WO2022142668A1 - Dispositif de transport et procédé de transport de marchandises - Google Patents

Dispositif de transport et procédé de transport de marchandises Download PDF

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Publication number
WO2022142668A1
WO2022142668A1 PCT/CN2021/127240 CN2021127240W WO2022142668A1 WO 2022142668 A1 WO2022142668 A1 WO 2022142668A1 CN 2021127240 W CN2021127240 W CN 2021127240W WO 2022142668 A1 WO2022142668 A1 WO 2022142668A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle body
arm
lift
climbing
lifting
Prior art date
Application number
PCT/CN2021/127240
Other languages
English (en)
Chinese (zh)
Inventor
白寒
Original Assignee
杭州海康机器人技术有限公司
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 杭州海康机器人技术有限公司 filed Critical 杭州海康机器人技术有限公司
Priority to JP2023548336A priority Critical patent/JP2024502507A/ja
Priority to KR1020237025773A priority patent/KR20230125295A/ko
Priority to EP21913412.9A priority patent/EP4273086A1/fr
Publication of WO2022142668A1 publication Critical patent/WO2022142668A1/fr

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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 application relates to the technical field of automatic guided transportation, and in particular, to a handling device and a cargo handling method.
  • the carrying device usually includes a car body and a carrying arm arranged on the car body; the carrying arm includes an arm body, a lifting mechanism and a supporting wheel arranged on the arm body.
  • the carrying arm can extend from the vehicle body to lift the goods through the lifting mechanism, and place the lifted goods on the vehicle body, and the vehicle body transports the goods to the destination.
  • the process that the handling arm extends from the car body to carry the goods is usually to lift the goods and lift the goods vertically up to a predetermined height, and then the car body walks forward until the lifting mechanism lifts the goods. Below the cargo, the lifting mechanism places the lifted cargo on the vehicle body.
  • a process of vertically upward lifting and a process of moving the car body forward are required, and the handling efficiency is not high.
  • embodiments of the present application provide a handling device and a method for handling goods.
  • an embodiment of the present application provides a transport device, comprising: a vehicle body and a transport arm, wherein the transport arm is provided in the vehicle body; the transport arm includes an arm body, and the arm body is provided with Lifting mechanism; the carrying arm can be extended in the horizontal direction from the vehicle body, so as to lift the goods through the lifting mechanism and return to the vehicle body.
  • the top of the lifting mechanism moves in a horizontal direction toward the direction in which the carrying arm returns to the vehicle body .
  • the lift mechanism includes a lift drive mechanism and a foldable lift actuator; the lift actuator is connected to the lift drive mechanism; the lift drive mechanism When driving the lift actuator to perform a retracting action, the lift actuator folds and contracts toward the direction in which the carrying arm extends from the vehicle body in the horizontal direction; the lift drive mechanism drives the lift When the actuator performs the lifting and extending action, the top of the lifting actuator moves in the horizontal direction toward the direction in which the carrying arm returns to the vehicle body.
  • the lift actuator includes a link mechanism and a pull rod; the bottom end of the link mechanism is hinged on the arm body; the first end of the pull rod is connected to the lift rod.
  • the drive mechanism is hinged, and the second end is hinged with the link mechanism; the lift drive mechanism pulls the pull rod, and the pull rod pulls the link mechanism to perform a retracting action; the lift drive mechanism pushes the A pull rod pushes the link mechanism to perform a stretching and lifting action.
  • the pull rod includes a first pull rod and a second pull rod, a first end of the first pull rod is hinged with the lift drive mechanism, and a second end is connected with the second pull rod
  • the first end of the second pull rod is hinged with the link mechanism; the second end of the first pull rod is provided with a first limit block, and the second end of the second pull rod is hinged with the link mechanism;
  • the first end is provided with a second limit block; after the first pull rod and the second pull rod push the link mechanism to a predetermined height from the maximum contraction state, the first limit block and the second limit block
  • the limit blocks are in contact with each other.
  • the lift drive mechanism includes a lift drive motor, a power transmission mechanism connected to the lift drive motor, and a slider connected to the power transmission mechanism;
  • the block is arranged on the arm body and is hinged with the first end of the pull rod; the lift drive motor can drive the slider on the arm body through the power transmission mechanism, along the The length of the arm body moves back and forth.
  • the power transmission mechanism includes a lead screw
  • the slider includes a nut
  • the nut and the lead screw are threadedly connected to form a lead screw nut pair.
  • the vehicle body is provided with a suspension auxiliary mechanism for assisting the carrying arm to be suspended from the ground, and the arm body is provided with a support wheel.
  • the suspension assisting mechanism includes a climbing guide member disposed on the vehicle body; wherein, the carrying arm has a climbing member capable of climbing along the climbing guide member; the On the carrying arm and/or on the vehicle body, there is a power device for providing climbing power to the climbing component.
  • the climbing guide member includes a guide plate disposed at the bottom of the vehicle body and having a predetermined gradient relative to the ground; the climbing member on the carrying arm is the support wheel.
  • the climbing guide member includes: a first climbing guide member disposed at the first end of the vehicle body and a second climbing guide member disposed at the second end of the vehicle body; the The climbing member on the carrying arm includes a first climbing member capable of climbing along the first climbing guide member, and a second climbing member capable of climbing along the second climbing guide member.
  • the power device is used for providing climbing power to the first climbing member and/or the second climbing member.
  • the first climbing guide member includes a guide plate disposed at the bottom of the vehicle body and having a predetermined gradient relative to the ground;
  • the support wheels include spaced intervals along the length direction of the arm body a first support wheel and a second support wheel are provided;
  • the power device is arranged on the conveying arm and is connected with the first support wheel;
  • the first climbing component is the first support wheel;
  • the first support wheel climbs along the first climbing guide member, and at the same time, the second climbing member climbs along the second climbing guide member, so that the first support wheel and the second support wheel are lifted. off the ground.
  • the second climbing guide member includes a rolling body that can roll along the length direction of the arm body; the second climbing member is a support block disposed outside the arm body, The bottom of the support block has an inclined surface that supports and cooperates with the second climbing guide member.
  • the suspension assist mechanism includes a support portion provided on the vehicle body; wherein, the lift mechanism includes a lift drive mechanism and a lift execution mechanism; the lift execution mechanism The lift actuator is connected to the lift drive mechanism; the lift actuator is supported on the support portion on the vehicle body, the lift drive mechanism drives the lift actuator to continue to perform the retracting action, and the support wheel Lift off the ground.
  • the lift actuator includes a telescopic lift mechanism and a lift top plate disposed on the top of the telescopic lift mechanism; the lift drive mechanism drives the lift The actuator retracts to a predetermined position, and the lift top plate is supported on the support portion on the vehicle body; the lift drive mechanism drives the lift actuator to continue the retracting action, and the support wheel is lifted off the ground.
  • the support portion includes a first support portion provided on a first side of the vehicle body and a second support portion provided on a second side of the vehicle body; the lift top plate There are first bumps supported and matched with the first support part on both sides, and second bumps supported and matched with the second support part; the lift drive mechanism drives the lift actuator retracted to a predetermined position, the first protrusion is supported on the first support portion, the second protrusion is supported on the second support portion, and the lift drive mechanism drives the lift actuator Continuing to do the contraction, the support wheel is lifted off the ground.
  • the vehicle body has a carrying arm accommodating groove extending in a horizontal direction, and the carrying arm is provided in the carrying arm accommodating groove; between the carrying arm accommodating groove and the carrying arm accommodating groove Slide rails are arranged between the transport arms; a slide rail guide and a support structure are provided on the sides of the transport arm accommodating grooves, and the slide rail guide and support structures cooperate with the slide rails to provide a lateral direction for the slide rails Guide and vertical support; the slide rail guide and support structure can support the slide rail to move up and down.
  • the side portion of the carrying arm accommodating groove is provided with a vertical guide structure;
  • the slide rail guide and support structure includes: a base portion and a guide and support portion connected to the base portion.
  • the base is in sliding fit or rolling fit with the vertical guide structure up and down;
  • the guide and support part is matched with the slide rail to provide lateral guidance and vertical support for the slide rail.
  • an embodiment of the present application provides a cargo handling method, including: a vehicle body runs to a position close to a predetermined position of the cargo, a handling arm extends from the vehicle body to the bottom of the cargo; a lift mechanism of the handling arm is The lifting action lifts the cargo and returns it to a predetermined position in the vehicle body; the lifting mechanism performs a retracting action to place the lifted cargo on the vehicle body.
  • the cargo moves in a horizontal direction toward the direction in which the carrying arm returns to the vehicle body .
  • the cargo moves in a horizontal direction toward the direction in which the carrying arm returns to the vehicle body , including: when the lifting drive mechanism drives the lifting actuator to perform the lifting and stretching action, the goods on the top of the lifting actuator are lifted, and the transport arm is returned to the vehicle body in the horizontal direction. direction move.
  • the lift actuator includes a link mechanism and a pull rod; wherein, the lift drive mechanism drives the lift actuator to perform a lift and extension action, including: the lift drive mechanism The pull rod is pushed, and the pull rod pushes the link mechanism to perform a stretching and lifting action.
  • the lift drive mechanism pushes the pull rod, and the pull rod pushes the link mechanism to perform the stretching and lifting action, including: the lift drive motor drives the slider through the power transmission mechanism When moving, the slider pushes the pull rod, and the pull rod pushes the link mechanism to perform a stretching and lifting action.
  • the lifting mechanism of the transport arm performs a lifting action to lift the cargo and return it to a predetermined position in the vehicle body, including: The lifting mechanism performs a lifting action, and during the process of lifting the cargo, the carrying arm moves into the vehicle body.
  • the vehicle body runs to a position close to the predetermined position of the goods
  • the carrying arm extends from the vehicle body to the bottom of the goods, including: the vehicle body runs to a position close to the predetermined position of the goods, the carrying arm After the supporting wheel of the vehicle falls from the suspended state to contact with the ground, the carrying arm extends from the vehicle body to the bottom of the cargo.
  • the supporting wheel of the transport arm falls from a suspended state to contact with the ground, including: the walking driving mechanism of the transport arm is actuated, so that the supporting wheel of the transport arm is in the After the vehicle body travels a predetermined distance in a predetermined direction, it falls to contact the ground; or, the lifting mechanism is in a retracted state, the lifting mechanism is supported on the vehicle body, and the support wheels of the transport arm are suspended in the air state; the lifting mechanism performs a lifting action, and the support wheel of the carrying arm falls down to contact the ground.
  • the method further includes: the supporting wheel of the transport arm is separated from the The ground is suspended; the vehicle body walks to transport the goods to the destination.
  • the supporting wheels of the transport arm are suspended from the ground, including: the transport arm continues to walk in the vehicle body, climbs up to the vehicle body, and the transport arm supports The wheel is suspended from the ground; or, the lifting mechanism continues to perform a retracting action until it is supported on the vehicle body, the lifting mechanism further performs a retracting action, and the supporting wheel is lifted off the ground.
  • the carrying arm continues to walk in the vehicle body and climbs onto the vehicle body, and the support wheels of the carrying arm are suspended from the ground, including: the carrying arm is in the Continue to walk inside the vehicle body, the support wheel at the first end of the transport arm climbs along the first climbing guide member at the first end of the vehicle body, and the climbing member on the side of the second end of the transport arm climbs along the vehicle body The second climbing guide member on the side of the second end of the body climbs upward.
  • the support wheel at the first end of the transport arm climbs along the first guide member at the first end of the vehicle body, including: the support wheel at the first end of the transport arm, along the first guide member at the first end of the vehicle body
  • the bottom of the first end of the vehicle body has a guide plate with a predetermined slope to climb up; , comprising: the climbing guide surface at the bottom of the support block on the second end side of the carrying arm climbs upward along the rolling body on the second end side of the vehicle body.
  • the lifting mechanism lifts the goods from a low position to a high position.
  • the top of the lifting mechanism (that is, the lifted goods) moves in the horizontal direction toward the direction in which the carrying arm returns to the vehicle body, that is to say, when the lifting mechanism performs the lifting action, the The top runs along a curved track and has two displacement components, vertical and horizontal.
  • the direction of the vehicle body is moved, so that during the lifting process of the lifting mechanism, the lifting of the goods and the transport of the goods towards the direction of the vehicle body can be realized at the same time, which can improve the handling efficiency of the goods by the transport arm.
  • the carrying arm After the carrying arm returns to the car body, the carrying arm can be suspended from the ground through the suspension auxiliary mechanism on the car body, so that the supporting wheel of the carrying arm is lifted off the ground and does not contact the ground, so that the carrying device is in operation during the operation. , only the car body is in contact with the ground, and the carrying arm is in a suspended state from the ground, which reduces the friction with the ground, makes the walking resistance of the carrying device smaller, and travels faster.
  • FIG. 1 is a schematic structural diagram of a handling device according to an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of the carrying arm in FIG. 2 (the lifting mechanism is in a retracted state);
  • FIG. 3 is a schematic structural diagram of the carrying arm in FIG. 2 (the lifting mechanism is in a lifting state);
  • FIG. 4 is a schematic diagram of a carrying arm extending from a vehicle body to lift a cargo according to an embodiment of the application;
  • FIG. 5 is a schematic diagram of a transport arm in a vehicle body in a transport device according to an embodiment of the application (the transport arm is in a state before climbing);
  • FIG. 6 is a schematic diagram of another state of the transport arm in the vehicle body before climbing in the transport device according to an embodiment of the application;
  • FIG. 7 is a schematic diagram of a state in which the carrying arm is suspended from the ground after climbing in the vehicle body in the carrying device according to an embodiment of the application;
  • FIG. 8 is a schematic structural diagram of a carrying device according to another embodiment of the application (the carrying arm is in the vehicle body);
  • FIG. 9 is a schematic structural diagram of the carrying arm extending out of the vehicle body through the slide rail in the embodiment shown in FIG. 8;
  • Fig. 10 is a schematic diagram of the lifting mechanism of the carrying arm in the lifting state in the embodiment shown in Fig. 8;
  • FIG. 11 is a schematic structural diagram of the carrying arm returning to the vehicle body in the embodiment shown in FIG. 8;
  • FIG. 12 is a schematic structural diagram of the support portion of the lift mechanism in the embodiment shown in FIG. 8 that supports the top plate on the vehicle body;
  • FIG. 13 is a schematic side view of the structure of the support portion of the lift mechanism in which the top plate is supported on the vehicle body in the embodiment shown in FIG. 8;
  • Figure 14 is a schematic diagram of the carrying arm suspended from the ground in Figure 13;
  • 15 is a schematic flowchart of a cargo handling method according to an embodiment of the application.
  • Figure 16 is a schematic diagram of the state in which the vehicle body runs to a position close to the predetermined position of the cargo, and the carrying arm extends from the vehicle body to the bottom of the cargo;
  • Figure 17 is a schematic diagram of the state in which the lifting mechanism lifts the tray from a low position to a high position
  • Figure 18 is a schematic diagram of the state in which the transport arm transports the goods to just above the vehicle body
  • Figure 19 is a schematic diagram of the lifting mechanism doing a retracting action and placing the lifted tray on the vehicle body
  • Figure 20 is a schematic structural diagram of the lifting mechanism placing the lifted pallet on the vehicle body, and the carrying arm is suspended from the ground after climbing;
  • FIG. 21 is a schematic flowchart of a cargo handling method according to another embodiment of the present application.
  • the carrying device 10 includes: a car body 20 and a carrying arm 30 , the carrying arm 30 is provided in the car body 20 ; the carrying arm 30 includes an arm body 301 , and in the The arm body 301 is provided with a lifting mechanism 303 ; the carrying arm 30 can extend from the vehicle body 20 in a horizontal direction to lift the goods through the lifting mechanism 303 and return to the vehicle body 20 middle.
  • the lifting mechanism 303 When the lifting mechanism 303 lifts the cargo from a low position to a high position, the top of the lifting mechanism 303 moves in a horizontal direction toward the direction in which the carrying arm 30 returns to the vehicle body 20 .
  • the handling device may also be referred to as an automatic guided handling device, a handling robot, a handling AGV, or an Automated Guided Vehicle (AGV).
  • AGV refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, which can travel along a prescribed guidance path, and has safety protection and various transfer functions.
  • the handling device can handle various types of goods, racks and loads, as long as there is space below for the handling arm 30 to enter.
  • the vehicle body 20 may be provided with an omnidirectional walking unit, a sensing unit, a battery, a charging unit, a control unit, an anti-collision unit, a code reading unit, a communication unit, and the like.
  • the sensing unit can use sensors such as laser, vision, infrared, and photoelectricity.
  • the omnidirectional walking unit can realize various walking modes such as straight line, diagonal line and arc, and can also be replaced with other walking units to realize different walking modes.
  • the vehicle body 20 may be provided with a guide structure for the carrying arm 30 to enter and exit, such as a guide groove or a guide rail.
  • a guide structure for the carrying arm 30 to enter and exit such as a guide groove or a guide rail.
  • the vehicle body 20 may be provided with a carrying arm accommodating groove 201
  • the carrying arm 30 may be provided in the carrying arm accommodating groove 201 .
  • Two carrying arm accommodating slots 201 may be arranged in parallel on the vehicle body 20 , each carrying arm accommodating slot 201 is provided with a carrying arm 30 , and the two carrying arms 30 can work together.
  • the arm body 301 is provided with a support wheel, and the support wheel may be provided at the bottom of the arm body 301 to support the carrying arm 30 .
  • the supporting wheel may be a driving wheel with driving power or a caster wheel without driving power.
  • a support wheel can be provided at one end of the arm body 301, and the other end of the arm body 301 can be supported on the vehicle body 20; referring to FIG. 2 and FIG.
  • both ends of the arm body 301 can be supported on the ground by supporting wheels, the supporting wheels 302a can be driving wheels, and the supporting wheels 302b can be casters.
  • the lifting mechanism 303 is used to lift the goods, or to lift the pallets containing the goods.
  • FIG. 4 in an example, when the lift mechanism 303 lifts the tray 100 from a low position to a high position, the top of the lift mechanism 303 returns to the vehicle body toward the carrying arm 30 in the horizontal direction 20, the direction indicated by the arc arrow in FIG. 4 indicates the direction in which the lifting mechanism 303 lifts the tray 100 from a low position to a high position, and the direction indicated by the horizontal arrow is the return of the carrying arm 30 to the vehicle body. 20 directions.
  • the lift mechanism 303 lifts the goods from a low position to a high position , the top of the lifting mechanism 303 (that is, the lifted goods) moves in the horizontal direction toward the direction in which the carrying arm 30 returns to the vehicle body 20 , that is, the lifting mechanism 303 lifts During the lifting action, the top of the lifting mechanism 303 runs along a curved trajectory, and has two displacement components, vertical and horizontal.
  • the lifting mechanism 303 may be lifted along a predetermined curve trajectory, which may be a lifting mechanism with driving forces in the vertical direction and the horizontal direction, respectively, while the lifting mechanism 303 is lifted in the vertical direction, the horizontal direction is applied The driving force on to push the lifting mechanism 303 to move in the horizontal direction.
  • the lifting mechanism 303 may be a screw-type nut lifting mechanism, a multi-link lifting mechanism, a scissor-type lifting mechanism, or the like.
  • the lifting mechanism 303 can be a foldable lifting mechanism.
  • the The lift mechanism 303 may include a lift drive mechanism and a foldable lift actuator; the lift actuator is connected to the lift drive mechanism;
  • the lift actuator When the lift driving mechanism drives the lift actuator to perform a retracting action, the lift actuator can be folded and retracted toward the carrying arm 30 in a direction protruding from the vehicle body 20 in the horizontal direction. on the arm body 301 of the arm 30, so that when the lift driving mechanism drives the lift actuator to perform the lifting and stretching action, the top of the lift actuator can return to the carrying arm 30 in the horizontal direction move in the direction of the vehicle body 20 .
  • the lift actuator may include a link mechanism and a pull rod; the bottom end of the link mechanism is hinged on the arm body 301 ; the first end of the pull rod is connected to the lift drive mechanism The second end is hinged with the link mechanism; the lift drive mechanism pulls the pull rod, and the pull rod pulls the link mechanism to perform a retracting action; the lift drive mechanism pushes the pull rod, The pull rod pushes the link mechanism to perform a stretching and lifting action.
  • the link mechanism includes a lift top plate 3031, a first link 3032 and a second link 3033, the bottom end of the first link 3032 is hinged with the arm body 301, and the top end is connected with the lift
  • the lift top plate 3031 is hinged, the bottom end of the second link 3033 is hinged with the arm body 301, and the top end is hinged with the lift top plate 3031; A parallel four-bar linkage is formed between them.
  • the lift top plate 3031 is used to lift goods.
  • first connecting rods 3032 there may be two first connecting rods 3032, and the two first connecting rods 3032 are arranged in parallel; there are also two second connecting rods 3033, Two second connecting rods 3033 are arranged in parallel, and the lifting top plate 3031 is supported at four corners by four connecting rods.
  • the drawbar can be one.
  • One end of the pull rod is hinged with the lift drive mechanism, and the other end is hinged with the first link 3032 .
  • the number of pull rods is two, including a first pull rod 3034 and a second pull rod 3035, the first end of the first pull rod 3034 is hinged with the lift drive mechanism, and the second end It is hinged with the first end of the second pull rod 3035 , and the second end of the second pull rod 3035 is hinged with the first link 3032 .
  • the number of the first links 3032 is two, each of the first links 3032 corresponds to two pull rods respectively.
  • the first pull rod 3034 when the link mechanism is in the maximum contraction state, the first pull rod 3034 is horizontally supported on the arm body 301, and there is a predetermined angle between the second pull rod 3035 and the first pull rod 3034, and the range of the predetermined angle can be It is greater than or equal to 150 degrees and less than or equal to 180 degrees. In this way, it is convenient for the lift drive mechanism to apply a lifting force to the link mechanism, and the link mechanism can be pushed from the retracted state to the extension lift with a small thrust. state.
  • a first limit block (not shown in the figure) may be provided at the second end of the first pull rod 3034
  • a second limit block (not shown in the figure) may be disposed at the first end of the second pull rod 3035 .
  • the lift drive mechanism may include a lift drive motor 304 , a power transmission mechanism 305 connected to the lift drive motor 304 , and a slider 360 connected to the power transmission mechanism 305
  • the slider 360 is arranged on the arm body 301 and is hinged with the first end of the first pull rod 3034; the lift drive motor 304 can drive the slider 360 through the power transmission mechanism 305
  • the arm body 301 moves back and forth along the length direction of the arm body 301, thereby driving the first pull rod 3034 to move, the movement of the first pull rod 3034 drives the second pull rod 3035 to move, and the second pull rod 3035 drives the first link 3032 rotates around the hinge point with the arm body 301.
  • the power transmission mechanism 305 shown in FIG. 3 includes a lead screw, the slider 360 includes a nut, and the nut is threadedly connected with the lead screw to form a lead screw nut pair.
  • the power transmission mechanism 305 can also be a chain transmission mechanism or a rack and pinion transmission mechanism.
  • a long chute 370 extending in the horizontal direction may be provided on the side of the arm body 301 of the carrying arm 30 , and one end of the hinge shaft 308 between the slider 360 and the first pull rod 3034 is provided in the chute 370 In the middle, the sliding slot 370 limits the hinge point between the slider 360 and the first pull rod 3034, so that it can always move in the horizontal direction.
  • the hinge point between the slider 360 and the first pull rod 3034 moves in the horizontal direction, the hinge point between the slider 360 and the first pull rod 3034 can be supported on the arm body 301 of the support arm, so that the lifting mechanism 303 Provide stable support.
  • a support block 309 can be provided on the side of the slider 360 , and the first end of the first pull rod 3034 can be hinged with the support block 309 .
  • support blocks 309 can be respectively provided on both sides of the sliding block 360 .
  • the vehicle body 20 is provided with a suspension assist mechanism for assisting the carrying arm 30 to be suspended from the ground.
  • the carrying arm 30 When carrying an item, the carrying arm 30 extends horizontally from the vehicle body 20 to the bottom of the item, lifts the item through the lifting mechanism 303, and returns to the vehicle body 20.
  • the lifting mechanism 303 places the lifted item on the vehicle.
  • the suspension assist mechanism on the vehicle main body 20 suspends the carrying arm 30 from the ground.
  • the carrying arm 30 can also be suspended from the ground by the suspending auxiliary mechanism when the lifting mechanism 303 supports the object.
  • the carrying arm 30 can be suspended from the ground through the suspension auxiliary mechanism on the vehicle body 20, so that the supporting wheels 302a and 302b of the carrying arm 30 are lifted off the ground and not in contact with the ground.
  • the handling arm 30 is in a suspended state from the ground, which reduces the friction between the handling device 10 and the ground, so that the walking resistance of the handling device 10 is smaller and the walking is faster.
  • the suspension assist mechanism may be a carry arm climb assist mechanism.
  • the suspension assisting mechanism may include a climbing guide member provided on the vehicle body 20; accordingly, the carrying arm 30 has a climbing member capable of climbing along the climbing guide member.
  • the climbing guide member may be a guide plate, a guide block, a guide rail, a guide wheel, a guide rope, or the like.
  • the climbing member may be a rolling body that can be rolled, or a non-rolling body, a block or a plate that can slide along the climbing guide member, and the like.
  • the carrying device 10 In order to push or pull the carrying arm 30 to climb along the climbing guide member, the carrying device 10 also has a power device for providing climbing power to the climbing member.
  • the power device may include a drive motor, a deceleration mechanism connected with the drive motor, a power transmission mechanism connected with the deceleration mechanism, and the power transmission mechanism is connected with the carrying arm 30 .
  • the power transmission mechanism may be a traction rope, a conveyor belt, a chain, a gear, and/or a rack or the like.
  • the power device may be provided on the carrying arm 30 , or on the vehicle body 20 , or may be provided on the carrying arm 30 and the vehicle body 20 respectively.
  • the climbing guide member may include a guide plate disposed at the bottom of the vehicle body 20 and having a predetermined gradient relative to the ground; the support wheel on the carrying arm 30 may not only serve as a walking and supporting member of the carrying arm 30, but also as a climbing part.
  • the power device When the support wheel is in contact with the guide plate, the power device provides climbing power (for example, by pushing or dragging the arm body 301 of the carrying arm 30 to move forward), and the support wheel climbs to the vehicle body 20 along the guide plate, so as to realize the support wheel of suspending from the ground.
  • the climbing guide member may include: a first climbing guide member 401 a provided at the first end of the vehicle body 20 and a first climbing guide member 401 a provided on the first end of the vehicle body 20 .
  • the power device is used to provide climbing power to the first climbing member 304a and/or the second climbing member 304b.
  • first climbing guide member 401a and the second climbing guide member 401b may be a guide plate, a guide block, a guide track, a guide wheel, a guide rope, and the like.
  • the first climbing member 304a and the second climbing member 304b may be rollable rolling bodies or non-rollable, blocks or plates that can slide along the first climbing guide member and the second climbing guide member respectively.
  • the first climbing member 304a and the second climbing member 304b on the transport arm 30 cooperate with the first climbing guide member 401a and the second climbing guide member 401b on the vehicle body 20, respectively, so that the transport arm can be mounted on the transport arm.
  • the two different positions of the carrying arm 30 simultaneously lift the carrying arm 30 upward, which is beneficial to improve the climbing efficiency of the carrying arm 30, and the carrying arm 30 can be suspended from the ground in a short period of time.
  • the first climbing guide member 401a may include a guide plate 402 disposed at the bottom of the first end of the vehicle body 20 and having a predetermined gradient relative to the ground.
  • the first support wheel 302a can be used as a first climbing member 304a to climb along the guide plate 402 .
  • the power device is arranged on the carrying arm 30 and connected to the first support wheel 302a; in this embodiment, the power device is connected to the first support wheel 302a to provide climbing power for the first support wheel 302a.
  • the power device can also provide driving power for the first support wheel 302a to walk on the ground. Therefore, the power device can also serve as a power driving device for the first support wheel 302a. , that is, through the power device, the climbing power can be provided for the first support wheel 302a, and the driving power can also be provided for the first support wheel 302a to walk on the ground.
  • the power device that provides climbing power for the first support wheel 302a and the drive device that provides driving power for the first support wheel 302a to walk on the ground may also be two sets of independent power device.
  • the bottom of the guide plate 402 can be kept at a certain height with the ground, so as not to affect the normal running of the vehicle body 20.
  • a rotating shaft 202 may be provided on the vehicle body 20 , the guide plate 402 is connected with the rotating shaft 202 , and a torsion spring is installed on the rotating shaft 202 .
  • the guide plate 402 is inclined downward and has a certain height from the ground.
  • the support wheel 302a When the support wheel 302a contacts the guide plate 402 and continues to walk, the support wheel 302a can push the guide plate 402 to rotate, so that the bottom end of the guide plate 402 contacts the ground, providing strong support for the support wheel 302a to climb. After the support wheel 302a climbs onto the vehicle body, the guide plate 402 returns to the initial position under the action of the restoring force of the torsion spring, and the bottom of the guide plate 402 maintains a certain height from the ground.
  • the rotating shaft 202 can be located behind the support wheel 302a to prevent the support wheel 302a from retreating to a certain extent, preventing the vehicle body 20 from walking due to uneven road surface or
  • the support wheel 302a of the conveying arm 30 slips off the vehicle body 20 due to the acceleration or deceleration of the vehicle body 20, and then re-grounds.
  • the second climbing guide member 401b may include a rolling body capable of rolling along the length direction of the arm body 301, such as rollers, balls, rollers, and the like.
  • the second climbing member 304b is a support block 350 disposed outside the arm body 301 , and the bottom of the support block 350 has an inclined surface that supports and cooperates with the second climbing guide member 401b.
  • the second climbing member 304b may be a rolling body such as a roller, a ball or a roller, which is provided on the outer side of the arm body 301 .
  • the first climbing guide member 401a may include a first set of guide plates disposed on both sides of the first end of the carrying arm accommodating groove 201;
  • the second group of guide plates on both sides of the two ends; the first group of guide plates and the second group of guide plates have guiding inclined surfaces;
  • the second climbing member 304b on the carrying arm 30 is the second group of support blocks arranged on both sides of the second end of the arm body 301 of the carrying arm 30; the first group of support blocks and the second group of support blocks
  • the bottom of the support block has inclined surfaces matched with the guiding 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 are close to the first group of guide plates, and at the same time when the second group of support blocks are close to the second group of guide plates, the power device provides climbing power for the carrying arm 30, and the first group of support blocks climbs along the first group of guide plates, At the same time, the second group of support blocks climbs along the second group of guide plates, so that the support wheels 302a and 302b of the carrying arm 30 can be suspended from the ground.
  • a sliding rail 50 is provided between the carrying arm accommodating groove 201 and the carrying arm 30 .
  • the side of the carrying arm accommodating groove 201 is provided with a slide rail guide and support structure 203, and the slide rail guide and support structure 203 cooperates with the slide rail 50 to provide lateral guidance and vertical support for the slide rail 50; the slide rail
  • the guide and support structure 203 can support the slide rail 50 to move up and down.
  • the slide rail 50 can move laterally (horizontally) telescopically relative to the carrying arm accommodating slot 201 , and the carrying arm 30 can move horizontally along the slide rail 50 .
  • the slide rail 50 may also be referred to as the secondary rail of the carry arm 30 .
  • the carrying arm 30 When the carrying arm 30 is suspended from the ground in a climbing manner, the carrying arm 30 will move upward as a whole.
  • the upper and lower positions of the slide rail 50 relative to the vehicle body 20 can be relatively fixed, and the carrying arm 30 can move up and down relative to the slide rail 50 .
  • the upper and lower positions of the sliding rail 50 relative to the vehicle body 20 can be relatively movable, the carrying arm 30 is relatively fixed up and down relative to the sliding rail 50 , and the carrying arm 30 together with the sliding rail 50 can move up and down relative to the vehicle body 20 .
  • a vertical guide structure 204 is provided on the side of the carrying arm accommodating slot 201;
  • the slide rail guide and support structure 203 may include: a base and a guide and support connected to the base, the base and the vertical
  • the guide structure 204 is slidably fitted up and down or rolled up and down; the guide and support parts are matched with the slide rail 50 to provide lateral guidance and vertical support for the slide rail 50 .
  • the vertical guide structure 204 is a vertical guide groove, and the base can move up and down in the vertical guide groove.
  • the vertical guide structure is a vertical guide rail, the base is provided with a sliding groove, and the base is slidably fitted with the vertical guide rail through the sliding groove.
  • the suspension assist mechanism may also adopt a lift-type suspension assist mechanism.
  • the suspension assist mechanism may include a support portion provided on the vehicle body 20; wherein the lift mechanism includes a lift drive mechanism and a lift execution mechanism.
  • the lift actuator is connected with the lift drive mechanism; the lift actuator can be supported on the support portion on the vehicle body 20, after the lift actuator is supported on the support portion on the vehicle body 20, the lift drive mechanism The driving lift actuator continues to do the retraction action, and the support wheel lifts off the ground.
  • the lift drive mechanism drives the lift mechanism to perform a retracting action
  • the lift actuator can be supported on the support portion on the vehicle body 20, and the lift drive mechanism drives the lift The actuator continues to contract, and the support wheel is lifted off the ground.
  • the in-situ suspension operation of the carrying arm 30 can be realized, and the structure of the vehicle body 20 can be made more compact.
  • the support part on the vehicle body 20 may be a support groove provided on the vehicle body 20.
  • the support groove can not only support the lifting actuator, but also support the lifting mechanism (ie, the carrying arm 30).
  • the transport arm 30 can be prevented from shaking back and forth on the vehicle body 20 due to uneven road surface or during the acceleration or deceleration of the vehicle body 20 .
  • the lift actuator includes a telescopic lift mechanism and a lift top plate on the top of the telescopic lift mechanism; the lift drive mechanism drives the lift actuator to shrink to a predetermined position, and the lift top plate is supported on the vehicle body 20 On the upper part; the lift drive mechanism drives the lift actuator to continue the retracting action, and the support wheels 302a and 302b are lifted off the ground.
  • the lift top plate is supported on the support part on the vehicle body 20, the lift drive mechanism drives the lift actuator to continue to perform the retracting action, and the support wheels are lifted off the ground, so that the lift actuator can be in a retracted state as much as possible, so that
  • the overall height dimension of the lifting mechanism is relatively small, so that the height of the vehicle body 20 is relatively low, the center of gravity is lower, and the operation is more stable.
  • the lift drive mechanism drives the lift actuator to retract to a predetermined position, and the lift top plate is supported on the support portion on the vehicle body 20 .
  • the lift drive mechanism drives the lift actuator to retract to a predetermined position, or the lift actuator is supported on a support portion on the vehicle body 20, for example, the lift actuator can be provided on the side of the lift actuator. Structures such as protrusions are supported on the support portion on the vehicle body 20 .
  • the support portion on the vehicle body 20 may include a first support portion 206 provided on the first side of the vehicle body 20 and a second support provided on the second side of the vehicle body 20 part 207; both sides of the lifting top plate 308 have first bumps 306 supporting and matching with the first support part 206, and second bumps 307 supporting and matching with the second support part 207; see FIG. 12 and FIG. 13 , the lift drive mechanism drives the lift actuator to shrink to a predetermined position, the first bump 306 is supported on the first support portion 206, and the second bump 307 is supported on the second support portion 207; refer to FIG. 14, the lift drive The mechanism drives the lifting actuator to continue the retracting action, and the support wheels 302a and 302b are lifted off the ground.
  • the number of the first support portion 206 and the second support portion 207 on the vehicle body 20 may be two or more respectively, and correspondingly, the first bump 306 and the second bump The number of 307 may also be two or more, respectively.
  • the first support portion 206 and the second support portion 207 can be respectively support blocks or support grooves. In addition to supporting the lifting mechanism 303, the support grooves can also be used for the lifting mechanism 303 (that is, for carrying the lifting mechanism 303).
  • the arm 30 plays a limiting role to prevent the transport arm 30 from shaking back and forth on the vehicle body 20 during the acceleration or deceleration of the vehicle body 20 due to uneven road surface.
  • a magnetic attraction component (such as a magnet) may be provided on the first support portion 206 and/or the second support portion 207
  • a magnetic component (such as a magnet) may be provided on the first bump 306 and/or the second bump 307 (for example, on the first bump 306 and/or the second bump 307 ).
  • the bottoms of a bump 306 and a second bump 307) are provided with corresponding magnetic attraction parts.
  • the magnetic attraction member provided on the first support portion 206 and/or the second support portion 207 can be magnetically attracted together with the magnetic attraction member provided on the first bump 306 and/or the second bump 307, so that in the first When a bump 306 and a second bump 307 are to be supported on the first support portion 206 and the second support portion 207 , the automatic alignment between the bump and the support portion can be achieved by magnetic attraction components.
  • the protrusion ie, the conveying arm 30
  • the protrusion ie, the conveying arm 30
  • an embodiment of the present application further provides a cargo handling method, including the steps:
  • the vehicle body runs to a position close to the predetermined position of the cargo, and the carrying arm extends from the vehicle body to the bottom of the cargo.
  • the vehicle body 20 runs to a predetermined position close to the pallet 100 , and the carrying arm 30 extends from the vehicle body to the bottom of the pallet 100 .
  • the lifting mechanism of the carrying arm performs a lifting action to lift the cargo and return it to a predetermined position in the vehicle body;
  • the cargo in the step S102, during the process of lifting the cargo from a low position to a high position by the lifting mechanism, the cargo is returned to the transport arm in the horizontal direction to a position in the vehicle body. direction move.
  • the lifting mechanism lifts the pallet from a low position to a high position; in Figure 18, the transport arm transports the goods to the top of the vehicle body.
  • the lifting mechanism performs a retracting action to place the lifted cargo on the vehicle body.
  • FIG. 19 is a schematic diagram of the lifting mechanism performing a retracting action and placing the lifted tray on the vehicle body.
  • the carrying arm extends from the vehicle body to the bottom of the cargo.
  • the lifting mechanism lifts the cargo from a low position to a high position.
  • the top of the lifting mechanism (that is, the lifted goods) moves in the horizontal direction to the direction in which the carrying arm returns to the vehicle body, that is, when the lifting mechanism performs the lifting action, the top of the lifting mechanism (such as the top plate) runs along a curved trajectory, and has two displacement components, vertical and horizontal.
  • the displacement component in the vertical direction is the lifting process from the low position to the high position
  • the displacement component in the horizontal direction is the return to the conveying arm in the horizontal direction.
  • the cargo moves in the horizontal direction toward the direction in which the carrying arm returns to the vehicle body, which can Including: when the lifting driving mechanism drives the lifting actuator to perform the lifting and stretching action, the goods lifted on the top of the lifting actuator are returned to the transport arm in the horizontal direction in the vehicle body. direction move.
  • the lift actuator includes a link mechanism and a pull rod, the bottom end of the link mechanism is hinged on the arm body; the first end of the pull rod is hinged with the lift drive mechanism , the second end is hinged with the link mechanism.
  • the lifting and driving mechanism driving the lifting actuator to perform the lifting and stretching action includes: the lifting driving mechanism pushes the pull rod, and the pull rod pushes the link mechanism to perform the stretching and lifting action.
  • the link mechanism includes a lift top plate, a first link and a second link, the bottom end of the first link is hinged with the arm body, the top end is hinged with the lift top plate, and the second link is hinged with the arm body.
  • the bottom end is hinged with the arm body, and the top end is hinged with the lifting top plate; a parallel four-link mechanism is formed between the lifting top plate, the first link, the second link and the arm body.
  • a lift drive mechanism may include a lift drive motor, a power transmission mechanism connected to the lift drive motor, and a slider connected to the power transmission mechanism.
  • the lift drive mechanism pushes the pull rod, and the pull rod pushes the link mechanism to perform the stretching and lifting action, including: the lift drive motor drives the slider to move through the power transmission mechanism, and the slider pushes the pull rod , the pull rod pushes the link mechanism to perform the stretching and lifting action.
  • the lifting drive motor drives the slider to move through the power transmission mechanism, which may include: the lifting drive motor drives the lead screw to rotate, the lead screw drives the slider (nut) on the lead screw to move through the lead screw nut pair, and the slider pushes the The pull rod pushes the link mechanism to perform a stretching and lifting action.
  • the lifting mechanism of the transport arm performs a lifting action to lift the cargo and return it to a predetermined position in the vehicle body, including: performing a lifting action on the lifting mechanism of the transport arm. In the lifting action, during the process of lifting the cargo, the carrying arm moves into the vehicle body.
  • the top of the lifting mechanism (that is, the lifted goods) moves upward in the horizontal direction.
  • the conveying arm moves in the direction of returning to the vehicle body, and at the same time, the conveying arm also moves into the vehicle body, which can further improve the conveying efficiency of the conveying arm in carrying the goods to the vehicle body.
  • the lifting mechanism performs a retracting action, and after placing the lifted goods on the vehicle body, the following steps may be included: S106, the carrying arm The supporting wheel is suspended from the ground.
  • the carrying arm After the carrying arm returns to the predetermined position in the car body, the lifted goods are placed on the car body, and the supporting wheel of the carrying arm is suspended from the ground and does not contact the ground. In this way, the carrying device is in operation during operation. In the middle, only the car body is in contact with the ground, and the transport arm is in a suspended state from the ground, which reduces the friction with the ground, makes the walking resistance of the transport device smaller, and travels faster.
  • the vehicle body runs to a position close to the predetermined position of the goods
  • the carrying arm extends from the vehicle body to the bottom of the goods ( S100 ), including: the vehicle body runs to a predetermined position close to the goods, and the support wheels of the carrying arm are suspended from the air After the state falls to contact the ground, the carrying arm extends from the vehicle body to the bottom of the cargo.
  • the support wheels of the transport arm when the vehicle body is carrying the goods, the support wheels of the transport arm are in a suspended state; when the vehicle body runs close to the predetermined position of the goods, the support wheels of the transport arm fall from the suspended state to contact with the ground.
  • the carrying arm extends from the vehicle body to the bottom of the cargo.
  • the supporting wheel of the transport arm falls from a suspended state to contact with the ground, including: the travel drive mechanism of the transport arm is actuated, so that the supporting wheel of the transport arm falls to a predetermined distance after the vehicle body travels a predetermined distance in a predetermined direction. contact with the ground.
  • the supporting wheel of the transport arm travels a predetermined distance on the vehicle body in a predetermined direction and then falls to contact the ground, which is opposite to the process in which the supporting wheel of the transport arm climbs onto the vehicle body in the aforementioned transport device embodiment.
  • the supporting wheel of the carrying arm falls from a suspended state to contact with the ground, including: the lifting mechanism is in a retracted state, the lifting mechanism is supported on the vehicle body, and the supporting wheel of the carrying arm is in a suspended state; The mechanism performs a lifting action, and the support wheel of the carrying arm falls down to contact with the ground.
  • the support wheels of the transport arm are suspended from the ground, including: the transport arm continues to walk in the vehicle body, climbs onto the vehicle body, and the support wheels of the transport arm are suspended from the ground.
  • the supporting wheel of the carrying arm is suspended from the ground, including: the lifting mechanism continues to perform a retracting action until it is supported on the vehicle body, and the lifting mechanism further performs a retracting action to lift the supporting wheel off the ground.
  • the carrying arm continues to walk in the vehicle body, climbs onto the vehicle body, and the supporting wheel of the carrying arm is suspended from the ground, including: the carrying arm continues to walk in the vehicle body, and the supporting wheel at the first end of the carrying arm moves along the vehicle body.
  • the first climbing guide member at the first end of the body climbs, while the climbing member on the second end side of the carrying arm climbs upward along the second climbing guide member on the second end side of the vehicle body.
  • the support wheel at the first end of the transport arm climbs along the first guide member at the first end of the vehicle body, including: the support wheel at the first end of the transport arm has a predetermined distance relative to the ground along the bottom of the first end of the vehicle body.
  • the guide plate of the slope climbs; the climbing member on the side of the second end of the transport arm climbs up along the second climbing guide member on the side of the second end of the vehicle body, including: climbing the bottom of the support block on the side of the second end of the transport arm
  • the guide surface climbs upward along the rolling body on the side of the second end of the vehicle body.
  • the supporting wheel of the conveying arm falls to contact the ground, and the process of hanging off the ground is two opposite action processes.
  • the carrying method further includes the step: S108 , the vehicle body walks to carry the goods to the destination.
  • the cargo handling method of this embodiment can be applied to the foregoing embodiments of the cargo handling device, and the implementation manner and the beneficial effects that can be achieved are basically the same, and are not repeated here.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Handcart (AREA)

Abstract

Un dispositif de transport et un procédé de transport de marchandises. Le dispositif de transport comprend : un corps de véhicule (20) et un bras de transport (30), le bras de transport (30) étant disposé dans le corps de véhicule (20) ; le bras de transport (30) comprend un corps de bras (301), et un mécanisme de levage (303) est disposé sur le corps de bras (301) ; le bras de transport (30) peut se déployer horizontalement hors du corps du véhicule (20) pour soulever des marchandises au moyen du mécanisme de levage (303), et peut rentrer à l'intérieur du corps du véhicule (20) ; et au cours du processus de levage, mené par le mécanisme de levage (303), d'une position inférieure à une position supérieure, la partie supérieure du mécanisme de levage (303) se déplace horizontalement dans une direction du bras de transport (30) rentrant dans le corps de véhicule (20).
PCT/CN2021/127240 2020-12-31 2021-10-29 Dispositif de transport et procédé de transport de marchandises WO2022142668A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2023548336A JP2024502507A (ja) 2020-12-31 2021-10-29 搬送装置および荷物搬送方法
KR1020237025773A KR20230125295A (ko) 2020-12-31 2021-10-29 운반 장치 및 화물 운반 방법
EP21913412.9A EP4273086A1 (fr) 2020-12-31 2021-10-29 Dispositif de transport et procédé de transport de marchandises

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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
CN202011644187.0 2020-12-31
CN202011644053.9 2020-12-31

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CN112850552A (zh) * 2020-12-31 2021-05-28 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

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US4892290A (en) * 1988-05-16 1990-01-09 Hart John A Combination hoist and stand
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