EP4273086A1 - Dispositif de transport et procédé de transport de marchandises - Google Patents

Dispositif de transport et procédé de transport de marchandises Download PDF

Info

Publication number
EP4273086A1
EP4273086A1 EP21913412.9A EP21913412A EP4273086A1 EP 4273086 A1 EP4273086 A1 EP 4273086A1 EP 21913412 A EP21913412 A EP 21913412A EP 4273086 A1 EP4273086 A1 EP 4273086A1
Authority
EP
European Patent Office
Prior art keywords
lift
vehicular body
carrying arm
climb
carrying
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.)
Pending
Application number
EP21913412.9A
Other languages
German (de)
English (en)
Inventor
Han Bai
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.)
Hangzhou Hikrobot Co Ltd
Hangzhou Hikrobot Co Ltd
Original Assignee
Hangzhou Hikrobot Co Ltd
Hangzhou Hikrobot 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
Priority claimed from CN202011644187.0A external-priority patent/CN112830418B/zh
Priority claimed from CN202011644053.9A external-priority patent/CN112850552B/zh
Application filed by Hangzhou Hikrobot Co Ltd, Hangzhou Hikrobot Co Ltd filed Critical Hangzhou Hikrobot Co Ltd
Publication of EP4273086A1 publication Critical patent/EP4273086A1/fr
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/0641—Single levers, e.g. parallel links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07513—Details concerning the chassis

Definitions

  • the present disclosure relates to the field of automated guided transport technologies and in particular to a carrying device and a method for carrying an object.
  • a carrying device usually includes a vehicular body and a carrying arm disposed on the vehicular body.
  • the carrying arm includes an arm body, a lift mechanism and a support wheel, where the lift mechanism and the support wheel are disposed on the arm body.
  • the carrying arm can protrude from the vehicular body to lift object by way of the lift mechanism, and place the lifted object on the vehicular body which transports the object to a destination.
  • the carrying arm usually first protrude from the vehicular body to lift object vertically upward to a predetermined height, and then the vehicular body travels forward to be under the object lifted by the lift mechanism, and then the lift mechanism places the lifted object on the vehicular body. Therefore, it can be seen that the process of the carrying arm carrying object from outside the vehicular body onto the vehicular body involves the process of the lift mechanism lifting vertically upward and the process of the vehicular body moving forward, resulting in a low carrying efficiency.
  • an embodiment of the present disclosure provides a carrying device and a method for carrying an object.
  • a carrying device which includes a vehicular body and a carrying arm provided in the vehicular body, where the carrying arm includes an arm body on which a lift mechanism is disposed, and the carrying arm is allowed to horizontally protrude from the vehicular body to lift an object through the lift mechanism, and is allowed to retract into the vehicular body.
  • a top part of the lift mechanism moves horizontally along a direction in which the carrying arm retracts into the vehicular body.
  • the lift mechanism includes a lift drive mechanism and a foldable lift actuation mechanism, and the lift actuation mechanism is coupled with the lift drive mechanism; where when the lift drive mechanism drives the lift actuation mechanism to perform a retracting operation, the lift actuation mechanism folds and retracts along a direction in which the carrying arm protrudes horizontally from the vehicular body; when the lift drive mechanism drives the lift actuation mechanism to perform a stretching and lifting operation, a top part of the lift actuation mechanism moves horizontally along a direction in which the carrying arm retracts into the vehicular body.
  • the lift actuation mechanism includes a connecting rod mechanism and a pull rod, where a bottom end of the connecting rod mechanism is hinged to the arm body; where a first end of the pull rod is hinged to the lift drive mechanism, and a second end of the pull rod is hinged to the connecting rod mechanism, where the lift drive mechanism is configured to pull the pull rod, such that the pull rod pulls the connecting rod mechanism to perform the retracting operation; the lift drive mechanism is configured to push the pull rod, such that the pull rod pushes the connecting rod mechanism to perform a stretching and lifting operation.
  • the pull rod includes a first pull rod and a second pull rod, a first end of the first pull rod is hinged to the lift drive mechanism, a second end of the first pull rod is hinged to a first end of the second pull rod, and a second end of the second pull rod is hinged to the connecting rod mechanism; where a first limiting block is disposed at the second end of the first pull rod, and a second limiting block is disposed at the first end of the second pull rod; after the first pull rod and the second pull rod push the connecting rod mechanism from a maximum retracted state to a predetermined height, the first limiting block and the second limiting block are abutted against each other.
  • the lift drive mechanism includes a lift drive motor, a power transmission mechanism coupled to the lift drive motor and a slide block coupled to the power transmission mechanism; where the slide block is disposed on the arm body and hinged to the first end of the pull rod; the lift drive motor drives the slide block to move back and forth on the arm body along a length direction of the arm body through the power transmission mechanism.
  • the power transmission mechanism includes a screw rod
  • the slide block includes a nut
  • the nut is threaded onto the screw rod to form a screw rod-nut pair.
  • a suspension auxiliary mechanism for assisting the carrying arm in suspension from a ground is disposed on the vehicular body, and a support wheel is disposed on the arm body.
  • the suspension auxiliary mechanism includes a climb guide component disposed on the vehicular body; where the carrying arm has a climb component configured to climb along the climb guide component; where the carrying arm and/or the vehicular body comprises a power device for providing a climb power for the climb component.
  • the climb guide component includes a guide plate disposed at a bottom of the vehicular body and having a predetermined slope relative to the ground; where the climb component on the carrying arm is the support wheel.
  • the climb guide component includes a first climb guide component disposed at the first end of the vehicular body and a second climb guide component disposed at the second end of the vehicular body; where the climb component on the carrying arm includes a first climb component capable of climbing along the first climb guide component and a second climb component capable of climbing along the second climb guide component.
  • the power device is configured to provide a climb power for the first climb component and/or the second climb component.
  • the first climb guide component includes a guide plate disposed at a bottom of the vehicular body and having a predetermined slope relative to the ground; where the support wheel includes a first support wheel and a second support wheel spaced apart along a length direction of the arm body, and the power device is disposed on the carrying arm and coupled to the first support wheel; where the first climb component is the first support wheel.
  • the first support wheel climbs along the first climb guide component while the second climb component climbs along the second climb guide component, such that the first support wheel and the second support wheel are lifted away from the ground.
  • the second climb guide component includes a rolling body rollable along the length direction of the arm body; where the second climb component is a support block disposed at an outer side of the arm body, and a bottom of the support block has an inclined surface in supporting cooperation with the second climb guide component.
  • the suspension auxiliary mechanism includes a support portion disposed on the vehicular body; where the lift mechanism includes a lift drive mechanism and a lift actuation mechanism, and the lift actuation mechanism is coupled to the lift drive mechanism; where the lift actuation mechanism is supported on the support portion on the vehicular body, and the lift drive mechanism drives the lift actuation mechanism to continue performing a retracting operation, such that the support wheel is lifted away from the ground.
  • the lift actuation mechanism includes a retractable lift mechanism and a lift top plate disposed on the top part of the retractable lift mechanism; where when the lift drive mechanism drives the lift actuation mechanism to retract to a predetermined position, the lift top plate is supported on the support portion on the vehicular body, and the lift drive mechanism drives the lift actuation mechanism to continue performing the retracting operation, such that the support wheel is lifted away from the ground.
  • the support portion includes a first support portion disposed at a first side of the vehicular body and a second support portion disposed at a second side of the vehicular body; where a first protrusion block in supporting cooperation with the first support portion and a second protrusion block in supporting cooperation with the second support portion are disposed on both sides of the lift top plate respectively; where when the lift drive mechanism drives the lift actuation mechanism to retract to a predetermined position, the first protrusion block is supported on the first support portion and the second protrusion block is supported on the second support portion, and the lift drive mechanism drives the lift actuation mechanism to continue performing the retracting operation, such that the support wheel is lifted away from the ground.
  • the vehicular body has a carrying arm accommodation groove extending horizontally, and the carrying arm is disposed in the carrying arm accommodation groove; where a slide rail is disposed between the carrying arm accommodation groove and the carrying arm; where a slide rail guide and support structure is disposed at a side portion of the carrying arm accommodation groove, and the slide rail guide and support structure matches the slide rail to provide transverse guide and vertical supporting for the slide rail; the slide rail guide and support structure is configured to support an up and down movement of the slide rail.
  • a vertical guide structure is disposed at the side portion of the carrying arm accommodation groove; where the slide rail guide and support structure includes a base portion and a guide and support portion coupled with the base portion, and the base portion is in up and down slide cooperation or up and down rolling cooperation with the vertical guide structure, and the guide and support portion cooperates with the slide rail to provide transverse guide and vertical supporting for the slide rail.
  • a method for carrying an object including: driving a vehicular body to travel to a predetermined position close to the object, and driving a carrying arm to protrude from the vehicular body to be under the object; performing, by a lift mechanism of the carrying arm, a lift operation to lift the object and driving the carrying arm to retract to a predetermined position in the vehicular body; and performing, by the lift mechanism, a retracting operation to place the lifted object on the vehicular body.
  • the lift mechanism when the lift mechanism lifts the object from a low level to a high level, the object is moved horizontally along a direction in which the carrying arm retracts into the vehicular body.
  • horizontally moving the object along a direction in which the carrying arm retracts into the vehicular body includes: when a lift drive mechanism drives a lift actuation mechanism to perform a stretching and lifting operation, horizontally moving the object lifted on a top part of the lift actuation mechanism along the direction in which the carrying arm retracts into the vehicular body.
  • the lift actuation mechanism includes a connecting rod mechanism and a pull rod; where, driving the lift actuation mechanism to perform the stretching and lifting operation by the lift drive mechanism includes: pushing the pull rod by the lift drive mechanism, and pushing, by the pull rod, the connecting rod mechanism to perform the stretching and lifting operation.
  • pushing the pull rod by the lift drive mechanism and pushing, by the pull rod, the connecting rod mechanism to perform the stretching and lifting operation include: driving, by a lift drive motor, a slide block to move through a power transmission mechanism, pushing, by the slide block, the pull rod, and pushing, by the pull rod, the connecting rod mechanism to perform the stretching and lifting operation.
  • performing a lift operation to lift the object by the lift mechanism of the carrying arm and driving the carrying arm to retract to the predetermined position in the vehicular body include: when the lift mechanism of the carrying arm performs the lift operation to lift the object, driving the carrying arm to move toward the vehicular body.
  • driving a vehicular body to travel to a predetermined position close to the object, and driving a carrying arm to protrude from the vehicular body to be under the object include: after driving the vehicular body to travel to the predetermined position close to the object and driving a support wheel of the carrying arm to drop down to the ground from a suspended state, driving the carrying arm to protrude from the vehicular body to be under the object.
  • driving the support wheel of the carrying arm to drop down to the ground from the suspended state includes the following process: a travel drive mechanism of the carrying arm acts such that the support wheel of the carrying arm drops down to the ground after traveling a predetermined distance along a predetermined direction on the vehicular body; or, the lift mechanism is in a retracted state and supported on the vehicular body, and the support wheel of the carrying arm is in a suspended state; the lift mechanism performs the lift operation and the support wheel of the carrying arm drops down to the ground.
  • the method further includes: suspending the support wheel of the carrying arm from the ground; and driving the vehicular body to travel to transfer the object to a destination.
  • suspending the support wheel of the carrying arm from the ground includes the following process: the carrying arm continues traveling in the vehicular body to climb onto the vehicular body, and the support wheel of the carrying arm is suspended from the ground; or, the lift mechanism continues performing the retracting operation until supported on the vehicular body, and when the lift mechanism continues retracting operation, the support wheel is lifted away from the ground.
  • the process that the carrying arm continues traveling in the vehicular body to climb onto the vehicular body, and the support wheel of the carrying arm is suspended from the ground includes the following process: when the carrying arm continues traveling in the vehicular body, the support wheel at a first end of the carrying arm climbs along a first climb guide component at a first end of the vehicular body, while a climb component at a side portion of a second end of the carrying arm climbs along a second climb guide component at a side portion of a second end of the vehicular body.
  • the process that the support wheel at the first end of the carrying arm climbs along the first climb guide component at the first end of the vehicular body includes the following process: the support wheel at the first end of the carrying arm climbs along a guide plate located at the bottom of the first end of the vehicular body and having a predetermined slope relative to the ground; and the climb component at the side portion of the second end of the carrying arm climbs along the second climb guide component at the side portion of the second end of the vehicular body, which includes the following process: a climb guide surface at the bottom of a support block at a side portion of the second end of the carrying arm climbs along a rolling body disposed at a side portion of the second end of the vehicular body.
  • the carrying arm protrudes from the vehicular body to lift object through the lift mechanism and in the process of lifting, by the lift mechanism, the object from a low level to a high level, the top part of the lift mechanism (i.e., the lifted object) moves horizontally along a direction in which the carrying arm retracts into the vehicular body.
  • the top part of the lift mechanism runs along a curve trajectory which includes vertical and horizontal displacement components, where the vertical displacement component is a lift process from a low level to a high level, and the horizontal displacement component is a horizontal movement along a direction in which the carrying arm retracts into the vehicular body.
  • the lift of the object and the transfer of the object toward the vehicular body can be carried out at the same time, so as to improve the carrying efficiency of the carrying arm for the object.
  • the carrying arm may be suspended by using the suspension auxiliary mechanism on the vehicular body, such that the support wheels of the carrying arm are lifted from the ground, i.e., are not in contact with the ground.
  • the carrying device travels, only the vehicular body is in contact with the ground whereas the carrying arm is suspended from the ground, thus reducing friction with the ground.
  • the carrying device can travel more quickly with less resistance.
  • the carrying device 10 in an embodiment of the present disclosure includes a vehicular body 20 and a carrying arm 30, where the carrying arm 30 is disposed in the vehicular body 20.
  • the carrying arm 30 includes an arm body 301 on which a lift mechanism 303 is disposed.
  • the carrying arm 30 can protrude from the vehicular body 20 horizontally to lift an object through the lift mechanism 303 and retract into the vehicular body 20.
  • the top part of the lift mechanism 303 moves horizontally along a direction in which the carrying arm 30 retracts into the vehicular body 20.
  • the carrying device may also be referred to as an automated guided carrying device, a carrying robot, a carrying AGV, or an Automated Guided Vehicle (AGV).
  • AGV refers to a transport vehicle equipped with electromagnetic or optical automated guided device, which has safety protection and various transfer functions and is capable of traveling along a specified guide path.
  • the carrying device can also carry various types of objects, or object shelves and objects as long as a space is reserved below to allow the carrying arm 30 to enter.
  • the vehicular body 2 are provided with an omni-directional travel unit, a sensing unit, a battery, a charge unit, a control unit, an anti-collision unit, a code reading unit and a communication unit and the like.
  • the sensing unit may be a laser, or visual or infrared or photoelectric sensor or the like, and the omni-directional travel unit can carry out several travel modes such as a straight line travel, an oblique line travel and an arc line travel, or can be replaced with another travel unit to realize a different travel mode.
  • a guide structure for example, a guide groove or a guide rail or the like, provided for the carrying arm 30 to enter and leave, is disposed on the vehicular body 20.
  • a carrying arm accommodation groove 201 may be disposed in the vehicular body 20 and the carrying arm 30 may be disposed in the carrying arm accommodation groove 201.
  • Two carrying arm accommodation grooves 201 may be disposed in parallel in the vehicular body 20, where one carrying arm 30 is disposed in each of the two carrying arm accommodation grooves 201.
  • the two carrying arms 30 can cooperatively work.
  • a support wheel is disposed on the arm body 301.
  • the support wheel may be disposed at the bottom of the arm body 301 to support the carrying arm 30.
  • the support wheel may be a drive wheel with drive power or a caster wheel without drive power.
  • One end of the arm body 301 may be provided with the support wheel and the other end of the arm body 301 may be supported on the vehicular body 20.
  • support wheels 302a and 302b may be disposed respectively at both ends of the arm body 301. When an object is carried, both ends of the arm body 301 may be supported on the ground through the support wheels, where the support wheel 302a may be a drive wheel and the support wheel 302b may be a caster wheel.
  • the lift mechanism 303 is used to lift an object or to lift a pallet holding the object. As shown in FIG. 4 , in an example, when the lift mechanism 303 lifts a pallet 100 from a low level to a high level, the top part of the lift mechanism 303 moves horizontally along a direction in which the carrying arm 30 retracts into the vehicular body 20.
  • the direction indicated by the arc arrow refers to a direction in which the lift mechanism 303 lifts the pallet 100 from a low level to a high level
  • the direction indicated by the horizontal arrow is a direction in which the carrying arm 30 retracts into the vehicular body 20.
  • the top (i.e., the lifted object) of the lift mechanism 303 moves horizontally along a direction in which the carrying arm 30 retracts into the vehicular body 20.
  • the top part of the lift mechanism 303 runs along a curve trajectory which includes vertical and horizontal displacement components, where the vertical displacement component is a lift process from a low level to a high level, and the horizontal displacement component is a horizontal movement along a direction in which the carrying arm 30 retracts into the vehicular body 20.
  • the lift of the object and the transfer of the object toward the vehicular body 20 can be carried out at the same time, so as to improve the carrying efficiency of the carrying arm for the object.
  • the lift mechanism 303 may lift along a predetermined curve trajectory, in which the lift mechanism 303 can be driven vertically and horizontally respectively. While the lift mechanism 303 is lifted vertically, the lift mechanism 303 is driven by a horizontal drive force to move horizontally.
  • the lift mechanism 303 may be a screw rod type nut lift mechanism or a multi-connecting rod lift mechanism or a shear type lift mechanism or the like.
  • the lift mechanism 303 may be a foldable lift mechanism.
  • the lift mechanism 303 may include a lift drive mechanism and a foldable lift actuation mechanism, where the lift actuation mechanism and the lift drive mechanism are coupled.
  • the lift actuation mechanism When the lift drive mechanism drives the lift actuation mechanism to perform a retracting operation, the lift actuation mechanism folds and retracts on the arm body 301 of the carrying arm 30 along a direction in which the carrying arm 30 protrudes from the vehicular body 20 horizontally. In this way, when the lift drive mechanism drives the lift actuation mechanism to perform a stretching and lifting operation, the top part of the lift actuation mechanism can move horizontally along a direction in which the carrying arm 30 retracts into the vehicular body 20.
  • the lift actuation mechanism may include a connecting rod mechanism and a pull rod.
  • the bottom end of the connecting rod mechanism is hinged on the arm body 301.
  • a first end of the pull rod is hinged to the lift drive mechanism and a second end of the pull rod is hinged to the connecting rod mechanism.
  • the lift drive mechanism pulls the pull rod and the pull rod pulls the connecting rod mechanism to perform the retracting operation.
  • the lift drive mechanism pushes the pull rod and the pull rod pushes the connecting rod mechanism to perform the stretching and lifting operation.
  • the connecting rod mechanism includes a lift top plate 3031, a first connecting rod 3032 and a second connecting rod 3033.
  • the bottom end of the first connecting rod 3032 is hinged to the arm body 301, and the top end of the first connecting rod 3032 is hinged to the lift top plate 3031; the bottom end of the second connecting rod 3033 is hinged to the arm body 301 and the top end of the second connecting rod 3033 is hinged to the lift top plate 3031.
  • the lift top plate 3031, the first connecting rod 3032, the second connecting rod 3033 and the arm body 301 all form a parallel four-connecting rod mechanism.
  • the lift top plate 3031 is used to lift the object.
  • two first connecting rods 3032 disposed in parallel and two second connecting rods 3033 disposed in parallel may be provided and the lift top plate 3031 are supported at four corners by the four connecting rods respectively.
  • One pull rod is hinged to the lift drive mechanism and the other end of the pull rod is hinged to the first connecting rod 3032.
  • first pull rod 3034 there may be two pull rods, including a first pull rod 3034 and a second pull rod 3035.
  • a first end of the first pull rod 3034 is hinged to the lift drive mechanism, a second end of the first pull rod 3034 is hinged to a first end of the second pull rod 3035, and a second end of the second pull rod 3035 is hinged to the first connecting rod 3032.
  • each first connecting rod 3032 corresponds to two pull rods.
  • the connecting rod mechanism when the connecting rod mechanism is in a maximum retracted state, the first pull rod 3034 is horizontally supported on the arm body 301, and there is an included angle between the second pull rod 3035 and the first pull rod 3034, which may be greater than or equal to 150 degrees or less than or equal to 180 degrees.
  • the lift drive mechanism it is helpful for the lift drive mechanism to apply a lift push force to the connecting rod mechanism and thus, the connecting rod mechanism can be pushed with a smaller push force from the retracted state to the stretching and lifted state.
  • a first limiting block (not shown) may be disposed at the second end of the first pull rod 3034 and a second limiting block (not shown) may be disposed at the first end of the second pull rod 3035.
  • the first limiting block and the second limiting block are abutted against each other such that a fixed included angle between the first pull rod 3034 and the second pull rod 3035 is kept unchanged so as to push the connecting rod mechanism to perform stable stretching and lifting along the curve trajectory.
  • the lift drive mechanism may include a lift drive motor 304, a power transmission mechanism 305 coupled with the lift drive motor 304 and a slide block 360 coupled with the power transmission mechanism 305.
  • the slide block 360 is disposed on the arm body 301 and hinged to the first end of the first pull rod 3034.
  • the lift drive motor 304 can drive the slide block 360 through the power transmission mechanism 305 to move back and forth on the arm body 301 along a length direction of the arm body 301. In this way, the first pull rod 3034 is driven to move, and then the first pull rod 3034 drives the second pull rod 3035 to move, and then the second pull rod 3035 drives the first connecting rod 3032 to rotate around a hinging point with the arm body 301.
  • the power transmission mechanism 305 shown in FIG. 3 includes a screw rod and the slide block 360 includes a nut, and the nut is coupled to threads of the screw rod to form a screw rod-nut pair.
  • the power transmission mechanism 305 may also be a chain transmission mechanism or a pinion-rack transmission mechanism.
  • a hinging point between the slide block 360 and the first pull rod 3034 can always move horizontally.
  • an elongated slide groove 370 extending horizontally may be disposed at a side portion of the arm body 301 of the carrying arm 30.
  • An end of a hinging shaft 308 between the slide block 360 and the first pull rod 3034 is disposed in the slide groove 370 and thus the hinging point between the slide block 360 and the first pull rod 3034 can be limited through the slide groove 370 so as to enable the hinging point to always move horizontally.
  • the hinging point between the slide block 360 and the first pull rod 3034 moves horizontally, the hinging point between the slide block 360 and the first pull rod 3034 can be supported on the arm body 301 of the carrying arm, so as to provide stable supporting for the lift mechanism 303.
  • a support block 309 may be disposed at a side portion of the slide block 360 and hinged to the first end of the first pull rod 3034.
  • the support blocks 309 may be disposed at both sides of the slide block 360.
  • a suspension auxiliary mechanism assisting the carrying arm 30 suspended from the ground is disposed on the vehicular body 20.
  • the carrying arm 30 When an object is carried, the carrying arm 30 protrudes horizontally from the vehicular body 20 to under the object, and lifts the object through the lift mechanism 303 and retracts into the vehicular body 20. After the lift mechanism 303 places the lifted object on the vehicular body 20, the suspension auxiliary mechanism on the vehicular body 20 suspends the carrying arm 30 from the ground. In some other embodiments, when the carrying arm 30 retracts into the vehicular body 20 but the lift mechanism 303 still holds the lifted object, the carrying arm 30 may be suspended from the ground by the suspension auxiliary mechanism.
  • the carrying arm 30 may be suspended from the ground by using the suspension auxiliary mechanism on the vehicular body 20, such that the support wheels 302a and 302b of the carrying arm 30 are lifted from the ground, i.e., are not in contact with the ground.
  • the carrying device 10 travels, only the vehicular body 20 is in contact with the ground whereas the carrying arm 30 is suspended from the ground, thus reducing friction with the ground.
  • the carrying device 10 can travel more quickly with less resistance.
  • the suspension auxiliary mechanism may be a carrying arm climb auxiliary mechanism.
  • the suspension auxiliary mechanism may include a climb guide component disposed on the vehicular body 20.
  • the carrying arm 30 has a climb component capable of climbing along the climb guide component.
  • the climb guide component may be a guide plate, a guide block, a guide rail, a guide wheel or a guide rope or the like.
  • the climb component may be a rollable rolling body or a non-rollable block body or plate body capable of sliding along the climb guide component or the like.
  • a power device for driving the climb component may be disposed on the carrying device 10.
  • the power device may include a drive motor, a speed reduction mechanism coupled to the drive motor and a power transmission mechanism coupled to the speed reduction mechanism, where the power transmission mechanism is coupled to the carrying arm.
  • the power transmission mechanism may be a traction rope, a transmission belt, a chain, a pinion and/or rack or the like.
  • the power device may be disposed on the carrying arm 30 or on the vehicular body 20 or respectively on the carrying arm 30 and the vehicular body 20.
  • the climb guide component may include a guide plate disposed at the bottom of the vehicular body 20 and having a predetermined slope relative to the ground.
  • the support wheels on the carrying arm 30 can serve as climb components as well as travel and support components of the carrying arm 30.
  • the power device When the support wheels are in contact with the guide plate, the power device provides a climb power (for example, pushing or pulling the arm body 301 of the carrying arm 30 to move forward), and the support wheels climb to the vehicular body 20 along the guide plate, thus the support wheels are suspended from the ground.
  • a climb power for example, pushing or pulling the arm body 301 of the carrying arm 30 to move forward
  • the climb guide component may include: a first climb guide component 401a disposed at the first end of the vehicular body 20 and a second climb guide component disposed at the second end of the vehicular body 20.
  • the climb component of the carrying arm 30 includes a first climb component 304a capable of climbing along the first climb guide component 401a and a second climb component 304b capable of climbing along the second climb guide component 401b.
  • the power device is used to provide a climb power for the first climb component 304a and/or the second climb component 304b.
  • the first climb guide component 401a and the second climb guide component 401b may be guide plates, guide blocks, guide rails, guide wheels or guide ropes or the like.
  • the first climb component 304a and the second climb component 304b may be rollable rolling bodies or non-rollable block bodies or plate bodies capable of sliding along the first climb guide component and the second climb guide component or the like.
  • the first climb component 304a and the second climb component 304b on the carrying arm 30 respectively cooperate with the first climb guide component 401a and the second climb guide component 401b on the vehicular body 20, such that the carrying arm 30 can be lifted at the same time at two different positions of the carrying arm 30, thereby the climb efficiency of the carrying arm 30 is improved and the carrying arm 30 is suspended from the ground in a shorter time.
  • the first climb guide component 401a may include a guide plate 402 disposed at the bottom of the first end of the vehicular body 20 and having a predetermined angle relative to the ground.
  • the first support wheel 302a can serve as the first climb component 304a to climb along the guide plate 402.
  • the power device is disposed on the carrying arm 30 and coupled to the first support wheel 302a.
  • the power device is coupled to the first support wheel 302a to provide a climb power to the first support wheel 302a.
  • the power device can also provide a drive power to the travel of the first support wheel 302a on the ground. Therefore, the power device may also serve as a power drive device of the first support wheel 302a, namely, the power device can provide a climb power to the first support wheel 302a and a drive power to the travel of the first support wheel 302a on the ground.
  • the power device for providing a climb power to the first support wheel 302a and the power device for providing a drive power to the travel of the first support wheel 302a on the ground may be two independent power devices.
  • the bottom of the guide plate 402 may have a height from the ground to avoid affecting normal travel of the vehicular body 20.
  • a rotary shaft 202 coupled with the guide plate 402 may be disposed on the vehicular body 20, and a torsion spring is mounted onto the rotary shaft 202.
  • the guide plate 402 is inclined downward with a height from the ground.
  • the support wheel 302a contacts with the guide plate 402 and continues traveling, the support wheel 302a can push the guide plate 402 to rotate to enable the bottom of the guide plate 402 to be in contact with the ground, so as to provide strong supporting for the climb of the support wheel 302a.
  • the guide plate 402 is restored to an initial position under the action of a restoring force of the torsion spring and the bottom of the guide plate 402 has a height from the ground.
  • the rotary shaft 202 may be located behind the support wheel 302a to prevent the support wheel 302a from backing up to some degree. In this way, when the vehicular body 20 travels, the support wheel 302a of the carrying arm 30 can be prevented from slipping off the vehicular body 20 to the ground due to uneven road surface or acceleration or deceleration of the vehicular body 20 or the like.
  • the second climb guide component 401b may include a rolling body rollable along a length direction of the arm body 301, for example, a roller, a rolling ball or rolling drum or the like.
  • the second climb component 304b is a support block 350 disposed at an outer side of the arm body 301, where the bottom end of the support block 350 has an inclined surface in supporting cooperation with the second climb guide component 104b.
  • the second climb component 304b may be a rolling body such as a roller, a rolling ball or a rolling drum or the like disposed at the outer side of the arm body 301.
  • the first climb guide component 401a may include a first group of guide plates disposed at both sides of the first end of the carrying arm accommodation groove 201.
  • the second climb guide component 401b may include a second group of guide plates disposed at both sides of the second end of the carrying arm accommodation groove 201.
  • the first group of guide plates and the second group of guide plates both have a guide inclined surface.
  • the first climb component 304a on the carrying arm 30 is a first group of support blocks disposed at both sides of the first end of the arm body 301 of the carrying arm 30.
  • the second climb component 304b on the carrying arm 30 is a second group of support blocks disposed at both sides of the second end of the arm body 301 of the carrying arm 30.
  • the bottoms of the first group of support blocks and the second group of support blocks have inclined surfaces matching the guide inclined surfaces of the first group of guide plates and the second group of guide plates.
  • the power device When the first group of support blocks approaches the first group of guide plates and the second group of support blocks approaches the second group of guide plates, the power device provides a climb power to the carrying arm 30, the first group of support blocks climbs along the first group of guide plates while the second group of support blocks climbs along the second group of guide plates, such that the support wheels 302a and 302b of the carrying arm 30 can be suspended from the ground.
  • a slide rail 50 is disposed between the carrying arm accommodation groove 201 and the carrying arm 30.
  • a slide rail guide and support structure 203 is disposed at a side portion of the carrying arm accommodation groove 201 to cooperate with the slide rail 50 to provide transverse guide and vertical supporting for the slide rail 50.
  • the slide rail guide and support structure 203 can support an up and down movement of the slide rail 50.
  • the slide rail 50 can perform transverse (horizontal) retractable movement relative to the carrying arm accommodation groove 201, and the carrying arm 30 may move horizontally along the slide rail 50.
  • the slide rail 50 may also be referred to as a secondary rail of the carrying arm 30.
  • the slide rail 50 may be fixed relative to the vehicular body 20 and the carrying arm 30 may move up and down relative to the slide rail 50.
  • the slide rail 50 may move up and down relative to the vehicular body 20, and the carrying arm 30 is fixed relative to the slide rail 50, and thus the carrying arm 30 can move up and down together with the slide rail 50 relative to the vehicular body 20.
  • a vertical guide structure 204 is disposed at a side portion of the carrying arm accommodation groove 201.
  • the slide rail guide and support structure 203 may include a base portion and a guide and support portion coupled to the base portion.
  • the base portion is in up and down slide cooperation or up and down rolling cooperation with the vertical guide structure 204.
  • the guide and support portion cooperates with the slide rail 50 to provide transverse guide and vertical supporting for the slide rail 50.
  • the vertical guide structure 204 is a vertical guide groove in which the base portion may move up and down.
  • the vertical guide structure is a vertical rail and the base portion has a slide groove in slide cooperation with the vertical rail.
  • the suspension auxiliary mechanism may also be an elevated suspension auxiliary mechanism.
  • the suspension auxiliary mechanism may include a support portion disposed on the vehicular body 20; where the lift mechanism includes a lift drive mechanism and a lift actuation mechanism; the lift actuation mechanism is coupled with the lift drive mechanism; the lift actuation mechanism may be supported on the support portion on the vehicular body 20. After the lift actuation mechanism is supported on the support portion on the vehicular body 20, the lift drive mechanism drives the lift actuation mechanism to continue performing the retracting operation and thus the support wheels are lifted away from the ground.
  • the lift drive mechanism drives the lift actuation mechanism to perform the retracting operation and the lift actuation mechanism can be supported on the support portion on the vehicular body 20; the lift drive mechanism drives the lift actuation mechanism to continue performing the retracting operation and thus the support wheels are lifted away from the ground.
  • the carrying arm 30 can be suspended in situ from the ground, making the structure of the vehicular body 20 more compact.
  • the support portion on the vehicular body 20 may be a support groove in the vehicular body 20.
  • the support groove may also have restrictive effect on the lift mechanism (i.e., the carrying arm 30). In this case, it is avoided that the carrying arm 30 is swung back and forth on the vehicular body 20 due to uneven road surface or acceleration or deceleration of the vehicular body 20.
  • the lift actuation mechanism includes a retractable lift mechanism and a lift top plate disposed on the top part of the retractable lift mechanism.
  • the lift drive mechanism drives the lift actuation mechanism to retract to a predetermined position
  • the lift top plate is supported on the support portion on the vehicular body 20.
  • the lift drive mechanism drives the lift actuation mechanism to continue performing the retracting operation, the support wheels 302a and 302b are lifted away from the ground.
  • the lift drive mechanism drives the lift actuation mechanism to continue performing the retracting operation and thus the support wheels are lifted away from the ground.
  • the lift actuation mechanism will be in a possibly maximum retracted state, such that the entire height of the lift mechanism is relatively small and hence the height of the vehicular body 20 is also relatively small, lowering the center of gravity and making the running smoother.
  • the lift drive mechanism drives the lift actuation mechanism to retract to a predetermined position
  • the lift top plate is supported on the support portion on the vehicular body 20.
  • the lift drive mechanism drives the lift actuation mechanism to retract to a predetermined position, which also means the lift actuation mechanism is supported on the support portion on the vehicular body 20, for example, the lift actuation mechanism may be supported on the support portion on the vehicular body 20 through a structure, for example, through a protrusion disposed at a side portion of the lift actuation mechanism.
  • the support portion on the vehicular body 20 may include a first support portion 206 disposed at a first side of the vehicular body 20 and a second support portion 207 disposed at a second side of the vehicular body 20.
  • a first protrusion block 306 in supporting cooperation with the first support portion 206 and a second protrusion block 307 in supporting cooperation with the second support portion 207 are disposed respectively at both sides of the lift top plate 308.
  • the lift drive mechanism drives the lift actuation mechanism to retract to a predetermined position
  • the first protrusion block 306 is supported on the first support portion 206 and the second protrusion block 307 is supported on the second support portion 207.
  • the lift drive mechanism drives the lift actuation mechanism to continue performing the retracting operation, and hence the support wheels 302a and 302b are lifted away from the ground.
  • first support portions 206 and second support portions 207 there may be two or more first support portions 206 and second support portions 207 on the vehicular body 20, and accordingly, there may be two or more first protrusion blocks 306 and second protrusion blocks 307.
  • the first support portion 206 and the second support portion 207 may be support blocks or support grooves.
  • the support grooves may also have restrictive effect on the lift mechanism 303 (i.e., carrying arm 30), and thus it is avoided that the carrying arm 30 is swung back and forth on the vehicular body 30 due to uneven road surface or acceleration or deceleration of the vehicular body 20.
  • a magnetic attraction component (e.g., magnet) may be disposed on the first support portion 206 and/or the second support portion 207, and a corresponding magnetic attraction component is disposed on the first protrusion block 306 and/or the second protrusion block 307 (for example, at the bottom of the first protrusion block 306 and the second protrusion block 307).
  • the magnetic attraction component disposed on the first support portion 206 and/or the second support portion 207 may be magnetically attracted to the magnetic attraction component disposed on the first protrusion block 306 and/or the second protrusion block 307.
  • the protrusion blocks i.e., the carrying arm
  • the protrusion blocks can be further limited.
  • an embodiment of the present disclosure further provides a method for carrying an object, which includes the following steps S100 to S104.
  • a vehicular body travels to a predetermined position close to the object and a carrying arm protrudes from the vehicular body to be under the object.
  • the vehicular body 20 travels a predetermined position close to a pallet 100, and the carrying arm 30 protrudes from the vehicular body 20 to be under the pallet 100.
  • a lift mechanism of the carrying arm performs the lift operation to lift the object and retracts into a predetermined position in the vehicular body.
  • step S102 when the lift mechanism lifts the object from a low level to a high level, the object is moved horizontally along a direction in which the carrying arm retracts into the vehicular body.
  • FIG. 17 shows a state in which the lift mechanism lifts the pallet from a low level to a high level
  • FIG. 18 shows a state in which the carrying arm moves the object to be exactly over the vehicular body.
  • step S 104 the lift mechanism performs the retracting operation to place the lifted object on the vehicular body.
  • FIG. 19 is a schematic diagram illustrating a state in which the lift mechanism performs the retracting operation to place the pallet on the vehicular body.
  • the carrying arm protrudes from the vehicular body to be under the object and lifts the object through the lift mechanism, and in the process of lifting, by the lift mechanism, the object from a low level to a high level, the top part of the lift mechanism (i.e., the lifted object) moves horizontally along a direction in which the carrying arm retracts into the vehicular body.
  • the top (for example, the top plate) of the lift mechanism runs along a curve trajectory which includes vertical and horizontal displacement components, where the vertical displacement component is a lift process from a low level to a high level, and the horizontal displacement component is a horizontal movement along a direction in which the carrying arm retracts into the vehicular body.
  • the lift of the object and the transfer of the object toward the vehicular body can be carried out at the same time, so as to improve the carrying efficiency of transferring the object to the vehicular body by the carrying arm.
  • the lift actuation mechanism includes a connecting rod mechanism and a pull rod and the bottom of the connecting rod mechanism is hinged onto the arm body; a first end of the pull rod is hinged to the lift drive mechanism, and a second end of the pull rod is hinged to the connecting rod mechanism.
  • the lift drive mechanism drives the lift actuation mechanism to perform the stretching and lifting operation, which includes the following process: the lift drive mechanism pushes the pull rod and the pull rod pushes the connecting rod mechanism to perform the stretching and lifting operation.
  • the connecting rod mechanism includes a lift top plate, a first connecting rod and a second connecting rod.
  • the bottom end of the first connecting rod is hinged to the arm body, and the top end of the first connecting rod is hinged to the lift top plate; the bottom end of the second connecting rod is hinged to the arm body and the top end of the second connecting rod is hinged to the lift top plate.
  • the lift top plate, the first connecting rod, the second connecting rod and the arm body all form a parallel four-connecting rod mechanism.
  • the lift drive mechanism may include a lift drive motor, a power transmission mechanism coupled with the lift drive motor and a slide block coupled with the power transmission mechanism.
  • the lift drive mechanism pushes the pull rod and the pull rod pushes the connecting rod mechanism to perform the stretching and lifting operation, which includes the process: the lift drive motor drives the slide block to move through the power transmission mechanism and the slide block pushes the pull rod and then the pull rod pushes the connecting rod mechanism to perform the stretching and lifting operation.
  • the lift drive motor drives the slide block to move through the power transmission mechanism, which includes the following process: the lift drive motor brings the rotation of the screw rod and the screw rod drives the slide block (nut) on the screw rod to move by way of the screw rod-nut pair, and then the slide block pushes the pull rod, and then the pull rod pushes the connecting rod mechanism to perform the stretching and lifting operation.
  • the lift mechanism of the carrying arm performs the lift operation to lift the object and retracts into a predetermined position in the vehicular body, which includes the following process: when the lift mechanism of the carrying arm performs the lift operation to lift the object, the carrying arm moves toward the vehicular body.
  • the lift mechanism of the carrying arm perform the lift operation and in the process of lifting the object, the top part of the lift mechanism (i.e., the lifted object) moves horizontally along a direction in which the carrying arm retracts into the vehicular body.
  • the carrying arm also moves toward the vehicular body. In this way, the carrying efficiency of transferring the object to the vehicular body by the carrying arm can be further improved.
  • the lift mechanism performs the retracting operation and places the lifted object on the vehicular body, and then the following step S106 can be performed: the support wheels of the carrying arm are suspended from the ground.
  • the carrying arm retracts into the predetermined position in the vehicular body and then places the lifted object on the vehicular body, and the support wheels of the carrying arm are suspended from the ground, that is, not in contact with the ground.
  • the carrying device travels, only the vehicular body is in contact with the ground and the carrying arm is suspended from the ground.
  • the friction with the ground is reduced and the travel resistance of the carrying device is diminished, speeding up the travel.
  • the process that the vehicular body travels to a predetermined position close to the obj ect, and the carrying arm protrudes from the vehicular body to be under the object includes the following process: the vehicular body travels to the predetermined position close to the object, and the support wheels of the carrying arm drop down to the ground from a suspended state, and then the carrying arm protrudes from the vehicular body to be under the object.
  • the support wheels of the carrying arm when the vehicular body runs to carry the object, the support wheels of the carrying arm are in a suspended state; when the vehicular body runs to the predetermined position close to the object, the support wheels of the carrying arm drop down to the ground from the suspended state and then the carrying arm protrudes from the vehicular body to be under the object.
  • the support wheels of the carrying arm drop down to the ground from the suspended state, which includes the following process: the travel drive mechanism of the carrying arm acts such that the support wheels of the carrying arm drop down to the ground after traveling a predetermined distance along a predetermined direction in the vehicular body.
  • the support wheels of the carrying arm drop down to the ground after traveling a predetermined distance along a predetermined direction in the vehicular body, which is contrary to the process in which the support wheels of the carrying arm climb onto the vehicular body in the above embodiments of the carrying device.
  • the support wheels of the carrying arm drop down to the ground from the suspended state, which includes the following process: the lift mechanism is in a retracted state and supported on the vehicular body, and the support wheels of the carrying arm are in a suspended state; the lift mechanism performs the lift operation and the support wheels of the carrying arm drop down to the ground.
  • the support wheels of the carrying arm are suspended from the ground, which includes the following process: the carrying arm continues traveling in the vehicular body to climb onto the vehicular body, and the support wheels of the carrying arm are suspended from the ground.
  • the support wheels of the carrying arm are suspended from the ground, which includes the following process: the lift mechanism continues performing the retracting operation until supported on the vehicular body, and the lift mechanism continues performing the retracting operation to lift the support wheels from the ground.
  • the process that the carrying arm continues traveling in the vehicular body to climb onto the vehicular body, and the support wheels of the carrying arm are suspended from the ground includes the following process: when the carrying arm continues traveling in the vehicular body, the support wheel at the first end of the carrying arm climbs along the first climb guide component at the first end of the vehicular body, while the climb component at a side portion of the second end of the carrying arm climbs along the second climb guide component at a side portion of the second end of the vehicular body.
  • the support wheel at the first end of the carrying arm climbs along the first climb guide component at the first end of the vehicular body, which includes the following process: the support wheel at the first end of the carrying arm climbs along the guide plate having a predetermined slope relative to the ground and located at the bottom of the first end of the vehicular body; the climb component at a side portion of the second end of the carrying arm climbs along the second climb guide component at a side portion of the second end of the vehicular body, which includes the following process: the climb guide surface at the bottom of the support block at a side portion of the second end of the carrying arm climbs along a rolling body at a side portion of the second end of the vehicular body.
  • the process that the support wheel of the carrying arm drops down to the ground is contrary to the process of suspending from the ground.
  • the method further includes step S108, i.e., the vehicular body travels to transfer the object to a destination.
  • the method for carrying an object in this embodiment may be applied to the above embodiments of the object carrying device, and its implementations and beneficial effects are basically same as those of the object carrying device and thus will not be repeated herein.
  • the descriptions for the device embodiments are simple, with related parts referred to the corresponding descriptions of the method embodiments.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Handcart (AREA)
EP21913412.9A 2020-12-31 2021-10-29 Dispositif de transport et procédé de transport de marchandises Pending EP4273086A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN202011644187.0A CN112830418B (zh) 2020-12-31 2020-12-31 一种搬运装置及货物搬运方法
CN202011644053.9A CN112850552B (zh) 2020-12-31 2020-12-31 一种搬运装置及货物搬运方法
PCT/CN2021/127240 WO2022142668A1 (fr) 2020-12-31 2021-10-29 Dispositif de transport et procédé de transport de marchandises

Publications (1)

Publication Number Publication Date
EP4273086A1 true EP4273086A1 (fr) 2023-11-08

Family

ID=82259023

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21913412.9A Pending EP4273086A1 (fr) 2020-12-31 2021-10-29 Dispositif de transport et procédé de transport de marchandises

Country Status (4)

Country Link
EP (1) EP4273086A1 (fr)
JP (1) JP2024502507A (fr)
KR (1) KR20230125295A (fr)
WO (1) WO2022142668A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115583603B (zh) * 2022-10-13 2024-01-23 厦门海辰储能科技股份有限公司 搬运机构、搬运工装和电池模组的搬运结构
CN116890943B (zh) * 2023-09-11 2023-11-14 广州市捷丰自动化设备有限公司 一种铁路过轨agv

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4585212A (en) * 1984-12-07 1986-04-29 International Business Machines Corporation Lift device of the scissor-jack type
US4892290A (en) * 1988-05-16 1990-01-09 Hart John A Combination hoist and stand
CN105000506B (zh) * 2015-08-06 2017-09-22 遂宁市长丰机械科技有限公司 组合叉臂随车搬运车
WO2017033169A2 (fr) * 2015-08-27 2017-03-02 Zvi Raz Système de levage
CN108117009B (zh) * 2018-02-11 2022-05-27 杭州海康机器人技术有限公司 一种用于搬运装置的伸缩臂
CN110667459A (zh) * 2019-10-24 2020-01-10 山东科技大学 一种螳螂臂前后双举升机构多功能轿运车
CN112830418B (zh) * 2020-12-31 2022-09-30 杭州海康机器人技术有限公司 一种搬运装置及货物搬运方法
CN112850552B (zh) * 2020-12-31 2023-09-19 杭州海康机器人股份有限公司 一种搬运装置及货物搬运方法

Also Published As

Publication number Publication date
JP2024502507A (ja) 2024-01-19
WO2022142668A1 (fr) 2022-07-07
KR20230125295A (ko) 2023-08-29

Similar Documents

Publication Publication Date Title
EP4273086A1 (fr) Dispositif de transport et procédé de transport de marchandises
CN112850552B (zh) 一种搬运装置及货物搬运方法
CN107165450B (zh) 传送式搬运车
CN112977150B (zh) 电动汽车电池充换电站及更换电池方法
CN113443585A (zh) 码垛机器人
CN112830418B (zh) 一种搬运装置及货物搬运方法
CN114906773B (zh) 叉车机器人及工作方法
CN212654233U (zh) 一种纯电动重卡的换电系统
CN112060969A (zh) 一种纯电动重卡的换电系统及换电方法
CN210419117U (zh) 一种rgv运输车
WO2022156643A1 (fr) Véhicule à guidage automatique
CN211776226U (zh) 一种低高度升降平台和立体停车自动导引车
CN214028918U (zh) 一种agv智能防护小车
CN210764164U (zh) 一种移动底盘及搬运机器人
CN117246945B (zh) 基于agv动力系统的叉举换向协力搬运小车
CN219009839U (zh) 全向叉车
CN217703492U (zh) 一种用于运物机器人上的托举装置
WO2024087318A1 (fr) Véhicule de transport à support de plateau guidé automatisé
JPH05213437A (ja) 移載システム及び移載機
JP2623456B2 (ja) 搬送台車装置
CN216341292U (zh) 一种用于堆垛式立体车库的汽车搬运器
CN219279409U (zh) 一种四向运输车用的顶升结构
CN218665297U (zh) 一种自动引导托盘搬运运输车
CN108979251B (zh) 一种智能传送带式搬运器
CN217806701U (zh) 一种新型升降rgv小车结构

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20230726

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)