the first cylindrical gear 713. The first cylindrical gear 713 and the second cylindrical gear 712 may be respectively located at both sides of the partition 680. The first cylindrical gear 713 and the second cylindrical gear 712 may be rotatably mounted on a partition 680. The first cylindrical gear 713 and the second cylindrical gear 714 may be meshed.

The first transverse drive assembly 230 may include a first transverse drive shaft 231. A second spur gear 714 may be provided on the first transverse drive shaft 231. The first transverse running wheel set 410 may be fixed to the first transverse transmission shaft 231. The first transverse transmission shaft 231 can drive the transverse traveling wheels of the first transverse traveling wheel set 410 to roll along the transverse direction X-X. The travel drive mechanism 110 can drive the drive shaft 250 to rotate, so as to drive the first bevel gear 711 to rotate. The first bevel gear 711 may rotate the second bevel gear 712. The second bevel gear 712 may rotate the first cylindrical gear 713. The first cylindrical gear 713 may drive the second cylindrical gear 714 to rotate, so as to drive the first transverse transmission shaft 231 to rotate, thereby driving the transverse road wheels of the first transverse road wheel set 410 to roll along the transverse direction X-X. With such an arrangement, the first hard drive connecting assembly 710 is simple in structure and small in size.

Specifically, both ends of the first transverse transmission shaft 231 may be provided with first swing portions 232, respectively. The first swing portion 232 may be connected to the lateral road wheels of the first lateral road wheel set 410. Illustratively, the first swinging portion 232 includes, but is not limited to, a retractable spline shaft. When the lateral road wheel is separated from the lateral track, the lateral road wheel and the first swing portion 232 swing relative to the first lateral transmission shaft 231 to generate an angular displacement for tilting. And when the longitudinal travelling wheels are separated from the longitudinal tracks, the transverse travelling wheels fall back to the transverse tracks. The first transverse transmission shaft 231 may be connected to the travel drive mechanism 110. When the direction is changed, the transmission shaft does not lift along with the transverse walking wheels and the longitudinal walking wheels in the process of lifting or descending the transverse walking wheels. Since the first transverse transmission shafts 231 at both ends of the first transverse transmission shaft 231 are tilted with respect to the first transverse transmission shaft 231 during the direction change, a space in a required height direction is small. Therefore, the carrying equipment can be thinner, the passing performance of the carrying equipment in the carrying system can be improved, the reduction of the space between the shelf layers of the carrying system is facilitated, and the space utilization rate of the carrying system is improved.

For example, the axis of the first cylindrical gear 713 and the axis of the second cylindrical gear 714 may be spaced apart in the vertical direction. So disposed, the driving shaft 250 may be spaced apart from the first transverse transmission shaft 231 in the vertical direction, thereby preventing interference from occurring.

Illustratively, the travel drive mechanism 110 may include a first output 111 and a second output 112. The first output 111 may be connected to a drive shaft 250. The first output end 111 can drive the driving shaft 250 to rotate, so as to drive the transverse road wheels in the first transverse road wheel set 410 to roll along the transverse direction X-X, and simultaneously drive the longitudinal road wheels in the first longitudinal road wheel set 310 and the second longitudinal road wheel set 320 to roll along the longitudinal direction Y-Y. The second output 112 may be coupled to the second traverse assembly 240 via a second traverse assembly, such as a second hard drive linkage assembly 720. Thus, only one travel drive mechanism 110 may be provided to drive the transverse road wheels of the transverse road wheel set 400 to roll in the transverse direction X-X.

Illustratively, the second transverse transmission assembly 240 and the second transverse running wheel set 420 may be located on a second side of the running gear in the transverse direction X-X. So configured, the travel drive mechanism 110 is closer to the second transverse transmission assembly 240, thereby facilitating gear transmission.

Illustratively, the second transverse running wheel set 420 and the second transverse transmission assembly 240 may extend in the longitudinal direction Y-Y, respectively. The axis of rotation of the second output 112 may extend in the longitudinal direction Y-Y. Thus, the axes of rotation of the second transverse travel wheelset 420, the second transverse drive assembly 240 and the second output 112 may be parallel to one another. In this way, gear transmission may be facilitated, thereby making the structure of the second hard drive connection assembly 720 more compact.

Illustratively, the second transverse drive assembly 240 may include a second transverse drive shaft 241. The second hard drive link assembly 720 may include a third cylindrical gear 721 and a fourth cylindrical gear 722. A third cylindrical gear 721 may be provided on the second output 112. The second output 112 may rotate the third cylindrical gear 721. A fourth spur gear 722 may be provided on the second transverse transmission shaft 241. The third cylindrical gear 721 may be meshed with the fourth cylindrical gear 722. The second output end 112 of the travel driving mechanism 110 can drive the third cylindrical gear 721 to rotate, so as to drive the fourth cylindrical gear 722 to rotate, thereby driving the second transverse transmission shaft 241 to rotate, and further driving the transverse traveling wheels of the second transverse traveling wheel set 420 to roll along the transverse direction X-X. So configured, the second hard drive connection assembly 720 is compact in structure and small in size.

Specifically, both ends of the second transverse transmission shaft 241 may be provided with second swing parts 242, respectively. The second swing portion 242 may be connected to the lateral road wheels of the second lateral road wheel set 420. The operation principle of the second transverse transmission shaft 241 and the second swinging portion 242 is substantially the same as the operation principle and the technical effect of the first transverse transmission shaft 231 and the first swinging portion 232, and therefore, for brevity, the detailed description is omitted.

Illustratively, the first longitudinal driving assembly 210, the second longitudinal driving assembly 220, the first lateral driving assembly 230, and the second lateral driving assembly 240 may be disposed on a circumferential side of the main body 600. Thus, the occupation of the middle space of the main body 600 can be reduced, so that a more regular space can be formed in the middle. The large-sized components such as the travel drive mechanism 110, the elevation drive mechanism 120, the power supply unit 810, and the electric unit 820 can be disposed in the space, and the layout can be simplified. In addition, the above components can be arranged more compactly, which facilitates the miniaturization of the conveying apparatus.

Illustratively, the first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 may be located on both sides of the handling apparatus. Therefore, the first longitudinal transmission assembly 210 is closer to the first longitudinal traveling wheel set 310, and the second longitudinal transmission assembly 220 is closer to the second longitudinal traveling wheel set 320, so that the connection is facilitated, the space occupied by the connection is reduced, and the structure of the carrying device is more compact.

Illustratively, the body 600 may also include a first longitudinal partition 631 and a second longitudinal partition 632. The first longitudinal partition 631 may be disposed inside the first longitudinal side panel 621. The first longitudinal partition 631 may be disposed spaced apart from the first longitudinal side panel 621 to form an elongated first longitudinal cavity 641. The first longitudinal transmission assembly 210 may be located within the first longitudinal cavity 641. A second longitudinal partition 632 may be disposed inboard of the second longitudinal side panel 622. The second longitudinal partition 632 may be spaced apart from the second longitudinal side panel 622 to form an elongated second longitudinal cavity 642. The second longitudinal drive assembly 220 may be located within the second longitudinal cavity 642. By such an arrangement, the substances such as the lubricating oil in the first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 can be prevented from flowing out, and the other parts can be prevented from being polluted. In addition, the dust and other impurities can be prevented from entering, and the transmission effect of the first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 is reduced.

For example, the travel driving mechanism 110 and the elevation driving mechanism 120 may be disposed between the first longitudinal partition 631 and the second longitudinal partition 632. The travel drive 110 may be adjacent to the second longitudinal partition 632. The lift drive mechanism 120 may be adjacent the first longitudinal partition 631. The adjacency includes abutting or being spaced apart by a predetermined distance. The predetermined distance may be as small as possible. In this way, a large space can be formed between the travel driving mechanism 110 and the elevation driving mechanism 120, and it is convenient to install components such as the power module 810, thereby improving the space utilization rate in the conveying equipment.

For example, the lifting transmission mechanism 500 may include a first lifting transmission mechanism 510 and a second lifting transmission mechanism 520. The first elevation drive mechanism 510 and the second elevation drive mechanism 520 may be located at a first side (i.e., a left side in fig. 1) and a second side (i.e., a right side in fig. 1) of the conveyance apparatus in the longitudinal direction Y-Y, respectively. The first elevation drive mechanism 510 may be connected between the lateral road wheels on the first side of the transfer apparatus in the longitudinal direction Y-Y in the lateral road wheel set 400 and the elevation drive mechanism 120. The elevation driving mechanism 120 may drive the lateral travel wheels of the first side of the transfer apparatus in the longitudinal direction Y-Y to be elevated by the first elevation driving mechanism 510. The second elevation drive mechanism 520 may be connected between the lateral road wheels on the second side of the transfer apparatus in the longitudinal direction Y-Y in the lateral road wheel set 400 and the elevation drive mechanism 120. The elevation driving mechanism 120 may drive the lateral traveling wheels of the second side of the transfer apparatus in the longitudinal direction Y-Y to ascend and descend through the second elevation transmission mechanism 520. Thus, the occupation of the middle space of the main body 600 can be reduced, so that a more regular space can be formed in the middle. The large-sized components such as the travel driving mechanism 110 and the elevation driving mechanism 120 are more convenient to arrange, so that the layout difficulty can be simplified. In addition, the related components can be arranged more compactly, and the carrying equipment can be miniaturized conveniently. And, first lift drive mechanism 510 and second lift drive mechanism 520 can be connected with the horizontal walking wheel nearby respectively to can be convenient for connect, reduce because of connecting the space that occupies, make the structure of haulage equipment comparatively compact.

Illustratively, the body 600 may further include a first lateral partition 661 and a second lateral partition 662. The first lateral partition 661 may be disposed inside the first lateral side plate 651. The first lateral partition 661 may be disposed spaced apart from the first lateral side plate 651 to form a first laterally long lateral cavity 671. The first elevation drive mechanism 510 and the lateral road wheels of the lateral road wheel set 400 on the first side of the transfer apparatus in the longitudinal direction Y-Y may both be located within the first lateral cavity 671. A second transverse partition 662 may be disposed inboard of the second transverse side plate 652. A second transverse partition 662 may be disposed in spaced relation to the second transverse side plate 652 to form a second transversely elongated transverse cavity 672. The second elevation drive 520 and the lateral road wheels of the lateral road wheel set 400 on the second side of the transfer apparatus in the longitudinal direction Y-Y are both located in a second lateral cavity 672. With this arrangement, it is possible to prevent substances such as lubricating oil in the first lifting transmission mechanism 510 and the second lifting transmission mechanism 520 from flowing out and causing contamination of other components. In addition, the first lifting transmission mechanism 510 and the second lifting transmission mechanism 520 can be prevented from lowering the lifting effect due to the entering of dust and other impurities. Meanwhile, the transverse traveling wheels in the transverse traveling wheel group 400 can be protected from being damaged by external force.

For example, the first traverse driving assembly 230, the first traverse traveling wheel group 410 and the first longitudinal driving assembly 210 may be located at one side of the handling apparatus. Illustratively, the first transverse transmission assembly 230, the first transverse traveling wheel set 410 and the first longitudinal transmission assembly 210 may be all located in the first longitudinal cavity 641. The second transverse driving assembly 240, the second transverse traveling wheel set 420 and the second longitudinal driving assembly 220 may be located at the other side of the carrying apparatus. For example, the second lateral transmission assembly 240, the second lateral running wheel set 420 and the second longitudinal transmission assembly 220 may all be located in the second longitudinal cavity 642. In this way, the first transverse transmission assembly 230 and the second transverse transmission assembly 240 are closer to the first transverse traveling wheel set 410 and the second transverse traveling wheel set 420, respectively, so that the connection can be facilitated, the space occupied by the connection can be reduced, and the structure of the carrying device is compact. Moreover, the first longitudinal transmission assembly 210 and the first transverse transmission assembly 230 are closer to each other, and the second longitudinal transmission assembly 220 and the second transverse transmission assembly 240 are closer to each other, so that centralized protection and maintenance can be facilitated.

For example, the number of lateral road wheels in the lateral road wheel set 400 may be less than the number of longitudinal road wheels in the longitudinal road wheel set 300. In this way, the structure of the transverse transmission assembly (e.g., the first transverse transmission assembly 230 and the second transverse transmission assembly 240) for connecting the transverse traveling wheel set 400 may be relatively compact. The elevation driving mechanism 120 may be connected to the transverse traveling wheel assembly 400 through an elevation driving mechanism 500, so that the transverse traveling wheel assembly 400 may be driven to be elevated. With this arrangement, the load of the lift drive mechanism 120 can be reduced, and the conveyance apparatus can be made more energy-saving.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be interpreted as reflecting an intention that: rather, the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

The above description is only for the specific embodiments of the present invention or the description of the specific embodiments, the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (14)

1. A handling apparatus, characterized by comprising:

a main body;

the walking driving mechanism is connected to the longitudinal walking wheel set and the transverse walking wheel set through the walking transmission mechanism so as to drive the longitudinal walking wheel set and the transverse walking wheel set to roll along the longitudinal direction and the transverse direction respectively; and

sensors disposed on the main body, the sensors including a first sensor group and/or a second sensor group, the first sensor group including an obstacle sensor and/or a material sensor, the second sensor group including a position sensor, the obstacle sensor being configured to detect whether an obstacle is in front of the handling device; the material sensor is used for detecting whether a carrying device in front of the carrying device carries materials or not; the positioning sensor is used for detecting the position of the carrying equipment.

2. The transfer apparatus defined in claim 1,

the first sensor group further comprises a material unbalance loading sensor, and the material unbalance loading sensor is used for detecting whether the materials on the carrying equipment are in unbalance loading.

3. The transfer apparatus of claim 2, wherein the material offset sensor comprises a first material offset sensor, a second material offset sensor, and a third material offset sensor, and the body comprises a pair of outer side walls opposing in the transverse direction, wherein

The first material unbalance loading sensor and the second material unbalance loading sensor are arranged on one of the pair of outer side walls, the third material unbalance loading sensor is arranged on the other one of the pair of outer side walls, and the first material unbalance loading sensor and the third material unbalance loading sensor are opposite in the transverse direction.

4. The transfer apparatus of claim 1, wherein the longitudinal travel wheel sets include a first longitudinal travel wheel set and a second longitudinal travel wheel set, the first longitudinal travel wheel set and the second longitudinal travel wheel set being respectively disposed on a pair of outer side walls of the body opposite in the lateral direction, the first longitudinal travel wheel set and the second longitudinal travel wheel set respectively including a plurality of longitudinal travel wheels spaced apart in the longitudinal direction, the first sensor set being disposed on the outer side walls.

5. The conveyance apparatus according to claim 1, wherein the obstacle sensor includes a longitudinal obstacle sensor for detecting whether there is an obstacle in the longitudinal direction and/or a lateral obstacle sensor for detecting whether there is an obstacle in the lateral direction.

6. The transfer apparatus defined in claim 5, wherein where the obstacle sensor comprises the longitudinal obstacle sensor, the longitudinal obstacle sensor is located directly below the material sensor.

7. The handling apparatus according to any one of claims 1 to 6,

the detection direction of the obstacle sensor faces to the front of the center of the conveying equipment; and/or

The detection direction of the material sensor faces to the front upper part of the carrying equipment.

8. The transfer apparatus defined in any one of claims 1-6, wherein the body is rectangular having two first diagonal corners on one diagonal and two second diagonal corners on the other diagonal, wherein

The obstacle sensor is arranged on each of the two first opposite corners, and the detection directions of the two first opposite corners are opposite along the longitudinal direction; and/or

The material sensor is arranged on each of the two first opposite angles, and the detection directions of the two first opposite angles are opposite along the longitudinal direction; and/or

The handling device further comprises a handling assembly arranged on one of the two second opposite corners and/or a charging assembly arranged on the other of the two second opposite corners.

9. The transfer apparatus of claim 8, wherein the handling assembly comprises one or more of a scram button, a power button, a release button, and a reset button, and the handling assembly is located on one outer sidewall of the body extending in the longitudinal direction.

10. The handling apparatus of claim 8, wherein the charging assembly comprises an automatic and/or manual charging interface and is located on one outer side wall of the body extending in the longitudinal direction.

11. The conveying apparatus according to any one of claims 1 to 6, wherein a bottom plate opening is provided on the bottom plate of the main body, a barrier extends upwards from the edge of the bottom plate opening, the space surrounded by the barrier is in a frustum pyramid shape, the positioning sensor is arranged on the top of the barrier, and the detection direction is downward.

12. The transfer apparatus of any one of claims 1 to 6, further comprising a lift driving mechanism and a lift frame provided on the main body, the lift driving mechanism being connected to the lift frame to drive the lift frame to move between a lift position, an intermediate position, and a lower position which are sequentially provided in a vertical direction, the longitudinal traveling wheel group or the lateral traveling wheel group being connected to the lift frame,

the second sensor group further comprises a lifting position sensor, the lifting position sensor comprises a lifting position sensor, a middle position sensor and a descending position sensor, the lifting position sensor is used for detecting whether the lifting frame is located at the lifting position, the middle position sensor is used for detecting whether the lifting frame is located at the middle position, and the descending position sensor is used for detecting whether the lifting frame is located at the descending position.

13. The transfer apparatus of claim 12, further comprising a lift plate, the lift plate cover being provided on the lift frame and movable with the lift frame between the lift position and a predetermined position, the predetermined position being lower than the lift position and higher than the lowered position, the lift plate being supported on the main body when in the predetermined position,

the second sensor group further comprises a lifting plate position sensor, and the lifting plate position sensor is used for detecting whether the lifting plate descends to the preset position or not.

14. A handling system, comprising:

the handling apparatus of any one of claims 1-13; and

a transverse rail and a longitudinal rail;

wherein the longitudinal running wheel set of the handling apparatus is rollable on the longitudinal rail, and the transverse running wheel set of the handling apparatus is rollable on the transverse rail.

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