CN218287934U - Carrier and carrier system - Google Patents

Carrier and carrier system Download PDF

Info

Publication number
CN218287934U
CN218287934U CN202121610554.5U CN202121610554U CN218287934U CN 218287934 U CN218287934 U CN 218287934U CN 202121610554 U CN202121610554 U CN 202121610554U CN 218287934 U CN218287934 U CN 218287934U
Authority
CN
China
Prior art keywords
wheels
reversing
longitudinal
frame
transverse
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202121610554.5U
Other languages
Chinese (zh)
Inventor
施鸿亮
关利东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kuangshitu Suzhou Intelligent Equipment Co ltd
Original Assignee
Kuangshitu Suzhou Intelligent Equipment Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kuangshitu Suzhou Intelligent Equipment Co ltd filed Critical Kuangshitu Suzhou Intelligent Equipment Co ltd
Priority to CN202121610554.5U priority Critical patent/CN218287934U/en
Priority to PCT/CN2022/104457 priority patent/WO2023284629A1/en
Application granted granted Critical
Publication of CN218287934U publication Critical patent/CN218287934U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/08—Means for varying tension of belts, ropes, or chains

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Handcart (AREA)

Abstract

The present disclosure provides a carrier and a carrier system. Wherein, the carrier includes: a frame; the lifting frame is arranged on the frame; the travelling mechanism comprises a transverse travelling wheel and a longitudinal travelling wheel, the transverse travelling wheel is arranged on the frame, and the longitudinal travelling wheel is arranged on the lifting frame; the walking driving mechanism is in transmission connection with the transverse walking wheels and the longitudinal walking wheels and drives the transverse walking wheels to rotate and the longitudinal walking wheels to rotate; under the state that the longitudinal travelling wheels are separated from the running surface, the carrier moves transversely through the transverse travelling wheels; or the carrier moves along the longitudinal direction through the longitudinal road wheels under the state that the transverse road wheels are separated from the running surface. The carrier of this disclosure has improved the transportation flexibility, and handling efficiency also obtains promoting.

Description

Carrier and carrier system
Technical Field
The utility model relates to a commodity circulation technical field especially relates to a carrier and carrier system.
Background
At present, the carrier is widely popularized and applied in the processes of factory, e-commerce storage, workshop article and material handling. The transportation vehicle is required in the links of material transportation, storage, delivery, loading and unloading, etc.
However, the truck has poor flexibility during traveling and cannot adapt to a complex working environment.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problem existing in the prior art, the utility model provides a carrier, include: a frame; the lifting frame is arranged on the frame; the travelling mechanism comprises a transverse travelling wheel and a longitudinal travelling wheel, the transverse travelling wheel is arranged on the frame, and the longitudinal travelling wheel is arranged on the lifting frame; the walking driving mechanism is in transmission connection with the transverse walking wheels and the longitudinal walking wheels and drives the transverse walking wheels to rotate and the longitudinal walking wheels to rotate; the carrier moves transversely through the transverse travelling wheels under the condition that the longitudinal travelling wheels are separated from a running surface; or,
and under the state that the transverse travelling wheels are separated from the running surface, the transport vehicle moves longitudinally through the longitudinal travelling wheels.
In some embodiments, the lifting frame further comprises a reversing driving mechanism which is connected with the lifting frame and drives the lifting frame to lift; the carrier moves transversely through the transverse travelling wheels under the condition that the reversing driving mechanism drives the lifting frame to lift so that the longitudinal travelling wheels are separated from a running surface; or the carrier moves longitudinally through the longitudinal travelling wheels under the state that the reversing driving mechanism drives the lifting frame to descend so that the longitudinal travelling wheels are abutted against the running surface.
In some embodiments, the lateral road wheels include a set of lateral drive wheels and three sets of lateral driven wheels, one of the three sets of lateral driven wheels being adjacent to the lateral drive wheels, the other two sets of lateral driven wheels being spaced laterally from the lateral drive wheels; the longitudinal travelling wheels comprise two groups of longitudinal driving wheels which are arranged at intervals in the longitudinal direction.
In some embodiments, the travel drive mechanism comprises: a travel driving motor fixed to the frame; the first transmission assembly is connected with the longitudinal traveling wheels and the traveling driving motor; and the second transmission assembly is connected with the transverse traveling wheels and the traveling driving motor, wherein the traveling driving motor drives the first transmission assembly and the second transmission assembly to rotate so as to drive the longitudinal traveling wheels and the transverse traveling wheels to synchronously rotate.
In some embodiments, the travel drive mechanism comprises: the speed reducer comprises a walking input end, a first walking output end and a second walking output end, wherein the walking input end is connected with an output shaft of the walking driving motor; the first transmission assembly is connected with the first walking output end; the second transmission assembly is connected with the second walking output end.
In some embodiments, the first transmission assembly comprises: the first transmission shaft is rotatably arranged on the lifting frame, wherein the longitudinal travelling wheels are arranged at two ends of the first transmission shaft; the first transmission connecting piece is connected with the first transmission shaft and the first walking output end of the speed reducer; the second transmission assembly includes: the second transmission shaft is different from the first transmission shaft in arrangement direction and is rotatably arranged on the frame, wherein the transverse travelling wheels are arranged at two ends of the second transmission shaft; and the second transmission connecting piece is connected with the second transmission shaft and the walking driving motor.
In some embodiments, the first transmission assembly comprises: the third transmission shaft is rotatably arranged on the lifting frame and is arranged in the longitudinal direction at intervals in parallel with the first transmission shaft, and the longitudinal travelling wheels are respectively arranged at two ends of the third transmission shaft; and the third transmission connecting piece is connected with the first transmission shaft and the third transmission shaft.
In some embodiments, the first drive connection is a belt or a chain; the second transmission connecting piece is a belt or a chain; and/or the third drive connection is a belt or a chain.
In some embodiments, the method comprises: a tensioning mechanism for tensioning the first, second and/or third drive connection.
In some embodiments, the tensioning mechanism comprises: the first tensioning wheel is abutted against the third transmission connecting piece downwards; and the second tensioning wheel is abutted against the third transmission connecting piece towards the upper part.
In some embodiments, the reversing drive mechanism comprises: the lead screw is vertically arranged on the frame; the nut is in threaded connection with the lead screw, and the lifting frame is fixed on the nut; and the reversing driving motor is arranged on the frame and is in transmission connection with the lead screw to drive the lead screw to rotate so as to drive the nut and the lifting frame to lift.
In some embodiments, the reversing drive mechanism comprises: the cam is abutted against the bottom of the lifting frame and used for supporting the lifting frame; and the reversing driving motor is arranged on the frame and is in transmission connection with the cam.
In some embodiments, the reversing drive mechanism comprises: the rack is vertically arranged on the frame and is connected with the lifting frame; the gear is meshed with the rack; and the reversing driving motor is arranged on the frame and is in transmission connection with the gear.
In some embodiments, the reversing drive mechanism comprises: the reversing driving motor is fixed on the frame; at least one crank mechanism connected with the lifting frame; the third transmission assembly is connected with an output shaft of the reversing drive motor and the crank mechanism; the reversing driving motor is used for driving the crank mechanism to swing and driving the lifting frame to lift so as to enable the longitudinal travelling wheels to be separated from or abut against the travelling surface.
In some embodiments, the lifting frame is provided with a through hole; the crank mechanism includes: the driving connecting part of the first crank is in transmission connection with an output shaft of the reversing driving motor through the third transmission assembly; and the swinging shaft is fixed on the swinging part of the first crank, and the swinging shaft penetrates through the through hole to support the lifting frame.
In some embodiments, a bearing is provided on the swing shaft, the bearing abutting the crane.
In some embodiments, the crank mechanism comprises: and one end part of the second crank is fixed on the swinging shaft, and the other end part of the second crank is rotatably arranged on the frame.
In some embodiments, the through-hole has a racetrack shape along an extension direction of the lifting frame.
In some embodiments, the third transmission assembly comprises a first synchronous gear mechanism comprising a commutation input, a first commutation output, and a second commutation output, the commutation input being connected to an output shaft of the commutation drive motor; the crank mechanism comprises a first crank mechanism and a second crank mechanism, and the first crank mechanism and the second crank mechanism are respectively connected with the lifting frame and respectively connected with the first reversing output end and the second reversing output end.
In some embodiments, the lifting frame comprises a first lifting frame and a second lifting frame, and the first lifting frame and the second lifting frame are respectively arranged at two lateral sides of the vehicle frame; the first synchronous gear mechanism comprises a third reversing output end; the third transmission assembly includes: the second synchronous gear mechanism comprises a reversing connection end, a fourth reversing output end and a fifth reversing output end; one end of the connecting shaft is connected with the third reversing output end, and the other end of the connecting shaft is connected with the reversing connecting end; the crank mechanism comprises a third crank mechanism and a fourth crank mechanism, wherein the third crank mechanism and the fourth crank mechanism are respectively connected with the second lifting frame and respectively connected with the fourth reversing output end and the fifth reversing output end, and the first crank mechanism and the second crank mechanism are respectively connected with the first lifting frame and respectively connected with the first reversing output end and the second reversing output end.
In some embodiments, the first synchronizing gear mechanism comprises a first gearbox and a first gear set disposed within the first gearbox; and/or the second synchronizing gear mechanism comprises a second gear box and a second gear set arranged in the second gear box.
In some embodiments, at least one guide mechanism, the guide mechanism comprising: the guide shaft is vertically arranged on the frame; and the sliding seat is arranged on the guide shaft in a sliding manner and is fixedly connected with the lifting frame.
In some embodiments, the guide mechanism comprises: the fixing seat is fixed on the frame and comprises a bottom plate, a top plate and side plates fixed between the bottom plate and the top plate, one end of the guide shaft is fixed on the bottom plate, and the other end of the guide shaft is fixed on the top plate.
In some embodiments, a lifting plate is fixed to the lifting frame for lifting an article to be carried.
The disclosed embodiment also provides a carrier system, including: the transporting vehicle as in any one of the above embodiments, and the transverse rail and the longitudinal rail; the longitudinal walking wheels walk on the longitudinal rails, and the transverse walking wheels walk on the transverse rails.
The utility model provides a carrier drives the crane through switching-over actuating mechanism and drives vertical walking wheel and break away from or support in the driving face, makes horizontal walking wheel and vertical walking wheel contact with the driving face in turn to switch the walking direction of carrier, the transportation flexibility improves by a wide margin, and handling efficiency also obtains promoting by a wide margin.
Drawings
The above and other objects, features and advantages of embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:
fig. 1 is a schematic overall structure diagram of a truck according to an embodiment of the present invention;
fig. 2 is a top view of the truck with the upper cover removed according to the embodiment of the present invention;
figure 3 is a schematic view of another perspective of the truck with the upper cover removed according to an embodiment of the present invention;
fig. 4 is a plan view illustrating a partial structure of a transportation vehicle provided by an embodiment of the present invention;
fig. 5 is a schematic view of another perspective view of a partial structure of a truck according to an embodiment of the present invention;
fig. 6 is a schematic structural view of another part of the truck according to the embodiment of the present invention;
fig. 7 is an enlarged schematic view of a part of the structure in fig. 6 according to an embodiment of the present invention;
fig. 8 is a schematic view of another view of a part of the structure in fig. 6 according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a crank mechanism provided in an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a guide mechanism provided in an embodiment of the present invention;
fig. 11 is a side view of a truck in a longitudinal traveling state according to an embodiment of the present invention;
fig. 12 is a side view of a truck according to an embodiment of the present invention in a lateral traveling state;
figure 13 shows an enlarged schematic view of a portion of a cart provided by an embodiment of the present invention;
fig. 14 is a schematic structural view of another part of a truck according to an embodiment of the present invention;
in the drawings, like or corresponding reference characters designate like or corresponding parts.
Detailed Description
The principles and spirit of the present invention will be described with reference to a number of exemplary embodiments. It should be understood that these embodiments are given solely for the purpose of enabling those skilled in the art to better understand and thereby implement the present invention, and are not intended to limit the scope of the invention in any way.
It should be noted that although the terms "first", "second", etc. are used herein to describe various modules, steps, data, etc. of embodiments of the present invention, the terms "first", "second", etc. are used merely to distinguish between various modules, steps, data, etc. and do not indicate a particular order or degree of importance. Indeed, the terms "first," "second," and the like are fully interchangeable.
It should be noted that although expressions such as "front", "back", "left", "right", "top", "bottom", "outside", "inside" and the like are used herein to describe different directions or sides and the like of embodiments of the present invention, expressions such as "front", "back", "left", "right", "top", "bottom", "outside", "inside" and the like are merely for distinguishing between different directions or sides, and do not denote a particular outside or inside. Indeed, the terms "front," "back," "left," "right," "top," "bottom," "outer," "inner," and the like may, in some instances, be used interchangeably at all.
With the development of Intelligent technologies such as internet of things, artificial intelligence and big data, the requirement for transformation and upgrading of the traditional Logistics industry by using the Intelligent technologies is stronger, and Intelligent Logistics (Intelligent Logistics System) becomes a research hotspot in the Logistics field. The intelligent logistics system is widely applied to basic activity links of material transportation, storage, delivery, packaging, loading and unloading, information service and the like by using artificial intelligence, big data, various information sensors, radio frequency identification technology, global Positioning System (GPS) and other Internet of things devices and technologies, and realizes intelligent analysis and decision, automatic operation and high-efficiency optimization management in the material management process. The internet of things technology comprises sensing equipment, an RFID technology, laser infrared scanning, infrared induction identification and the like, the internet of things can effectively connect materials in logistics with a network, the materials can be monitored in real time, environmental data such as humidity and temperature of a warehouse can be sensed, and the storage environment of the materials is guaranteed. All data in logistics can be sensed and collected through a big data technology, the data are uploaded to an information platform data layer, operations such as filtering, mining and analyzing are carried out on the data, and finally accurate data support is provided for business processes (such as links of transportation, warehousing, storing and taking, sorting, packaging, sorting, ex-warehouse, checking, distribution and the like). The application direction of artificial intelligence in logistics can be roughly divided into two types: 1) The AI technology is used for endowing intelligent equipment such as an unmanned truck, an AGV, an AMR, a forklift, a shuttle, a stacker, an unmanned distribution vehicle, an unmanned aerial vehicle, a service robot, a mechanical arm, an intelligent terminal and the like to replace part of labor; 2) The manual efficiency is improved through a software system such as a transportation equipment management system, a storage management system, an equipment scheduling system, an order distribution system and the like driven by technologies or algorithms such as computer vision, machine learning, operation and research optimization and the like. With the research and development of intelligent logistics, the technology is applied to a plurality of fields, such as retail and electronic commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothes, textiles, food and the like.
As shown in fig. 1-3, an embodiment of the present invention provides a transportation vehicle 100, which includes a vehicle frame 10, a crane 20, a traveling mechanism 30, and a traveling driving mechanism 40.
The frame 10 serves as a body of the truck 100 for supporting various components. The whole frame 10 can be rectangular, and comprises a chassis 11, a circumferential plate 12 and an upper cover plate 13, wherein the circumferential plate 12 and the upper cover plate 13 are arranged around the chassis, and the chassis 11, the circumferential plate 12 and the upper cover plate 13 jointly enclose an accommodating space for accommodating each part. The peripheral plate 12 may be provided with a charging port through which a data line passes, an inductor port through which a sensor is exposed to the outside of the frame 10, an indicator light port through which an indicator light is exposed to the outside of the frame 10, and the like.
The cart 100 may include a detection device. The detection device may include a detection component for detecting whether the cart 100 carries an item. For example, the detecting means may be a pressure sensor provided on the platform or the lifting plate, and the pressure sensor detects the pressure of the article to determine whether the platform or the lifting plate bears the article, and detects the weight of the article to determine whether the platform or the lifting plate is overloaded.
The bottom of the bearing table or the lifting plate can be provided with a plurality of photoelectric sensors arranged in an array, and whether the bearing table or the lifting plate bears articles or not and whether the positions where the articles are placed deviate or not are judged by covering the condition of the photoelectric sensors with the articles, so that the positions can be found in time and adjusted.
The detection device may further comprise detection means for detecting an environmental condition during travel. For example, the detecting component may be one or more cameras disposed on side panels (such as lateral side panels and/or longitudinal side panels) of the vehicle frame 10, and the cameras acquire images of the surrounding environment, and the images acquired by image sensors of the cameras are used for positioning, inventory, foreign object detection, obstacle avoidance, and the like of the transportation vehicle 100. The detection component may also be one or more lidar arranged on a side panel (e.g., a transverse side panel and/or a longitudinal side panel) of the vehicle frame 10, and the lidar is used for scanning obstacles in the transverse and/or longitudinal directions so as to avoid obstacles or give an alarm in time.
The detecting means may further include means for detecting a lifting position of the lifting frame 20 as will be described below, for example, photoelectric switches may be provided at the uppermost position, the middle position, and the lowermost position of the lifting frame 20, respectively, to detect whether the lifting frame 20 is moved to a desired position.
Specifically, as shown in fig. 13, the detecting means may include a lift detecting part for detecting a lift position of the lift frame. For example, the lifting detection part may include a first photoelectric switch 81, a second photoelectric switch 82 and a third photoelectric switch 83 disposed on the frame 10, and the first photoelectric switch 81, the second photoelectric switch 82 and the third photoelectric switch 83 are sequentially arranged from low to high, and respectively correspond to the lowest position, the middle position and the highest position of the lifting frame 20. A support plate 14 may be fixed on the chassis 11 of the frame 10, and the first photoelectric switch 81, the second photoelectric switch 82 and the third photoelectric switch 83 may be respectively fixed on the support plate 14 by a connecting member (e.g., an angle iron) 84, and respectively correspond to the lowest position, the middle position and the highest position of the crane 20. The first photoelectric switch 81, the second photoelectric switch 82 and the third photoelectric switch 83 can be U-shaped photoelectric switches, a baffle 87 is fixed on the lifting frame 20, when the lifting frame 20 is at the lowest position, the baffle 87 is positioned in the U-shaped groove of the first photoelectric switch 81 to shield light, when the lifting frame 20 is at the middle position, the baffle 87 is positioned in the U-shaped groove of the second photoelectric switch 82 to shield light, and when the lifting frame 20 is at the highest position, the baffle 87 is positioned in the U-shaped groove of the third photoelectric switch 83 to shield light.
As shown in fig. 14, the detection apparatus may further include an article detection means for detecting an article to be carried. The article detection component includes a fourth photoelectric switch 85 disposed on the frame 10, the fourth photoelectric switch 85 is exposed on the upper cover plate 13 of the frame 10, and whether the current transport vehicle 100 carries an article is determined by whether the fourth photoelectric switch is blocked. The fourth photoelectric switch 85 may be fixed to the chassis 11 of the frame 10 by a bracket, and may be located near the middle of the chassis 11 to ensure that it is shielded when carrying objects. For example, the fourth opto-electronic switch may be a diffusely reflecting opto-electronic switch.
As shown in fig. 14, the detecting device may further include a deviation detecting part for detecting the deviation of the article. The offset detection means may comprise at least one pair of fifth photoelectric switches 86. For example, two fifth photoelectric switches 86 are provided, and the two fifth photoelectric switches 86 may be respectively located on both sides of the central axis of the cart 100. For example, the two fifth photoelectric switches 86 are symmetrically disposed at positions near both sides of the longitudinal symmetry axis O, and the two fifth photoelectric switches 86 correspond to longitudinal beams at the middle position of a tray (not shown) for carrying an article to be carried, and if the longitudinal beams at the middle position of the tray cover and block the two fifth photoelectric switches 86 at the same time, it is determined that the article on the tray is not shifted from the center position of the carrier 100. If the longitudinal beam at the middle position of the pallet does not cover and shield any one of the two fifth photoelectric switches, the article on the pallet is judged to deviate from the central position of the carrier 100, and the alarm device can be controlled by the main control unit to give an alarm so as to make adjustment in time and prevent the article from deviating from the central position of the carrier 100 to cause overturning. The fifth photoelectric switches 86 may be provided in plural pairs along both sides of the longitudinal symmetry axis O. One or more pairs of fifth photoelectric switches 86 may be disposed along both sides of the transverse symmetry axis, and the fifth photoelectric switches 86 correspond to the beam at the middle position of the tray. For example, the fifth photoelectric switch may be a diffuse reflection photoelectric switch.
The crane 20 is provided on the vehicle body frame 10, is vertically movable with respect to the vehicle body frame 10, and interferes with the vehicle body frame 10 in the lateral direction (X direction in the drawing) or the longitudinal direction (Y direction in the drawing) without generating a relative displacement. For example, as shown in fig. 4 and 5, the longitudinal side of the chassis 11 protrudes towards the transverse direction to form one or more limiting plates 111, the bottom of the lifting frame 20 is provided with a limiting groove 211 corresponding to the one or more limiting plates 111, and the limiting groove 211 is sleeved on the limiting plate 111. The limit plate 111 is matched and interfered with the limit groove 211 to limit the transverse and longitudinal displacement of the lifting frame 20 relative to the vehicle frame 10.
The traveling mechanism 30 includes transverse traveling wheels 31 and longitudinal traveling wheels 32. Wherein, the transverse walking wheels 31 can be rotationally arranged on the frame 10, and the longitudinal walking wheels 32 can be rotationally arranged on the lifting frame 20. The transverse traveling wheels 31 rotate on the traveling surface to drive the truck 100 to move in a transverse direction, i.e., in the X direction in the figure, which is the transverse traveling direction of the truck 100. The longitudinal traveling wheels 32 rotate on the traveling surface to drive the truck 100 to move in the longitudinal direction, which is the Y direction in the figure, and the Y direction is the longitudinal traveling direction of the truck 100. The driving surface may be a flat ground surface or a track surface. When the travel surface is a track surface, the longitudinal road wheels 32 may travel along a first track surface (e.g., a main tunnel) extending in the Y direction (longitudinal direction), and the transverse road wheels 31 may travel along a second track surface (e.g., a sub-tunnel) extending in the X direction (transverse direction). In other words, the truck 100 of the embodiment of the present disclosure may be a rail-guided truck or a trackless truck.
The traveling directions of the trucks are conveniently distinguished, and the transverse direction (X direction) and the longitudinal direction (Y direction) mentioned in the disclosure are the traveling directions of the trucks and can be completely interchanged in some cases.
The truck 100 of the present disclosure further includes a travel drive mechanism 40. The walking driving mechanism 40 is arranged on the frame 10, is in transmission connection with the transverse walking wheels 31 and the longitudinal walking wheels 32, and is used for driving the transverse walking wheels 31 and the longitudinal walking wheels 32 to rotate. The walking drive mechanism 40 can drive the transverse walking wheels 31 and the longitudinal walking wheels 32 to rotate together. In a state where the longitudinal traveling wheels 32 are disengaged from the running surface, the truck 100 is moved in the lateral direction by the lateral traveling wheels 31. In a state where the lateral traveling wheels 31 are disengaged from the running surface, the truck 100 is moved in the longitudinal direction by the longitudinal traveling wheels 32. The carrier is moved along different directions in an alternating mode of the transverse travelling wheels 31 and the longitudinal travelling wheels 32, reversing operation is achieved, and transportation flexibility is greatly improved.
The reversing driving mechanism 50 is connected to the lifting frame 20 to drive the lifting frame 20 to lift and lower so as to switch the transport vehicle 100 to move transversely or longitudinally. Specifically, the reversing driving mechanism 50 drives the lifting frame 20 to lift relative to the frame 10, the longitudinal road wheels 32 lift along with the lifting frame 20, when the longitudinal road wheels 32 are separated from the driving surface, the longitudinal road wheels 32 hang in the air, the transverse road wheels 31 are kept in contact with the driving surface, and the transverse road wheels 31 rotate to drive the transport vehicle 100 to move forwards or backwards along the transverse direction, namely, the transport vehicle 100 moves along the transverse direction through the transverse road wheels 31 (as shown in fig. 12). When the direction of the transportation vehicle 100 needs to be switched, that is, when the lateral movement needs to be changed into the longitudinal movement, the reversing driving mechanism 50 drives the lifting frame 20 to descend, the longitudinal travelling wheels 32 descend along with the lifting frame 20, when the longitudinal travelling wheels 32 are in a state of abutting against the traveling surface, the lateral travelling wheels 31 are jacked up to be in a suspended state, the longitudinal travelling wheels 32 are kept in contact with the traveling surface, and the longitudinal travelling wheels 32 rotate to drive the transportation vehicle 100 to move forwards or backwards along the longitudinal direction, that is, the transportation vehicle 100 moves along the longitudinal direction through the longitudinal travelling wheels 32 (as shown in fig. 11).
Therefore, the truck 100 of the present disclosure can move forward and backward in the transverse direction and in the longitudinal direction, thereby realizing four-way traveling, being more flexible and improving the handling efficiency. Meanwhile, the crane 20 can directly or indirectly bear the article to be carried, and the reversing operation of the carrier 100 can be realized while the article is lifted. For example, the lift frame 20 may have a lift plate 70 fixed to the top thereof, and an article to be carried is carried by the lift plate 70. When the transport vehicle 100 travels to the lower part of the article to be transported along the longitudinal direction through the longitudinal travelling wheels 32, the lifting frame 20 is driven to lift the article to be transported through the reversing driving mechanism 50, meanwhile, the longitudinal travelling wheels 32 lift along with the lifting frame 20 to be separated from the driving surface, the transverse travelling wheels 31 are kept in contact with the driving surface, and the transport vehicle 100 moves along the transverse direction through the transverse travelling wheels 31 to transport the lifted article to a desired position.
In some embodiments, the lifting plate 70 may not be fixed to the crane 20, and may not be lifted by the crane 20 to lift the object. For example, the lifting plate 70 may be provided on a lifting mechanism, and the lifting plate 70 is driven to be lifted by a separate lifting mechanism to lift the article. The lifting mechanism may be, for example, a linkage mechanism, such as a parallel four-bar linkage mechanism, a scissor fork mechanism, or the like.
According to the carrier 100 disclosed by the embodiment of the disclosure, the reversing driving mechanism 50 drives the lifting frame 20 to drive the longitudinal traveling wheels 32 to be separated from or abut against the traveling surface, so that the transverse traveling wheels 31 and the longitudinal traveling wheels 32 are alternately contacted with the traveling surface to switch the traveling direction of the carrier 100, the transportation flexibility is greatly improved, the reversing operation of the carrier 100 is realized while objects are lifted, and the carrying efficiency is also greatly improved.
In some embodiments, as shown in fig. 4 and 5, the walking drive mechanism 40 includes a walking drive motor 41, a reducer 42, a first transmission assembly 43 and a second transmission assembly 44.
The travel driving motor 41 and the decelerator 42 may be fixed to the frame 10, for example, to the chassis 11 of the frame 10. The speed reducer may include a walking input end 421, a first walking output end 422, and a second walking output end 423, wherein the walking input end 421 of the speed reducer 42 is connected to an output shaft of the walking driving motor 41, and the walking driving motor 41 rotates to drive the first walking output end 422 and the second walking output end 423 of the speed reducer 42 to rotate synchronously. The speed reducer 42 may be a dual output shaft speed reducer, and includes an input shaft as a walking input end 421, a first output shaft as a first walking output end 422, and a second output shaft as a second walking output end 423, where the first output shaft may be connected to an output shaft of the walking driving motor 41 through a coupling, the first output shaft may be connected to the first output shaft and the second output shaft through a gear set, and the walking driving motor 41 rotates to drive the first output shaft and the second output shaft to rotate synchronously.
The first transmission assembly 43 connects the longitudinal road wheels 32 with the first walking output 422 of the speed reducer 42, and the second transmission assembly 44 connects the transverse road wheels 31 with the second walking output 423 of the speed reducer 42. That is, the longitudinal road wheels 32 are connected with the first walking output 422 of the speed reducer 42 through the first transmission assembly 43, and the transverse road wheels 31 are connected with the second walking output 423 of the speed reducer 42 through the second transmission assembly 44. A walking driving motor 41 rotates to drive the two output shafts of the speed reducer 42 to synchronously rotate, so that the transverse walking wheels 31 and the longitudinal walking wheels 32 are driven to synchronously rotate through the first transmission assembly 43 and the second transmission assembly 44.
According to the carrier 100 disclosed by the embodiment of the disclosure, the synchronous rotation of the transverse traveling wheels 31 and the longitudinal traveling wheels 32 is realized through one traveling driving motor 41, so that the occupation of the space of the carrier 100 is reduced, more space is provided for other components, for example, the capacity of a storage battery can be increased, and the cruising ability of the carrier 100 is improved. In addition, one motor is convenient to control, and the cost is reduced.
In some embodiments, the above-mentioned first transmission assembly 43 may include a first transmission shaft 431 and a first transmission connection 432.
The first transmission shaft 431 is drivingly provided to the crane 20. The lifting frame 20 can be provided with two lifting frames which are respectively arranged at the two transverse sides of the frame 10. The first transmission shaft 431 spans the two lifting frames 20, and the longitudinal travelling wheels 32 are respectively installed at the two ends. For example, both ends of the first transmission shaft 431 are rotatably connected to the lifting frame 20 through bearings, respectively. The first transmission connecting member 432 connects the first transmission shaft 431 with the first traveling output end 422 of the speed reducer 42, that is, the first transmission shaft 431 is in transmission connection with the first traveling output end 422 of the speed reducer 42 through the first transmission connecting member 432. The first travel output end 422 of the speed reducer 42 is driven to rotate by the rotation of the travel driving motor 41, and the first transmission shaft 431 is driven to rotate by the first transmission connecting piece 432, so as to drive the longitudinal travel wheel 32 to rotate. As shown in fig. 5, first longitudinal driven wheels 32a may be respectively disposed at positions of the lifting frame 20 adjacent to the longitudinal travelling wheels 32 at both ends of the first transmission shaft 431, and the longitudinal travelling wheels 32 and the first longitudinal driven wheels 32a lift together with the lifting frame 20, so that the longitudinal travelling wheels 32 and the first longitudinal driven wheels 32a are separated from or abut against the driving surface together. The first longitudinally driven wheel 32a is provided to ensure the smoothness of the travel of the truck 100.
The second transmission assembly 44 mentioned above may include a second transmission shaft 441 and a second transmission connection 442.
The second transmission shaft 441 is rotatably disposed on the frame 10 and longitudinally crosses the frame 10, and the second transmission shaft 441 and the first transmission shaft 431 are disposed in different directions, for example, the second transmission shaft 441 and the first transmission shaft 431 may be perpendicularly crossed. The second transmission shaft 441 has transverse traveling wheels 31 mounted at both ends thereof, respectively. For example, the two ends of the second transmission shaft 441 can be rotatably connected with the frame 10 through bearing seats provided on the frame 10, respectively. The second transmission connecting element 442 is connected to the second transmission shaft 441 and the second walking output end 423 of the speed reducer 42, that is, the second transmission shaft 441 is in transmission connection with the second walking output end 423 of the speed reducer 42 through the second transmission connecting element 442. The walking driving motor 41 rotates to drive the second walking output end 423 of the speed reducer 42 to rotate, and drives the second transmission shaft 441 to rotate through the second transmission connecting piece 442, so as to drive the transverse walking wheel 31 to rotate. As shown in fig. 5, first lateral traveling wheels 31a may be provided at positions of the frame 10 adjacent to the lateral traveling wheels 31 at both ends of the second driving shaft 441, respectively, to ensure smoothness in traveling. In addition, the frame 10 may further include two pairs of second laterally driven wheels 31b, each pair of second laterally driven wheels 31b is spaced from the laterally traveling wheels 31 and the first laterally driven wheels 31a in the lateral direction, and the frame 10 is supported by a pair of driving wheels (the laterally traveling wheels 31) and three pairs of driven wheels (the pair of first laterally driven wheels 31a and the two pairs of second laterally driven wheels 31 b) in the lateral direction, so that the traveling is more stable.
Therefore, the first walking output end 422 and the second walking output end 423 of the speed reducer 42 are driven to synchronously rotate by the rotation of one walking driving motor 41, and simultaneously the transverse walking wheels 31 and the longitudinal walking wheels 32 are driven to synchronously rotate by the first transmission connecting piece 432 and the second transmission connecting piece 442 respectively.
When the carrier 100 needs to advance along the transverse direction, the reversing driving mechanism 50 drives the lifting frame 20 to lift, the first transmission shaft 431 and the longitudinal traveling wheels 32 lift along with the lifting frame 20, so that the longitudinal traveling wheels 32 are separated from the traveling surface, at the moment, the longitudinal traveling wheels 32 and the transverse traveling wheels 31 still keep a rotating state, and the carrier 100 advances along the transverse direction through the transverse traveling wheels 31 because the longitudinal traveling wheels 32 are separated from the traveling surface and are in a suspended state, and the transverse traveling wheels 31 are kept in contact with the traveling surface. When the transport vehicle 100 needs to move longitudinally, the reversing driving mechanism 50 drives the lifting frame 20 to descend, the first transmission shaft 431 and the longitudinal travelling wheels 32 descend along with the lifting frame 20, the longitudinal travelling wheels 32 are abutted against a running surface, meanwhile, the vehicle frame 10 is jacked up, the second transmission shaft 441 and the transverse travelling wheels 31 are jacked up along with the vehicle frame 10 and are separated from the running surface, namely, the transverse travelling wheels 31 are suspended, therefore, the transport vehicle 100 moves transversely through the longitudinal travelling wheels 32, and the switching of the transport vehicle 100 from transverse to longitudinal movement is completed.
Because horizontal walking wheel 31 and vertical walking wheel 32 are in the rotating state all the time, have certain rotational speed, when switching advancing direction, can advance with this rotational speed rapidly, shorten the activation time, improve conveying efficiency.
In some embodiments, as shown in fig. 4 and 5, the first transmission assembly 43 may further include a third transmission shaft 433 and a third transmission connection 434.
The third transmission shaft 433 is rotatably disposed on the lifting frame 20, and in a longitudinal direction (Y direction), the third transmission shaft 433 and the first transmission shaft 431 are spaced apart in parallel, and longitudinal traveling wheels 32 are respectively mounted at two ends of the third transmission shaft 433, and are used as longitudinal driving traveling wheels to drive the transportation truck 100 to travel longitudinally. The third transmission shaft 433 stretches across the two lifting frames 20, and two end parts of the third transmission shaft are respectively connected with the lifting frames 20 in a rotating mode through bearings. As shown in fig. 5, second longitudinal driven wheels 32b may be respectively provided at positions of the crane 20 adjacent to the longitudinal traveling wheels 32 at both ends of the third transmission shaft 433, so that the truck 100 is supported by the longitudinal traveling driving wheels 32 at both ends of the first transmission shaft 431, the longitudinal traveling wheels 32 at both ends of the third transmission shaft 433, and the first and second longitudinal driven wheels 32a and 32b in the longitudinal direction, and the transportation stability can be improved during the travel of the truck 100 in the longitudinal direction. Wherein, the first transmission shaft 431 may be adjacent to the traveling driving motor 41 and the decelerator 42. The third transmission shaft 433 is far away from the walking driving motor 41 and the speed reducer 42. The third transmission connector 434 connects the first transmission shaft 431 and the third transmission shaft 433.
The walking driving motor 41 rotates to drive the first walking output end 422 of the speed reducer 42 to rotate, and drives the first transmission shaft 431 to rotate through the first transmission connecting piece 432, meanwhile, the first transmission shaft 431 drives the third transmission shaft 433 to rotate through the third transmission connecting piece 434, so as to drive the longitudinal walking wheels 32 at the two ends of the first transmission shaft 431 and the longitudinal walking wheels 32 at the two ends of the third transmission shaft 433 to rotate synchronously. Therefore, when the truck 100 travels longitudinally, the two driving shafts are driven by one motor to drive the longitudinal travelling wheels 32 to rotate, namely, the longitudinal travelling wheels 32 on the first driving shaft 431 and the longitudinal travelling wheels 32 on the third driving shaft 433 are both used as driving wheels to drive the truck 100 to travel, and the travelling driving force is increased, the loading capacity is improved, and the travelling is more stable.
But not limited to this, under other working conditions with light load, the third transmission shaft 433 and the third transmission connecting part 434 may not be needed, and one or more longitudinal traveling wheels are directly and rotatably connected to the lifting frame 20 to serve as driven wheels to follow the longitudinal traveling wheels 32 on the first transmission shaft 431.
Similarly, a plurality of transverse driven wheels can be rotatably arranged on the frame 10 to follow the transverse road wheels 31 on the second transmission shaft 441.
In some embodiments, the first drive connection 432, the second drive connection 442, and the third drive connection 434 can be a belt or a chain. That is, the transmission manner of the first transmission assembly 43 and the second transmission assembly 44 can be a belt transmission or a chain transmission.
As an example, the transmission manner of the first transmission assembly 43 and the second transmission assembly 44 adopts a chain transmission to improve the transmission load capacity. But not limited thereto, the transmission modes of the first transmission assembly 43 and the second transmission assembly 44 may both adopt belt transmission, or one adopts belt transmission and the other adopts chain transmission.
In some embodiments, as shown in fig. 4 and 5, the cart 100 further includes a tensioning mechanism for tensioning the first, second, and/or third drive links 432, 442, 434 to adjust the tightness of the first, second, and/or third drive links 432, 442, 434. The corresponding tensioning mechanism can be configured according to the tightness (sag) of each chain. The tensioning mechanism may loosen first drive link 432, second drive link 442, and/or third drive link 434 into a relaxed state or tighten first drive link 432, second drive link 442, and/or third drive link 434 into a tightened state.
Illustratively, the tensioning mechanism may include a first tensioning wheel 61 and a second tensioning wheel 62. The first tensioning wheel 61 is pressed downwards against the third transmission connection 434. The second tensioning wheel 62 bears upwardly against the third drive connection 434. For example, the third driving connection 434 is a chain wound around a sprocket provided on the first driving shaft 431 and a sprocket on the third driving shaft 433. Wherein, the chain includes upper segment portion and lower segment portion. The first tension roller 61 can abut against the upper section of the chain and give a downward (positive Z-axis) tension to the chain. The second tensioning wheel 62 and the first tensioning wheel 61 are spaced from each other, and can abut against the lower section of the chain and provide upward (negative Z-axis) pre-tension to the chain. More specifically, the first tensioning wheel 61 and the second tensioning wheel 62 may be fixed on the chassis 11 of the frame 10 through a support bracket, respectively. Taking one tensioning wheel 61 as an example, an adjusting groove extending along the Z-axis direction is formed in the support frame, the rotating shaft of the first tensioning wheel 61 passes through the adjusting groove and is fixed on the support frame, and the height of the first tensioning wheel 61 is adjusted through the adjusting groove to adjust the pre-tightening force of the first tensioning wheel 61 against the chain.
Tensioning the chain from top to bottom through the cooperation of first take-up pulley 61 and second take-up pulley 62 to adjust the elasticity of chain, avoid the chain because of the sag is too big, lead to meshing failure and vibration phenomenon.
When the truck 100 needs to travel along the transverse direction, the reversing driving mechanism 50 drives the lifting frame 20 to lift, the first transmission shaft 431 and the longitudinal travelling wheel 32 lift together with the lifting frame 20, so that the longitudinal travelling wheel 32 is separated from a driving surface, meanwhile, the pretightening force between the lower section of the third transmission connecting piece 434 (such as a chain) and the second tensioning wheel 62 is reduced, the pretightening force between the upper section of the third transmission connecting piece and the first tensioning wheel 61 is increased, the pretightening force applied to the whole chain can be basically unchanged, the tightness is basically unchanged, and the transmission is more stable and reliable. The tensioning mechanism may include a third tensioning wheel 63 for tensioning the second drive connection 442.
The tightness (sag) of the third transmission connecting member 434 is not limited to the tension wheel, and in other embodiments, the tightness of the third transmission connecting member 434 may be adjusted by adjusting the distance between the first transmission shaft 431 and the third transmission shaft 433 by adjusting the relative movement therebetween. In one example, the first transmission shaft 431 may be kept stationary in the lateral direction (Y direction), and the third transmission shaft 433 may be moved closer to or away from the first transmission shaft 431 to change the interval between the first transmission shaft 431 and the third transmission shaft 433, thereby adjusting the tightness of the third transmission connector 434. In another example, the third transmission shaft 433 may be kept stationary in the transverse direction (Y direction), and the first transmission shaft 431 is moved closer to or away from the third transmission shaft 433 to change the interval between the first transmission shaft 431 and the third transmission shaft 433, thereby adjusting the tightness of the third transmission connector 434. In yet another example, the first and third drive shafts 431, 433 may be moved toward or away from each other to change the spacing between the first and third drive shafts 431, 433 to adjust the tightness of the third drive connection 434.
Similarly, the tightness of the second transmission connecting member 442 connected between the second transmission shaft 441 and the decelerator 42 may be adjusted by a tension wheel. The tightness of third drive connection 434 may also be adjusted by moving the spacing between second drive shaft 441 relative to reducer 42.
In some embodiments, as shown in fig. 2, 3 and 6, the reversing drive mechanism 50 includes a reversing drive motor 51, at least one crank mechanism 52, and a third transmission assembly 53.
The reverse drive motor 51 is fixed to the frame 10, for example to the chassis 11. The crank mechanism 52 is connected to the crane 20. The third transmission assembly 53 is connected with the output shaft of the reversing drive motor 51 and the crank mechanism 52; the reversing driving motor 51 is used for driving the crank mechanism 52 to swing and driving the lifting frame 20 to lift so as to enable the longitudinal travelling wheel 32 to be separated from or abut against a running surface.
The reversing driving motor 51 rotates, the crank mechanism 52 is driven by the third transmission assembly 53 to swing from the lowest position to the highest position, the lifting frame 20 is driven to lift, the longitudinal travelling wheels 32 lift together with the lifting frame 20 to be separated from the driving surface, and at the moment, the carrying vehicle 100 moves transversely through the transverse travelling wheels 31. When the reversing driving motor 51 rotates and drives the crank mechanism 52 to swing from the highest position to the lowest position through the third transmission assembly 53, the lifting frame 20 is driven to descend, the longitudinal travelling wheels 32 descend along with the lifting frame 20 to abut against a running surface and jack up the frame 10, the transverse travelling wheels 31 are separated from the running surface, and at the moment, the carrier 100 moves longitudinally through the longitudinal travelling wheels 32. Meanwhile, the lifting frame 20 can directly or indirectly bear the object to be carried, and the crank mechanism 52 can lift the object and simultaneously realize the reversing operation of the carrier 100 in the process of swinging from the lowest position to the highest position.
In addition, when the reversing drive motor 51 rotates and drives the crank mechanism 52 through the third transmission assembly 53 to be located at an intermediate position between the uppermost position and the lowermost position, the longitudinal road wheels 32 may not be in contact with the running surface, and at this time, the transverse road wheels 31 are in contact with the running surface, and the truck 100 is supported by the transverse road wheels 31. The crank mechanism 52 drives the lifting frame 20 to lift in the swinging process between the highest position and the middle position, and under the condition of no reversing, the lifting operation of the object to be carried is realized, the flexibility of the carrier 100 can be increased, and the requirements of different working conditions can be met.
In some embodiments, as shown in fig. 6 and 9, the crane 20 is provided with a through hole 221. The crank mechanism 52 includes a first crank 5211 and a swinging shaft 5221. The first crank 5211 comprises a driving connection portion 5211-1 and a swinging portion 5211-2, wherein the driving connection portion 5211-1 is used for connecting the reversing driving motor 51 to transmit power, and the swinging portion 5211-2 is used for fixing the swinging shaft 5221 to transmit power to the swinging shaft 5221 to swing. Specifically, one end of the first crank 5211 is drivingly coupled to the output shaft of the reversing drive motor 51 via a third drive assembly 53. The swing shaft 5221 is fixed to the other end portion of the first crank 5211, and the swing shaft 5221 supports the crane 20 through the through-hole 221.
One end of the first crank 5211 is fixed to the output end of the third transmission assembly 53, and the reversing driving motor 51 rotates to drive the first crank 5211 to rotate around the rotation center thereof through the third transmission assembly 53. The swing shaft 5221 is fixed to the other end portion of the first crank 5211, is offset from the center of rotation of the first crank 5211, and extends in a direction perpendicular to the first crank 5211. The swing shaft 5221 penetrates through the through hole 221, and the lifting frame 20 abuts against the swing shaft 5221. The reversing driving motor 51 rotates to drive the first crank 5211 to rotate, the swinging shaft 5221 swings around the rotation center of the first crank 5211, and the swinging shaft 5221 has the highest position, the lowest position and the middle position during the swinging process. When the swing shaft 5221 swings from the lowest position to the highest position, the crane 20 and the longitudinal traveling wheels 32 rise along the swing shaft 5221, so that the longitudinal traveling wheels 32 are separated from the driving surface, and the carrier 100 moves in the transverse direction through the transverse traveling wheels 31. When the swinging shaft 5221 swings from the highest position to the lowest position, the lifting frame 20 descends along with the swinging shaft 5221, so that the longitudinal travelling wheels 32 are abutted against the running surface, the frame 10 is jacked up, the transverse travelling wheels 31 are separated from the running surface, and the carrier 100 moves longitudinally through the longitudinal travelling wheels 32.
The first crank 5211 and the swinging shaft 5221 swing to drive the lifting frame 20 to lift so as to lift an article and change the direction of the truck 100, and the first crank 5211 and the swinging shaft 5221 have compact structures and small occupied space, so that the layout of all parts of the truck 100 is facilitated.
In some embodiments, as shown in fig. 6 and 9, the swing shaft 5221 is provided with a bearing 5231 thereon, and the bearing 5231 is in contact with the crane 20. The bearing 5231 is sleeved and fixed on the swinging shaft 5221, is positioned in the through hole 221 of the lifting frame 20 and abuts against the lifting frame 20. In the process that the first crank 5211 drives the swing shaft 5221 to swing, the bearing 5231 and the through hole 221 of the lifting frame 20 generate rotation friction, and compared with the direct sliding friction between the swing shaft 5221 and the lifting frame 20, the friction force can be reduced, the risk of excessive friction damage is reduced, and the transmission reliability is improved.
In some embodiments, as shown in fig. 6 and 9, the crank mechanism 52 further includes a second crank 5241. One end of the second crank 5241 is fixed to the swing shaft 5221, and the other end is rotatably fixed to the frame 10. The second crank 5241 may have the same structure as the first crank 5211, with one end of the swing shaft 5221 fixed to the first crank 5211 and the other end fixed to the second crank 5241. A connecting shaft, such as a crank connecting shaft 5251, extends at the end of the second crank 5241 remote from the swing shaft 5221 in a direction perpendicular to the second crank 5241, and the crank connecting shaft 5251 can be rotatably provided to the frame 10 by a crank bearing 525.
The second crank 5241 is rotatably disposed on the frame 10, and during the swinging of the swinging shaft 5221, the first crank 5211 and the second crank 5241 form a stable support for the two ends of the swinging shaft 5221, thereby effectively avoiding the swinging shaft 5221 from vibrating during the swinging process, and making the lifting frame 10 more stable during the lifting process.
In some embodiments, the through-hole 221 of the crane 20 as shown in fig. 6 may extend in a racetrack shape along the longitudinal direction (Y-direction) of the crane 20, the longitudinal direction of the crane 20 also being the extension direction of the crane 20. In the swinging process of the swinging shaft 5221, the runway-shaped through hole 221 can provide an avoidance space in the longitudinal direction for the swinging shaft 5221, the U-shaped structure of the runway is matched with the appearance of the swinging shaft 5221, the interference of the swinging shaft 5221 and the lifting frame 20 in the longitudinal direction can be reduced, the swinging amplitude of the lifting frame 20 is reduced, and the stability of the lifted articles is improved.
In some embodiments, as shown in fig. 6 and 7, the third transmission assembly 53 includes a first synchronous gear mechanism 531, the first synchronous gear mechanism 531 includes a direction-changing input terminal 5311, a first direction-changing output terminal 5312 and a second direction-changing output terminal 5313, the direction-changing input terminal 5311 is connected to an output shaft of the direction-changing drive motor 51, and the direction-changing drive motor 51 rotates to drive the first direction-changing output terminal 5312 and the second direction-changing output terminal 5313 to rotate synchronously.
The crank mechanism 52 includes a first crank mechanism 521 and a second crank mechanism 522, and the first crank mechanism 521 and the second crank mechanism 522 are respectively connected to the crane 20 and are respectively connected to the first direction-changing output end 5312 and the second direction-changing output end 5313. Two through holes are arranged on the lifting frame 20 at intervals along the longitudinal direction. The crank of the first crank mechanism 521 and the crank of the second crank mechanism 52 are respectively connected with the first reversing output end 5312 and the second reversing output end 5313, and the swing shaft of the first crank mechanism and the swing shaft of the second crank mechanism respectively penetrate through the two through holes of the lifting frame 20 to jointly support the lifting frame 20.
The reversing driving motor 51 rotates to drive the first reversing output end 5312 and the second reversing output end 5313 to synchronously rotate, so that the two crank mechanisms 52 are driven to synchronously drive the lifting frame 20 to lift, reversing and lifting are realized, reversing is more reliable, and lifting is more stable. In addition, the crank mechanism 52 synchronously drives the lifting frame 20 to lift through the matching of the reversing driving motor 51 and the first synchronous gear mechanism, so that the occupied space is reduced, the control is convenient, and the cost is reduced.
In some embodiments, as shown in fig. 6 and 7, the crane 20 may be provided with two, respectively a first crane 21 and a second crane 22. Wherein, the first lifting frame 21 and the second lifting frame 22 are respectively arranged at the two transverse sides of the vehicle frame 10. The first synchronous gear mechanism 531 further includes a third direction-changing output terminal 5314, and the direction-changing driving motor 51 rotates to drive the first direction-changing output terminal 5312, the second direction-changing output terminal 5313 and the third direction-changing output terminal 5314 to rotate synchronously.
The third transmission assembly 53 further includes a second synchromesh gear mechanism 532 and a connecting shaft 533. The second synchronizing gear mechanism 532 may be adjacent to the second crane 22, and the first synchronizing gear mechanism 531 may be adjacent to the first crane 21. The second synchromesh gear mechanism 532 may include a commutation link 5321, a fourth commutation output, and a fifth commutation output. One end of the connecting shaft 533 is connected to the third direction-changing output terminal 5314, and the other end is connected to the direction-changing connecting terminal 5321. The commutation drive motor 51 rotates to drive the first commutation output port 5312, the second commutation output port 5313 and the third commutation output port 5314 to rotate synchronously, and the third commutation output port 5314 rotates to drive the connecting shaft 533 to rotate, thereby driving the fourth commutation output port and the fifth commutation output port of the second synchromesh gear mechanism 532 to rotate synchronously.
The crank mechanism 52 further includes a third crank mechanism 523 and a fourth crank mechanism 524, wherein the third crank mechanism 523 and the fourth crank mechanism 524 are respectively connected to the second crane 22 and the fourth and fifth reversing outputs, and the first crank mechanism 521 and the second crank mechanism 522 are respectively connected to the first crane 21 and the first and second reversing outputs 5312 and 5313.
The reversing driving motor 51 rotates to drive the first reversing output end 5312, the second reversing output end 5313 and the third reversing output end 5314 to synchronously rotate, and the third reversing output end 5314 rotates to drive the connecting shaft 533 to synchronously rotate, so as to drive the fourth reversing output end and the fifth reversing output end of the second synchronous gear mechanism 532 to synchronously rotate, so that the first crank mechanism 521, the second crank mechanism 522, the third crank mechanism 523 and the fourth crank mechanism 524 synchronously swing together, and the first lifting frame 21 and the second lifting frame 22 are driven to synchronously lift. The two lifting frames are driven to synchronously lift through the reversing driving motor 51, so that the space is saved, the control is convenient, and the lifting is stable.
In some embodiments, the first synchronous gear mechanism 531 includes a first gear box and a first gear set disposed in the first gear box. The second synchromesh gear mechanism 532 includes a second gear box and a second gear set disposed in the second gear box. The third transmission assembly 53 adopts a synchronous gear mechanism, and the synchronous gear is sealed in the gear box, so that the oil leakage phenomenon can be effectively avoided, and the safety is ensured. The synchronous gear mechanism is modularized to form a whole, and the assembling and the maintenance are convenient.
The lifting mode of the lifting frame 20 driven by the reversing driving mechanism is not limited to the crank mechanism, in some embodiments, the reversing driving mechanism may include a screw-nut pair (not shown in the figure) and a reversing driving motor, the screw is vertically arranged on the frame 10, the nut is in threaded connection with the screw, the lifting frame 20 is fixed on the nut, the reversing driving motor is arranged on the frame and is in transmission connection with the screw, the driving screw rotates to drive the nut and the lifting frame 20 to lift, so that the longitudinal travelling wheel 32 is separated from or abuts against the travelling surface. The lifting frame 20 is lifted through the matching of the screw rod and the screw nut pair, the stress is more uniform, and the lifting is more stable.
In other embodiments, the reversing drive mechanism includes a cam (not shown) and a reversing drive motor. The cam is abutted against the bottom of the lifting frame 20 and is used for supporting the lifting frame 20. The cam has a curved profile with different heights at different points of the curved profile. When the reversing driving mechanism drives the cam to rotate, the position of a contact point of the lifting frame 20 against the cam profile changes, so that the lifting frame 20 is lifted. The lifting frame 20 is driven to lift through the rotation of the cam, so that the longitudinal walking wheels 32 are separated from or abut against a running surface, and the load capacity of the lifting frame 20 can be improved.
In still other embodiments, the reversing drive mechanism comprises: gears, racks and a reversing drive motor (not shown). The reversing driving motor is arranged on the frame 10 and is in transmission connection with the gear, and the gear can be arranged on an output shaft of the reversing driving motor. The rack is vertically arranged on the frame 10 and is connected with the lifting frame 20, and the gear is meshed with the rack. The reversing driving motor rotates to drive the gear to rotate, so as to drive the rack to lift, and the rack drives the lifting frame 20 to lift, so that the longitudinal travelling wheel 32 is separated from or abuts against a travelling surface.
In still other embodiments, the reversing driving mechanism may further include an air cylinder or a hydraulic cylinder disposed on the frame, and the telescopic end of the air cylinder or the hydraulic cylinder is connected to the lifting frame 20 to drive the lifting frame 20 to lift and lower, so that the longitudinal road wheels 32 are disengaged from or abut against the driving surface. The lifting frame 20 is driven to lift through the air cylinder or the hydraulic cylinder, so that the lifting of the articles is more accurate.
In some embodiments, as shown in fig. 2, 3, 6 to 10, the truck 100 includes at least one guide mechanism 60 for guiding the lifting process of the crane 20, thereby preventing the crane 20 from swinging and being damaged due to vibration. The guide mechanism 60 may include a guide shaft 601 and a sliding seat 602. The guide shaft 601 is vertically provided to the vehicle frame 10. The sliding seat 602 is slidably disposed on the guiding shaft 601 and is fixedly connected to the lifting frame 20. The lifting frame 20 is fixedly connected with the sliding seat 602 through bolts, and in the lifting process of the lifting frame 20, the sliding seat 602 lifts along the vertical direction guide shaft 601 to limit the swinging of the lifting frame 20 and enable the lifting frame 20 to lift vertically. The lifting frame 20 can be lifted and lowered more stably through the guide mechanism 60.
Further, the guiding mechanism 60 may further include a fixing seat 603. The fixing seat 603 plays a role in stably supporting the guide shaft 601. The fixing base 603 includes a bottom plate 631, a top plate 633 and a side plate 632 fixed between the bottom plate 631 and the top plate 633, the bottom plate 631 is fixed to a chassis of the vehicle frame 10, and one end of the guide shaft 601 is fixed to the bottom plate 631 and the other end is fixed to the top plate 633. The bottom plate 631, top plate 633, and side plate 632 may be integrally formed or may be fixed by bolts. Form firm support to guiding axle 601 through roof 633, bottom plate 631 and curb plate 632, make guiding axle 601 fixed more firm, prevent guiding axle 601 vibration, consequently, guiding mechanism 60 leads to crane 20 more steadily, makes crane 20 go up and down also more steadily.
The guide mechanism 60 may be provided in plurality. For example, four guide mechanisms 60 may be respectively provided at both ends of the first crane 21 and one guide mechanism 60 may be respectively provided at both ends of the second crane 22, and the four directions of the first crane 21 and the second crane 22 are guided by the four guide mechanisms 60, so that the synchronous lifting of the first crane 21 and the second crane 22 is more stable.
In some embodiments, as shown in FIG. 1, one or more guide wheels 34 are provided at the sides or corners of frame 10. For example, one or more guide wheels 34 are disposed on two opposite lateral circumferential plates 12 (i.e., the circumferential plate 12 extending along the X-direction) and/or two opposite longitudinal side plates (i.e., the circumferential plate 12 extending along the Y-direction) of the frame 10, and the guide wheels 34 can slide along the guide plates on two sides of the lateral rail and/or the longitudinal rail to limit the lateral and/or longitudinal travel of the truck 100 and prevent the lateral road wheels 31 and/or the longitudinal road wheels 32 from disengaging from the lateral rail.
Guide wheels 34 may be further disposed at four corners of the frame 10, so that when the truck 100 travels laterally or longitudinally, the position of the truck 100 can be limited by the guide wheels 34 at the four corners of the frame 10, that is, when the truck 100 travels laterally, the guide wheels 34 at the four corners of the frame 10 slide along the guide plates at two sides of the lateral rail to limit the lateral travel of the truck 100, and prevent the lateral travel wheels 31 from being separated from the lateral rail; when the truck 100 travels longitudinally, the guide wheels 34 at the four corners of the frame 10 slide along the guide plates at the two sides of the longitudinal rail to limit the longitudinal travel of the truck 100 and prevent the longitudinal travel wheels 32 from being separated from the longitudinal rail.
In addition, the transverse road wheels 31 and/or the longitudinal road wheels 32 can be road wheels with flanges, and the flanges are matched with the transverse rails or the longitudinal rails for limiting, so that the transverse road wheels and/or the longitudinal road wheels are prevented from being separated from the rails.
The embodiment of the present disclosure further provides a cart system, which includes a cart 100, a transverse rail and a longitudinal rail. The truck 100 is a truck as mentioned in any of the above embodiments. The longitudinal traveling wheels 32 of the truck 100 travel on the longitudinal rails, and the lateral traveling wheels 31 of the truck 100 travel on the lateral rails. In a state where the longitudinal traveling wheels 32 are separated from the traveling surface, the carrier 100 is moved in the lateral direction by the lateral traveling wheels 31. In a state where the lateral traveling wheels 31 are disengaged from the running surface, the truck 100 is moved in the longitudinal direction by the longitudinal traveling wheels 32. The carrier 100 moves along different directions in an alternating mode of the transverse traveling wheels 31 and the longitudinal traveling wheels 32, so that reversing operation is realized, and the transportation flexibility is greatly improved.
The foregoing description of the implementation of the invention has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed, and modifications and variations are possible in light of the above teachings or may be acquired from practice of the invention. The embodiments were chosen and described in order to explain the principles of the invention and its practical application to enable one skilled in the art to utilize the invention in various embodiments and with various modifications as are suited to the particular use contemplated.

Claims (24)

1. A cart, comprising:
a frame;
the lifting frame is arranged on the frame;
the travelling mechanism comprises a transverse travelling wheel and a longitudinal travelling wheel, the transverse travelling wheel is arranged on the frame, and the longitudinal travelling wheel is arranged on the lifting frame;
the walking driving mechanism is connected with the transverse walking wheels and the longitudinal walking wheels and drives the transverse walking wheels to rotate and the longitudinal walking wheels to rotate;
the carrier moves transversely through the transverse travelling wheels under the condition that the longitudinal travelling wheels are separated from a running surface; or,
and under the condition that the transverse travelling wheels are separated from the running surface, the carrier moves along the longitudinal direction through the longitudinal travelling wheels.
2. The truck of claim 1, wherein,
the transverse traveling wheels comprise a group of transverse driving wheels and three groups of transverse driven wheels, one group of transverse driven wheels in the three groups of transverse driven wheels is adjacent to the transverse driving wheels, and the other two groups of transverse driven wheels and the transverse driving wheels are arranged at intervals in the transverse direction;
the longitudinal travelling wheels comprise two groups of longitudinal driving wheels which are arranged at intervals in the longitudinal direction.
3. The truck of claim 1, wherein,
the travel drive mechanism includes:
a travel driving motor fixed to the frame;
the first transmission assembly is connected with the longitudinal travelling wheel and the travelling driving motor;
the second transmission assembly is connected with the transverse traveling wheel and the traveling driving motor;
the walking driving motor drives the first transmission assembly and the second transmission assembly to rotate, and drives the longitudinal walking wheels and the transverse walking wheels to synchronously rotate.
4. The truck of claim 3, wherein,
the travel drive mechanism further includes:
the speed reducer comprises a walking input end, a first walking output end and a second walking output end, wherein the walking input end is connected with an output shaft of the walking driving motor;
the first transmission assembly is connected with the first walking output end;
the second transmission assembly is connected with the second walking output end.
5. The cart according to claim 3, wherein,
the first transmission assembly includes:
the first transmission shaft is rotatably arranged on the lifting frame, and the longitudinal travelling wheels are arranged at two ends of the first transmission shaft;
the first transmission connecting piece is connected with the first transmission shaft and the walking driving motor;
the second transmission assembly includes:
the second transmission shaft is different from the first transmission shaft in arrangement direction and is rotatably arranged on the frame, wherein the transverse travelling wheels are arranged at two ends of the second transmission shaft;
and the second transmission connecting piece is connected with the second transmission shaft and the walking driving motor.
6. The truck of claim 5, wherein,
the first transmission assembly further comprises:
the third transmission shaft is rotatably arranged on the lifting frame and is arranged in the longitudinal direction at intervals in parallel with the first transmission shaft, and the longitudinal travelling wheels are respectively arranged at two ends of the third transmission shaft;
and the third transmission connecting piece is connected with the first transmission shaft and the third transmission shaft.
7. The cart of claim 6, comprising:
a tensioning mechanism for tensioning the first, second and/or third drive connection.
8. The cart according to claim 7, wherein,
the tensioning mechanism includes:
the first tensioning wheel is abutted against the third transmission connecting piece downwards; and
and the second tensioning wheel is upwards abutted against the third transmission connecting piece.
9. The cart according to any one of claims 1 to 8, further comprising:
the reversing driving mechanism is connected with the lifting frame and drives the lifting frame to lift;
the carrier moves transversely through the transverse travelling wheels under the condition that the reversing driving mechanism drives the lifting frame to lift so that the longitudinal travelling wheels are separated from a running surface; or,
when the reversing driving mechanism drives the lifting frame to descend so that the longitudinal travelling wheels are abutted to the travelling surface, the transverse travelling wheels are separated from the travelling surface, and the carrier moves longitudinally through the longitudinal travelling wheels.
10. The cart according to claim 9, wherein,
the reversing drive mechanism comprises:
the lead screw is vertically arranged on the frame;
the nut is in threaded connection with the lead screw, and the lifting frame is fixed on the nut;
and the reversing driving motor is arranged on the frame and is in transmission connection with the lead screw to drive the lead screw to rotate so as to drive the nut and the lifting frame to lift.
11. The truck of claim 9, wherein,
the reversing drive mechanism comprises:
the cam is abutted against the bottom of the lifting frame and used for supporting the lifting frame;
and the reversing driving motor is arranged on the frame and is in transmission connection with the cam.
12. The cart according to claim 9, wherein,
the reversing drive mechanism comprises:
the rack is vertically arranged on the frame and is connected with the lifting frame;
the gear is meshed with the rack;
and the reversing driving motor is arranged on the frame and is in transmission connection with the gear.
13. The cart according to claim 9, wherein,
the reversing drive mechanism comprises:
the reversing driving motor is fixed on the frame;
at least one crank mechanism connected with the lifting frame;
the third transmission assembly is connected with an output shaft of the reversing drive motor and the crank mechanism;
the reversing driving motor is used for driving the crank mechanism to swing and driving the lifting frame to lift so as to enable the longitudinal travelling wheels to be separated from or abut against the travelling surface.
14. The cart according to claim 13, wherein,
the lifting frame is provided with a through hole;
the crank mechanism includes:
the driving connecting part of the first crank is in transmission connection with an output shaft of the reversing driving motor through the third transmission assembly;
and the swinging shaft is fixed on the swinging part of the first crank, and the swinging shaft penetrates through the through hole to support the lifting frame.
15. The cart according to claim 14,
the crank mechanism includes:
and one end part of the second crank is fixed on the swinging shaft, and the other end part of the second crank is rotatably arranged on the frame.
16. The cart of claim 14, wherein,
the through hole is in a runway shape along the extending direction of the lifting frame.
17. The truck of claim 13, wherein,
the third transmission assembly comprises a first synchronous gear mechanism, the first synchronous gear mechanism comprises a reversing input end, a first reversing output end and a second reversing output end, and the reversing input end is connected with an output shaft of the reversing driving motor;
the crank mechanism comprises a first crank mechanism and a second crank mechanism, the first crank mechanism and the second crank mechanism are respectively connected with the lifting frame and respectively connected with the first reversing output end and the second reversing output end.
18. The cart of claim 17, wherein,
the lifting frame comprises a first lifting frame and a second lifting frame, and the first lifting frame and the second lifting frame are respectively arranged on the two transverse sides of the frame;
the first synchronous gear mechanism comprises a third reversing output end;
the third transmission assembly comprises:
the second synchronous gear mechanism comprises a reversing connection end, a fourth reversing output end and a fifth reversing output end;
one end of the connecting shaft is connected with the third reversing output end, and the other end of the connecting shaft is connected with the reversing connecting end;
the crank mechanism comprises a third crank mechanism and a fourth crank mechanism, wherein the third crank mechanism and the fourth crank mechanism are respectively connected with the second lifting frame and respectively connected with the fourth reversing output end and the fifth reversing output end, and the first crank mechanism and the second crank mechanism are respectively connected with the first lifting frame and respectively connected with the first reversing output end and the second reversing output end.
19. The cart of claim 18, wherein,
the first synchronous gear mechanism comprises a first gear box and a first gear set arranged in the first gear box; and/or
The second synchromesh gear mechanism includes a second gear box and a second gear set disposed in the second gear box.
20. The cart according to any one of claims 1 to 8, comprising:
at least one guide mechanism, the guide mechanism comprising:
the guide shaft is vertically arranged on the frame;
and the sliding seat is arranged on the guide shaft in a sliding manner and is fixedly connected with the lifting frame.
21. The cart of claim 20, wherein,
the guiding mechanism further comprises:
the fixing seat is fixed on the frame and comprises a bottom plate, a top plate and side plates fixed between the bottom plate and the top plate, one end of the guide shaft is fixed on the bottom plate, and the other end of the guide shaft is fixed on the top plate.
22. The cart according to any one of claims 1 to 8, comprising:
the lifting plate is fixed on the lifting frame and used for lifting the articles to be carried.
23. The cart according to any one of claims 1 to 8,
one or more guide wheels are provided at the sides or corners of the frame.
24. A cart system, comprising:
the cart of any one of claims 1 to 23, and
a transverse rail and a longitudinal rail;
the longitudinal travelling wheels of the transport vehicle travel on the longitudinal rails, and the transverse travelling wheels of the transport vehicle travel on the transverse rails.
CN202121610554.5U 2021-07-15 2021-07-15 Carrier and carrier system Active CN218287934U (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202121610554.5U CN218287934U (en) 2021-07-15 2021-07-15 Carrier and carrier system
PCT/CN2022/104457 WO2023284629A1 (en) 2021-07-15 2022-07-07 Carrier vehicle and carrier vehicle system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202121610554.5U CN218287934U (en) 2021-07-15 2021-07-15 Carrier and carrier system

Publications (1)

Publication Number Publication Date
CN218287934U true CN218287934U (en) 2023-01-13

Family

ID=84802960

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202121610554.5U Active CN218287934U (en) 2021-07-15 2021-07-15 Carrier and carrier system

Country Status (2)

Country Link
CN (1) CN218287934U (en)
WO (1) WO2023284629A1 (en)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20307005U1 (en) * 2002-05-30 2003-08-21 Manitec Consulting Ag Horw Powered pallet trolley for automated warehouse has a lever-operated gear also linked to the motor and lifting platform
JP2015157683A (en) * 2014-02-24 2015-09-03 株式会社岡村製作所 Transportation carriage
EP3418220B1 (en) * 2017-06-21 2021-07-21 Swisslog-Accalon AB A transport cart of a storage and retrieval system and a lifting arrangement for such a transport cart
CN112693382A (en) * 2019-10-22 2021-04-23 浙江世仓智能仓储设备有限公司 Intelligent carrier capable of running in four directions
CN111846731A (en) * 2020-08-24 2020-10-30 乔禹峰 Modularization over-and-under type track carrier
CN216336383U (en) * 2021-07-15 2022-04-19 旷视格图(苏州)智能装备有限公司 Lifting device, carrier and carrier system

Also Published As

Publication number Publication date
WO2023284629A1 (en) 2023-01-19

Similar Documents

Publication Publication Date Title
CN216336383U (en) Lifting device, carrier and carrier system
CN215709475U (en) Carrier and carrier system
CN110654760B (en) Automatic warehouse system, control method, storage medium and electronic equipment
CN111620024B (en) Transfer robot, container taking method and container placing method
KR101684406B1 (en) Shuttle and Stacker crane, and Automatic Warehouse System with thereof
CN209922137U (en) Automatic intensive warehousing system
KR101416412B1 (en) Component conveying system for automotive assembly line
CN215711504U (en) Transfer robot and intelligent warehousing system
CN110422527A (en) A kind of automatic stereowarehouse
CN212893697U (en) Lifting device and carrying equipment
CN212862670U (en) Vertical warehouse and three-dimensional warehouse system
CN212374155U (en) Stacker and three-dimensional warehouse system
CN113184433A (en) Intensive heavy-load intelligent warehousing system
CN110310542A (en) Industrial robot application experience system
CN218287934U (en) Carrier and carrier system
CN211444904U (en) Cargo handling system of quick-open type side curtain box
CN209814914U (en) Roller machine and conveying system
CN113443579A (en) Lifting device and carrying equipment
CN216343728U (en) Tensioning device and carrier
CN215709078U (en) Stacker, transportation system and storage system
CN215558757U (en) Transport vehicle
CN215591829U (en) AGV tray lifting machine
CN115259017B (en) Carrier and mobile jacking conveyor comprising same
CN215591828U (en) AGV handling system
TWI769803B (en) Carrier and mobile lifting conveyor containing the carrier

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant