WO2024046043A1 - 搬运装置及搬运方法 - Google Patents

搬运装置及搬运方法 Download PDF

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Publication number
WO2024046043A1
WO2024046043A1 PCT/CN2023/111520 CN2023111520W WO2024046043A1 WO 2024046043 A1 WO2024046043 A1 WO 2024046043A1 CN 2023111520 W CN2023111520 W CN 2023111520W WO 2024046043 A1 WO2024046043 A1 WO 2024046043A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle body
arm
carrying arm
wheel
connecting bridge
Prior art date
Application number
PCT/CN2023/111520
Other languages
English (en)
French (fr)
Inventor
谢彬
白寒
吕王彪
Original Assignee
杭州海康机器人股份有限公司
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 CN202211048919.9A external-priority patent/CN115258001A/zh
Priority claimed from CN202222313133.7U external-priority patent/CN217945372U/zh
Application filed by 杭州海康机器人股份有限公司 filed Critical 杭州海康机器人股份有限公司
Publication of WO2024046043A1 publication Critical patent/WO2024046043A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles

Definitions

  • This application belongs to the technical field of automatic guided transportation, and specifically relates to a transportation device and a transportation method.
  • a transportation device in the related art, includes a vehicle body and a transportation arm provided on the vehicle body.
  • the transportation arm includes an arm body and a lifting mechanism provided on the arm body.
  • the transportation arm can extend from the vehicle body to lift the vehicle through the lifting mechanism. Lift the cargo, thereby placing the cargo on the car body, and the car body transports the cargo to the destination.
  • the driving wheel drives the carrying arm to slide relative to the car body. During the sliding process, the driving wheel needs to be in continuous contact with the ground.
  • a handling device including:
  • a vehicle body and a carrying arm the carrying arm is movably connected to the vehicle body, the carrying arm can slide in a first direction relative to the vehicle body, and the first direction is the extension direction of the carrying arm; as well as
  • a floating connection component the floating connection component is connected to the vehicle body and the carrying arm respectively, the carrying arm can move in a second direction relative to the vehicle body through the floating connection component, the second The direction is the height direction of the vehicle body,
  • the carrying arm is rotatably provided with a driving wheel, and the driving wheel drives the carrying arm to slide in the first direction relative to the vehicle body.
  • the floating connection component includes a first connection part and a second connection part, the first connection part is slidingly connected to the carrying arm along the first direction, and the first connection part and the vehicle One of the bodies is slidingly connected to the second connecting piece along the second direction, and the other of the first connecting piece and the vehicle body is rotationally connected to the second connecting piece.
  • the rotation axis of the carrying arm relative to the vehicle body is parallel to the width direction of the carrying arm.
  • the number of the floating connection components is at least two.
  • the carrying arm In the width direction of the carrying arm, the carrying arm has a first side and a second side opposite to each other. At least two floating connection components respectively located on the first side and the second side.
  • the vehicle body includes a vehicle body and a first wheel set
  • the first wheel set includes a first wheel body, a second wheel body, a first connecting bridge, a second connecting bridge and a connecting rod, wherein:
  • the first connecting bridge and the second connecting bridge each have a first connecting part, a second connecting part and a third connecting part, and the second connecting part of the first connecting bridge is located on the third connecting part of the first connecting bridge. Between a connecting portion and the third connecting portion of the first connecting bridge, the second connecting portion of the second connecting bridge is located between the first connecting portion of the second connecting bridge and the third connecting portion of the second connecting bridge.
  • the first connecting part of the first connecting bridge is rotationally connected to the first wheel body
  • the first connecting part of the second connecting bridge is rotationally connected to the second wheel body
  • the The second connecting portion of the first connecting bridge and the second connecting portion of the second connecting bridge are both rotationally connected to the vehicle body
  • the third connecting portion of the first connecting bridge is connected to the first connecting portion of the connecting rod.
  • the third connecting portion of the second connecting bridge is rotationally connected to the second end of the connecting rod.
  • the vehicle body includes a vehicle body and a second wheel set
  • the second wheel set includes a third wheel body, a fourth wheel body and a third connecting bridge, wherein:
  • the third connecting bridge is rotationally connected to the vehicle body, and the connection point between the third connecting bridge and the vehicle body is located between the first end and the second end of the third connecting bridge.
  • the three-wheel body is rotatably connected to the first end of the third connecting bridge, and the fourth wheel body is rotatably connected to the second end of the third connecting bridge.
  • the carrying arm includes a supporting bottom plate, a supporting top plate and a lifting mechanism
  • the supporting bottom plate is movably connected to the vehicle body
  • the lifting mechanism is provided between the supporting bottom plate and the supporting top plate
  • the two ends of the lifting mechanism are respectively connected to the supporting bottom plate and the supporting top plate.
  • the vehicle body is provided with a first positioning part
  • the carrying arm is provided with a second positioning part.
  • the first positioning part and the second positioning part are The positioning part is positioned and matched in the second direction.
  • one of the first positioning part and the second positioning part is provided with a positioning protrusion
  • the other of the first positioning part and the second positioning part is provided with a positioning groove
  • the first positioning part and the second positioning part are magnetically engaged.
  • the number of the first positioning parts and the second positioning parts is at least two and correspond one to one.
  • the carrying arm has opposite first positioning parts. side and a second side, at least two of the second Positioning parts are respectively provided on the first side and the second side.
  • the carrying arm includes an arm body
  • the carrying device further includes a first guide rail
  • the first guide rail is slidingly connected to the vehicle body along the first direction
  • the arm body is connected to the first The guide rail is slidably connected along the first direction.
  • embodiments of the present application also provide a transportation method, including:
  • Control at least one of the carrying arm and the vehicle body to move along the extension direction of the carrying arm so that at least part of the carrying arm extends out of the receiving slot and is inserted below the cargo;
  • Control at least one of the carrying arm and the vehicle body to move along the extension direction of the carrying arm so that the carrying arm retracts into the receiving groove;
  • the lifting mechanism is controlled to contract so that the supporting top plate moves downward in the height direction of the vehicle body until the cargo is placed on the vehicle body.
  • control of the driving wheels in contact with the ground includes:
  • the lifting mechanism is controlled to continue extending to separate the first positioning part and the second positioning part.
  • the carrying method further includes:
  • the lifting mechanism is controlled to continue to contract, so that the supporting bottom plate of the carrying arm and the driving wheel move upward in the height direction of the vehicle body until the driving wheel returns to a suspended state.
  • the transport arm and the driving wheel can move relative to the vehicle body in the height direction of the vehicle body, if the flatness of the ground is inconsistent, that is, the ground is uneven, the driving wheel and the transport arm can move relative to each other through the floating connection assembly. Because the car body moves a certain distance in the height direction of the car body, the position of the driving wheel is changed to adapt to the uneven ground, ensuring continuous contact between the driving wheel and the ground, and avoiding the situation where the driving wheel slips and cannot drive the carrying arm to move. avoid Affect the handling process of the handling device.
  • Figure 1 is a schematic structural diagram of the transport device when the transport arm disclosed in the embodiment of the present application is in a retracted state.
  • Figure 2 is a front view of the transport device when the transport arm disclosed in the embodiment of the present application is in a retracted state.
  • Figure 3 is a schematic structural diagram of the transport device when the transport arm disclosed in the embodiment of the present application extends out of the accommodation slot.
  • Figure 4 is a side view of the transport device when the transport arm disclosed in the embodiment of the present application extends out of the accommodation slot.
  • Figure 5 is a schematic diagram of the connection structure between the floating connection component and the vehicle body disclosed in the embodiment of the present application.
  • Figure 6 is a schematic structural diagram of the carrying arm when the lifting mechanism disclosed in the embodiment of the present application is in a retracted state.
  • Figure 7 is a schematic structural diagram of the carrying arm when the lifting mechanism disclosed in the embodiment of the present application is in an extended state.
  • FIG. 8 is a schematic structural diagram of the first positioning part disclosed in the embodiment of the present application.
  • Figure 9 is a schematic diagram of a partial structure of a vehicle body disclosed in an embodiment of the present application.
  • Figure 10 is a schematic diagram of a partial structure of the vehicle body disclosed in the embodiment of the present application from another perspective.
  • first, second, etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances so that the embodiments of the application can be practiced in sequences other than those illustrated or described herein, and that "first,” “second,” etc. are distinguished Objects are usually of one type, and the number of objects is not limited. For example, the first object can be one or multiple.
  • “and/or” in the description and claims represents at least one of the connected objects. The character “/” generally indicates that the related objects are an "or” relationship.
  • the purpose of the embodiments of the present application is to provide a transportation device and a transportation method that can solve the problem in the related art that due to inconsistent flatness of the ground, the driving wheel of the transportation device slips and hinders the transportation process.
  • the handling device disclosed in the embodiment of the present application includes a vehicle body 100, a carrying arm 200 and a floating connection assembly 300.
  • the vehicle body 100 is movable relative to the ground, and the carrying arm 200 is movably connected to the vehicle body 100.
  • the transport arm 200 can slide in a first direction relative to the vehicle body 100 , and the first direction is the extension direction of the transport arm 200 .
  • the vehicle body 100 is provided with a receiving groove 111.
  • the carrying arm 200 slides in the first direction relative to the vehicle body 100, the carrying arm 200 can extend into the receiving groove 111 or extend from the receiving groove 111. .
  • the floating connection assembly 300 is connected to the vehicle body 100 and the carrying arm 200 respectively.
  • the carrying arm 200 can be connected through a floating connection.
  • the assembly 300 moves in a second direction relative to the vehicle body 100 .
  • the second direction is the height direction of the vehicle body 100 .
  • the floating connection assembly 300 may include a guide rail and a guide block that are guided and matched, the guide rail is disposed along the second direction, one of the guide rail and the guide block is connected to the vehicle body 100, and the other of the guide rail and the guide block is connected to the vehicle body 100.
  • the floating connection assembly 300 may also include a bushing and a cylinder.
  • the bushing is sleeved on the outside of the cylinder, and the bushing is rotationally matched with the cylinder.
  • One of the bushing and the cylinder is in contact with the vehicle body. 100 is connected, and the other one of the bushing and the column is connected to the carrying arm 200.
  • the carrying arm 200 can also rotate relative to the vehicle body 100 (for example, the carrying arm 200 can perform pitching motion relative to the vehicle body 100, as shown in Figure (Indicated by the curved arrow in 4), through the rotation process of the carrying arm 200, the movement of the carrying arm 200 in the second direction relative to the vehicle body 100 can also be realized.
  • the carrying arm 200 can both slide in the second direction relative to the vehicle body 100 and rotate relative to the vehicle body 100 . In short, no matter what the situation is, it suffices as long as the movement of the transport arm 200 in the second direction relative to the vehicle body 100 can be realized.
  • the transport arm 200 is rotatably provided with a driving wheel 220 , and the driving wheel 220 drives the transport arm 200 to slide in the first direction relative to the vehicle body 100 .
  • a first driving mechanism is provided inside the carrying arm 200 .
  • the first driving mechanism is connected to the driving wheel 220 to drive the driving wheel 220 .
  • the driving wheel 220 rotates and drives the carrying arm 200 along the first direction relative to the vehicle body. 100 slides.
  • the transport device is an Automated Guided Vehicle (AGV), which can be used to transport various types of goods and shelves.
  • AGV Automated Guided Vehicle
  • the carrying arm 200 can move in the second direction relative to the vehicle body 100 through the floating connection assembly 300 .
  • the driving wheels 220 and the transport arm 200 can move a certain distance relative to the vehicle body 100 in the height direction of the vehicle body 100 .
  • the raised ground will exert force on the driving wheels 220, thereby driving the transport arm 200 to move upward in the height direction of the vehicle body 100, and the driving wheels 220 will follow.
  • the transport arm 200 moves upward in the height direction of the vehicle body 100, so that the driving wheels 220 are in continuous contact with the raised ground; when the transport device encounters a lower ground, the transport arm 200 is depressed due to the downward depression of the ground. Under the action of its own gravity, it can move downward in the height direction of the vehicle body 100.
  • the driving wheel 220 moves downward in the height direction of the vehicle body 100 along with the transport arm 200, so that the driving wheel 220 is in continuous contact with the sunken ground. . Therefore, by moving the transport arm 200 relative to the vehicle body 100 in the height direction of the vehicle body 100, the position of the driving wheel 220 is changed to adapt to the uneven ground, ensuring continuous contact between the driving wheel 220 and the ground, and preventing the driving wheel 220 from slipping. And the situation where the transport arm 200 cannot be driven to move is avoided to avoid affecting the movement of the transport device. transport process.
  • the floating connection assembly 300 includes a first connection part 310 and a second connection part 320 .
  • the first connecting piece 310 is slidingly connected to the carrying arm 200 along the first direction
  • one of the first connecting piece 310 and the vehicle body 100 is slidingly connected to the second connecting piece 320 along the second direction
  • the first connecting piece 310 and The other one of the vehicle bodies 100 is rotatably connected to the second connecting member 320 .
  • the first connecting member 310 and the second connecting member 320 may be slidingly connected along the second direction
  • the vehicle body 100 and the second connecting member 320 may be rotationally connected; or the vehicle body 100 and the second connecting member 320 may be connected along the second direction.
  • Two-direction sliding connection, the first connecting piece 310 and the second connecting piece 320 are rotationally connected.
  • the sliding movement between the first connecting member 310 and the carrying arm 200 and between one of the first connecting member 310 and the vehicle body 100 and the second connecting member 320 can be achieved through the matching structure of the slide block and the slide rail.
  • the sliding connection can also be achieved through other structures.
  • the other one of the first connecting member 310 and the vehicle body 100 may be hingedly connected to the second connecting member 320, or may be rotationally connected through other structures.
  • the transport arm 200 can slide in the second direction relative to the vehicle body 100 and rotate relative to the vehicle body 100 .
  • the transport arm 200 can make the driving wheels 220 better contact the ground through a combination of sliding and rotation. , which has better adaptability to the unevenness of the ground.
  • the second connecting member 320 includes a first slider 321 and a rotating base 322.
  • the vehicle body 100 is provided with a second guide rail 600.
  • the first slider 321 and the second guide rail 600 guide Cooperate to achieve a sliding connection between the second connecting member 320 and the vehicle body 100 .
  • the first connecting member 310 includes a rotating shaft, the rotating base 322 is provided with a shaft hole, the rotating shaft extends into the shaft hole, and the rotating base 322 rotates with the rotating shaft, that is, the rotating shaft is rotatable relative to the shaft hole, thereby realizing the first connecting member 310 Rotally connected with the second connecting member 320 .
  • the rotation axis of the carrying arm 200 relative to the vehicle body 100 is parallel to the width direction of the carrying arm 200 . That is to say, the axial directions of the shaft hole and the rotating shaft are parallel to the width direction of the transport arm 200 .
  • the rotation axis of the carrying arm 200 relative to the vehicle body 100 may intersect with the width direction of the carrying arm 200 .
  • the rotation axis of the carrying arm 200 relative to the vehicle body 100 may be parallel to the carrying arm 200 extension direction (i.e., the first direction).
  • the carrying arm 200 In the width direction of the carrying arm 200, the carrying arm 200 has a first side and a second side opposite to each other.
  • the rotation axis of the transport arm 200 relative to the vehicle body 100 is parallel to the width direction of the transport arm 200 , the first side and the second side of the transport arm 200 The movements of the two sides are consistent, thus preventing the transport arm 200 from tilting due to inconsistent positions of the first side and the second side in the height direction of the vehicle body 100 .
  • the number of floating connection assemblies 300 is at least two.
  • the carrying arm 200 has a first side and a second side opposite to each other, and the at least two floating connection assemblies 300 are respectively provided on the first side and the second side.
  • One side and the second side, that is, the first side and the second side of the carrying arm 200 are respectively provided with at least one floating connection component 300 .
  • the number of the carrying arms 200 is at least two, and they are arranged at intervals.
  • the first side and the second side of each carrying arm 200 are respectively provided with floating connection components 300.
  • the first connecting part 310 of the floating connection component 300 is slidingly connected to the carrying arm 200, and the first connecting part 310 is rotationally connected to the second connecting part 320.
  • the second connecting member 320 of the floating connection assembly 300 is slidingly connected to the vehicle body 100 .
  • the vehicle body 100 provides sliding support and rotational support to both sides of the transport arm 200, ensuring the stability of the transport arm 200 during movement in the second direction.
  • the vehicle body 100 includes a vehicle body 110 and a first wheel set 120.
  • the first wheel set 120 includes a first wheel body 121, a second wheel body 122, and a first connecting bridge. 123.
  • the first connecting bridge 123 and the second connecting bridge 124 each have a first connecting part, a second connecting part and a third connecting part.
  • the second connecting part is located between the first connecting part and the third connecting part
  • the first connecting part of the first connecting bridge 123 is rotationally connected to the first wheel body 121
  • the first connecting part of the second connecting bridge 124 is connected to the first wheel body 121.
  • the two wheel bodies 122 are rotationally connected, the second connecting portion of the first connecting bridge 123 and the second connecting portion of the second connecting bridge 124 are both rotationally connected to the vehicle body 110, and the third connecting portion of the first connecting bridge 123 is connected to the connecting rod.
  • the first end of the connecting rod 125 is rotatably connected, and the third connecting portion of the second connecting bridge 124 is rotatably connected with the second end of the connecting rod 125 .
  • the length of the connecting rod 125 may be less than or equal to the distance between the second connecting portion of the first connecting bridge 123 and the second connecting portion of the second connecting bridge 124 .
  • the first connecting bridge 123 can be provided with a first slot and a first shaft hole.
  • the first slot is connected with the first shaft hole.
  • the first wheel body 121 extends into the first slot, and the wheel axle of the first wheel body 121 Extending into the first shaft hole, the wheel shaft rotates with the first shaft hole, thereby realizing relative rotation between the first wheel body 121 and the first connecting bridge 123 .
  • this structure can also be used between the second wheel body 122 and the second connecting bridge 124 .
  • other structures can also be used to achieve rotational connection between the first wheel body 121 and the first connecting bridge 123 and between the second wheel body 122 and the second connecting bridge 124 .
  • the first wheel body 121 and the second wheel body 122 are universal wheels, that is, the first wheel body 121 passes through the universal wheels.
  • the joint is connected to the first connecting bridge 123, and the second wheel body 122 is connected to the second connecting bridge 124 through the universal joint. In this way, the first wheel body 121 and the second wheel body 122 can rotate in all directions.
  • the positions of the second connecting portion of the first connecting bridge 123 and the second connecting portion of the second connecting bridge 124 are fixed, and the second connecting portion is a rotation fulcrum.
  • the first connecting bridge 123 is connected through The rod 125 drives the second connecting bridge 124 to move, so that the second connecting bridge 124 drives the second wheel body 122 to rotate relative to the vehicle body 110, and vice versa.
  • the first connecting portion of the first connecting bridge 123 rises and the third connecting portion descends, that is, the position of the first end of the connecting rod 125 descends.
  • the length of the connecting rod 125 is fixed, and the second end of the connecting rod 125 is restrained by the second connecting portion of the second connecting bridge 124, resulting in the connecting rod 125 being unable to descend as a whole, and the second end of the connecting rod 125 tilting up, that is, the second end of the connecting rod 125 is lifted up.
  • the third connecting portion of the second connecting bridge 124 rises, and then the first connecting portion of the second connecting bridge 124 descends, that is, the position of the second wheel body 122 descends.
  • the first wheel body 121 descends.
  • the vehicle body 100 further includes a second wheel set 130
  • the second wheel set 130 includes a third wheel body 131 , a fourth wheel body 132 and a third connecting bridge 133 .
  • the third connecting bridge 133 is rotatably connected to the vehicle body 110, and the connection between the third connecting bridge 133 and the vehicle body 110 is located between the first end of the third connecting bridge 133 and the second end of the third connecting bridge 133.
  • the third wheel The body 131 is rotatably connected to the first end of the third connecting bridge 133
  • the fourth wheel body 132 is rotatably connected to the second end of the third connecting bridge 133.
  • the third connecting bridge 133 and the vehicle body 110 can be rotationally connected through a hinge manner, or can be rotationally connected through other methods.
  • the first end of the third connecting bridge 133 can be provided with a second slot and a second axle hole.
  • the third wheel body 131 extends into the second slot, and the axle of the third wheel body 131 extends into the second axle hole. It is rotationally matched with the second shaft hole to realize relative rotation between the third wheel body 131 and the third connecting bridge 133 .
  • this structure can also be used between the fourth wheel body 132 and the third connecting bridge 133 .
  • the third wheel body 131 and the fourth wheel body 132 may be universal wheels.
  • both the third wheel body 131 and the fourth wheel body 132 can rotate around the fulcrum. Specifically, when the third wheel body 131 rises around the fulcrum relative to the vehicle body 110 , the fourth wheel body 132 descends around the fulcrum relative to the vehicle body 110 , conversely, when the third wheel body 131 descends around the fulcrum relative to the vehicle body 110 , the fourth wheel body 132 rises relative to the vehicle body 110 around the fulcrum.
  • the third wheel body 131 and the fourth wheel body 132 can rotate around the fulcrum to adapt to the ground conditions, improve the adaptability of the vehicle body 100 to uneven ground, and ensure that the third wheel body 131 and the fourth wheel body 132 can rotate around the fulcrum to adapt to the ground conditions.
  • Both the body 131 and the fourth wheel body 132 are in continuous contact with the ground to prevent the third wheel body 131 and the fourth wheel body 132 from slipping and maintain the stability of the handling device during movement.
  • the vehicle body 110 is provided with a receiving groove 111, the receiving groove 111 has a notch, at least part of the carrying arm 200 is provided in the receiving groove 111, and the driving wheel 220 drives the carrying arm 200 to extend into the receiving groove 111 through the notch or through the groove.
  • the mouth protrudes from the receiving groove 111.
  • the number of one of the first wheel set 120 and the second wheel set 130 is at least two, and two of the first wheel set 120 and the second wheel set 130 are respectively provided on both sides of the receiving groove 111 , the other one of the first wheel set 120 and the second wheel set 130 is provided on a side of the receiving groove 111 away from the slot.
  • the number of the receiving grooves 111 and the carrying arms 200 is at least two, and they correspond one to one.
  • the two second wheel sets 130 are respectively arranged at the two receiving grooves 111 away from each other.
  • the first wheel set 120 is disposed on the side of the receiving groove 111 away from the notch.
  • the vehicle body 110 is provided with a second driving mechanism for driving the fourth wheel body 132 to rotate, so the fourth wheel body 132 is the driving wheel, and the first wheel body 121, the second wheel body 122 and the third wheel body 131 are all Passive wheel.
  • the rotation of the fourth wheel body 132 drives the vehicle body 100 to move relative to the ground, and further the vehicle body 100 drives the first wheel body 121 , the second wheel body 122 and the third wheel body 131 to rotate.
  • the fourth wheel body 132 is located between the third wheel body 131 and the first wheel set 120 , that is, the driving wheel is located in the middle of the vehicle body 110 .
  • the vehicle body 100 has better stability during movement.
  • the carrying arm 200 includes a supporting bottom plate 211 , a supporting top plate 212 and a lifting mechanism 213 .
  • the support bottom plate 211 is movably connected to the vehicle body 100. Specifically, the support bottom plate 211 is slidably connected to the first connection member 310 of the floating connection assembly 300 along the first direction.
  • the driving wheel 220 is rotatably disposed on the support bottom plate 211.
  • the lifting mechanism 213 is provided between the supporting bottom plate 211 and the supporting top plate 212, and the two ends of the lifting mechanism 213 are connected to the supporting bottom plate 211 and the supporting top plate 212 respectively.
  • the lifting mechanism 213 contracts or extends, the supporting bottom plate 211 and The supporting top plates 212 are moved closer to or farther away from each other. It should be noted that the direction in which the lifting mechanism 213 contracts or extends is the height direction of the vehicle body 100 or the transport arm 200 (that is, the second direction).
  • the lifting mechanism 213 can be a telescopic cylinder, and the two ends of the telescopic cylinder are respectively connected with the supporting bottom plate 211 and the supporting top. Boards 212 are connected.
  • the lifting mechanism 213 can also adopt a foldable structure. In short, the support bottom plate 211 and the support top plate 212 can be moved closer to or farther away from each other through the telescopic action of the lifting mechanism 213 itself.
  • the transport arm 200 lifts and lowers the goods through the extension and contraction of the lifting mechanism 213, so that the goods can effectively avoid obstacles and facilitate the smooth transportation of the goods to The upper end surface of the vehicle body 100. Furthermore, by contracting the lifting mechanism 213, the transport arm 200 can be accommodated in the vehicle body 100, thereby reducing the occupied space.
  • the vehicle body 100 moves to the vicinity of the goods, and the driving wheels 220 drive the transport arm 200 to extend out of the accommodation slot 111.
  • the lifting mechanism 213 is in a retracted state, and the transport arm 200 can be inserted into the cargo. bottom, so that the goods fall on the supporting top plate 212; then the lifting mechanism 213 extends, the supporting top plate 212 rises and lifts the goods, and the driving wheels 220 then drive the transport arm 200 to retract into the accommodating slot 111.
  • the goods are located in the vehicle body 100, finally the lifting mechanism 213 contracts, and the supporting top plate 212 descends, so that the goods fall on the vehicle body 100, and the vehicle body 100 can transport the goods to the target location.
  • the vehicle body 100 is provided with a first positioning part 410
  • the carrying arm 200 is provided with a second positioning part 420.
  • the first positioning part 410 and the second positioning part 420 are positioned and matched in the second direction.
  • the specific structures of the first positioning part 410 and the second positioning part 420 are not limited here.
  • the first positioning part 410 is provided on the side wall of the receiving groove 111
  • the second positioning part 420 is provided on the supporting top plate 212 .
  • the retracted state of the transport arm 200 here refers to the state that the transport arm 200 is located within the accommodation groove 111 .
  • the transport arm 200 is prevented from moving relative to the vehicle body 100 along the height direction of the vehicle body 100 (ie, the second direction).
  • the lifting mechanism 213 contracts, the distance between the supporting bottom plate 211 and the supporting top plate 212 decreases, and the supporting top plate 212 is fixed relative to the vehicle body 100 through the positioning and matching structure of the second positioning part 420 and the first positioning part 410. Therefore, the support bottom plate 211 moves upward relative to the vehicle body 100, and the driving wheel 220 moves upward with the support bottom plate 211, so the driving wheel 220 is in a suspended state, thereby preventing the driving wheel 220 from contacting the ground and hindering the movement of the vehicle body 100.
  • one of the first positioning part 410 and the second positioning part 420 is provided with a positioning protrusion 421, and the other one of the first positioning part 410 and the second positioning part 420 is provided with a positioning groove. 411.
  • the positioning protrusion 421 and the positioning groove 411 are positioned and matched in the second direction.
  • the first positioning part 410 may be provided with a positioning protrusion 421, and the second positioning part 420 may be provided with a positioning groove 411.
  • the first positioning part 410 may be provided with a positioning groove 411
  • the second positioning part 420 may be provided with a positioning protrusion 421 .
  • Positioning here The specific structures of the protrusion 421 and the positioning groove 411 are not limited, and the shapes of the positioning protrusion 421 and the positioning groove 411 are the same.
  • the positioning groove 411 and the positioning protrusion 421 are in the shape of an inverse cone. In this way, the opening area of the positioning groove 411 is larger, and the positioning protrusion 421 is easier to align with the positioning groove 411. And extend into the positioning groove 411.
  • the positioning groove 411 and the positioning protrusion 421 cooperate to limit the relative positions of the first positioning part 410 and the second positioning part 420, thereby limiting the position of the transport arm 200 to prevent the transport arm 200 from shaking relative to the vehicle body 100.
  • the first positioning part 410 and the second positioning part 420 are magnetically engaged.
  • the first positioning part 410 and the second positioning part 420 may both be magnetic pieces, and the first positioning part 410 and the second positioning part 420 may be directly magnetically matched; or the first positioning part 410 and the second positioning part may be The first positioning part 410 and the second positioning part 420 are magnetically engaged through the magnetic suction parts 412.
  • the attractive force between the first positioning part 410 and the second positioning part 420 can be increased, and the first positioning part 410 and the second positioning part 420 can be further maintained.
  • the relative positions are fixed and the stability between the first positioning part 410 and the second positioning part 420 is improved.
  • the magnetic attraction effect facilitates automatic alignment between the first positioning part 410 and the second positioning part 420 .
  • the number of the first positioning parts 410 and the second positioning parts 420 is at least two and corresponds one to one.
  • the transport arm 200 has a first side and a second side opposite to each other, and at least two second positioning portions 420 are respectively provided on the first side and the second side, that is to say, the first side and the second side are respectively provided with at least one second positioning portion 420 .
  • at least two first positioning portions 410 are respectively provided on two side walls of the accommodation groove 111 that are opposite to each other along the width direction.
  • At least two second positioning parts 420 are provided on the first side and the second side of each carrying arm 200.
  • the second positioning part 420 is located on the first side or the second positioning part is located on the second side. 420 are spaced apart along the first direction.
  • the first positioning portions 410 located on the same side wall of the accommodation groove 111 are spaced apart along the length direction of the accommodation groove 111 .
  • the positioning fit between the corresponding first positioning part 410 and the second positioning part 420 of each group is achieved through the positioning protrusion 421 and the positioning groove 411.
  • the corresponding first positioning part 410 and the second positioning part 410 of each group are The parts 420 are magnetically engaged.
  • both the first side and the second side of the transport arm 200 realize positioning cooperation with the vehicle body 100 through the first positioning part 410 and the second positioning part 420, so as to prevent any side of the first side and the second side from being along the By moving relative to the vehicle body 100 in the second direction, the stability of the carrying arm 200 in the suspended state is improved.
  • the carrying arm 200 includes an arm body 210, and the carrying device further It includes a first guide rail 500, the first guide rail 500 is slidably connected to the vehicle body 100 along a first direction, and the arm body 210 is slidably connected to the first guide rail 500 along the first direction.
  • the first guide rail 500 is slidingly connected to the first connector 310, where the first connector 310 can be a slider, and the first guide rail 500 cooperates with the slider guide; and the arm body 210 includes the above-mentioned support top plate 212, The supporting bottom plate 211 and the lifting mechanism 213 are slidingly connected to the first guide rail 500 , wherein the edge of the supporting bottom plate 211 can be guided and matched with the first guide rail 500 .
  • the supporting bottom plate 211 of the arm body 210 can be directly slidably connected to the first connecting member 310 .
  • the sliding stroke of the arm body 210 along the first direction can be extended, and the transport arm 200 can extend a sufficient length to contact the goods, ensuring the normal progress of the goods transport process.
  • an embodiment of this application also discloses a transportation method.
  • the transportation method includes steps S100-S500.
  • step S100 the driving wheel 220 is controlled to contact the ground.
  • step S200 at least one of the transport arm 200 and the vehicle body 100 is controlled to move along the extension direction of the transport arm 200, so that at least part of the transport arm 200 extends out of the accommodation slot 111 and is inserted underneath the goods.
  • the transport arm 200 can be controlled to slide along its own extension direction, and the position of the vehicle body 100 relative to the ground remains unchanged; the vehicle body 100 can be controlled to move along the extension direction of the transport arm 200, and the transport arm 200 can be controlled relative to the ground. The position remains unchanged; it is also possible to control both the transport arm 200 and the vehicle body 100 to move along the extension direction of the transport arm 200, and the sliding direction of the transport arm 200 is opposite to the movement direction of the vehicle body 100.
  • the lifting mechanism 213 contracts to reduce the size of the transport arm 200 in the height direction, and then controls at least one of the transport arm 200 and the vehicle body 100 to continue moving along the extension direction of the transport arm 200 so that the transport arm 200 can be inserted under the goods. .
  • step S300 the lifting mechanism 213 of the transport arm 200 is controlled to extend, so that the supporting top plate 212 of the transport arm 200 lifts the goods. In this way, the cargo is lifted to a certain height so that subsequent cargo can be placed on the upper end surface of the vehicle body 100 .
  • step S400 at least one of the carrying arm 200 and the vehicle body 100 is controlled to move along the extension direction of the carrying arm 200, so that the carrying arm 200 is retracted into the receiving groove 111.
  • the transport arm 200 can be controlled to slide along its own extension direction, and the position of the vehicle body 100 relative to the ground remains unchanged.
  • the sliding direction of the transport arm 200 is opposite to the sliding direction of the transport arm 200 in step S200; it can be controlled
  • the vehicle body 100 is along the extending direction of the transport arm 200 Movement, and the position of the transport arm 200 relative to the ground is controlled to remain unchanged.
  • the movement direction of the vehicle body 100 is opposite to the movement direction of the vehicle body 100 in step S200; it is also possible to control the transport arm 200 and the vehicle body 100 to move along the transport arm 200
  • the sliding direction of the transport arm 200 is opposite to the movement direction of the vehicle body 100 .
  • step S500 the lifting mechanism 213 is controlled to contract, so that the supporting top plate 212 moves downward in the height direction of the vehicle body 100 until the cargo is placed on the vehicle body 100.
  • controlling the driving wheel 220 to contact the ground includes steps S110-S140.
  • step S110 the first positioning part 410 of the vehicle body 100 and the second positioning part 420 of the transport arm 200 are controlled to be positioned and matched, and the lifting mechanism 213 of the transport arm 200 is controlled to contract, so that the driving wheel 220 is in a suspended state. This is when the transport arm 200 is in an unused state. As shown in Figures 1 and 2, the driving wheels 220 are not in contact with the ground. During the subsequent movement of the vehicle body 100, the driving wheels 220 are prevented from contacting the ground and hindering the vehicle. Body 100 Movement.
  • step S120 the vehicle body 100 is controlled to move to the target position.
  • a first wheel set 120 and a second wheel set 130 are provided at the bottom of the vehicle body 100. By driving the first wheel set 120 and the second wheel set 130 to move, the vehicle body 100 is driven to move to the target position.
  • step S130 the lifting mechanism 213 is controlled to extend. Since the first positioning part 410 and the second positioning part 420 are positioned and matched, the position of the supporting top plate 212 relative to the vehicle body 100 in the height direction of the vehicle body 100 remains unchanged. Move downward in the direction until the driving wheel 220 contacts the ground.
  • step S140 the lifting mechanism 213 is controlled to continue extending. Since the driving wheel 220 is in contact with the ground, the position of the supporting bottom plate 211 remains unchanged, so the supporting top plate 212 moves upward in the height direction of the vehicle body 100 until the lifting mechanism 213 stops when the first positioning part 410 and the second positioning part 420 separate. elongation. Since the first positioning part 410 and the second positioning part 420 are released from positioning cooperation, the first positioning part 410 and the second positioning part 420 no longer hinder the subsequent sliding of the transport arm 200 relative to the vehicle body 100 along the extension direction of the transport arm 200 .
  • the carrying method further includes steps S600 and S700.
  • step S600 the lifting mechanism 213 is controlled to contract until the goods are placed on the vehicle body 100 and the first positioning portion 410 of the vehicle body 100 and the second positioning portion 420 of the transport arm 200 are positioned and matched. Specifically, during the descending process of the supporting top plate 212, the goods are first placed on the upper end surface of the vehicle body 100, and then the first positioning part 410 and the second positioning part 420 are positioned and matched.
  • step S700 the lifting mechanism 213 is controlled to continue to contract, so that the supporting bottom plate 211 and the driving wheel 220 move upward in the height direction of the vehicle body 100 until the driving wheel 220 returns to the suspended state. Since the first positioning part 410 After positioning and matching with the second positioning part 420, the position of the supporting top plate 212 in the height direction is fixed relative to the vehicle body 100. Therefore, when the lifting mechanism 213 contracts, the supporting bottom plate 211 moves upward, and the driving wheel 220 moves upward along with the supporting bottom plate 211. When the driving wheel 220 is separated from the ground, the transport arm 200 returns to its unused state. When the goods are transported next time, the above steps S100-S700 can be repeated.
  • the above-mentioned transportation method is used to change the position of the transportation arm 200 and the driving wheel 220 in the height direction of the vehicle body 100 according to the ground conditions to adapt to the uneven ground, ensure that the driving wheel 220 is in continuous contact with the ground, and prevent the driving wheel from being in constant contact with the ground. 220 slips and cannot drive the transport arm 200 to move. Moreover, during the movement of the vehicle body 100, the driving wheels 220 can be in a suspended state to prevent the driving wheels 220 from contacting the ground and hindering the movement of the vehicle body 100.

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

本申请公开一种搬运装置及搬运方法。搬运装置包括车体(100)、搬运臂(200)和浮动连接组件(300)，搬运臂(200)与车体(100)活动连接，搬运臂(200)可相对于车体(100)在第一方向上滑动，第一方向为搬运臂(200)的延伸方向，浮动连接组件(300)分别与车体(100)和搬运臂(200)相连，搬运臂(200)可通过浮动连接组件(300)相对于车体(100)在第二方向上运动，第二方向为车体(100)的高度方向；搬运臂(200)可转动地设有驱动轮(220)，驱动轮(220)驱动搬运臂(200)相对于车体(100)在第一方向上滑动。

Description

搬运装置及搬运方法 技术领域
本申请属于自动导引运输技术领域，具体涉及一种搬运装置及搬运方法。
背景技术
相关技术中，搬运装置包括车体和设置在车体上的搬运臂，搬运臂包括臂体和设置在臂体上的举升机构，搬运臂能够从车体内伸出，以通过举升机构举升货物，从而将货物置于车体上，由车体将货物运送至目的地。
搬运臂的底部设有驱动轮，通过驱动轮驱动搬运臂相对于车体滑动，滑动过程中驱动轮需要与地面持续接触。
发明内容
第一方面，本申请实施例提供一种搬运装置，包括：
车体和搬运臂，所述搬运臂与所述车体活动连接，所述搬运臂可相对于所述车体在第一方向上滑动，所述第一方向为所述搬运臂的延伸方向；以及
浮动连接组件，所述浮动连接组件分别与所述车体和所述搬运臂相连，所述搬运臂可通过所述浮动连接组件相对于所述车体在第二方向上运动，所述第二方向为所述车体的高度方向，
其中，所述搬运臂可转动地设有驱动轮，所述驱动轮驱动所述搬运臂相对于所述车体在所述第一方向上滑动。
可选地，所述浮动连接组件包括第一连接件和第二连接件，所述第一连接件与所述搬运臂沿所述第一方向滑动连接，所述第一连接件和所述车体中的一者与所述第二连接件沿所述第二方向滑动连接，所述第一连接件和所述车体中的另一者与所述第二连接件转动连接。
可选地，所述搬运臂相对于所述车体的转动轴线平行于所述搬运臂的宽度方向。
可选地，所述浮动连接组件的数量为至少两个，在所述搬运臂的宽度方向上，所述搬运臂具有相背的第一侧和第二侧，至少两个所述浮动连接组件分别设于所述第一侧和 所述第二侧。
可选地，所述车体包括车本体和第一轮组，所述第一轮组包括第一轮体、第二轮体、第一连接桥、第二连接桥和连接杆，其中：
所述第一连接桥和所述第二连接桥均具有第一连接部、第二连接部和第三连接部，所述第一连接桥的第二连接部位于所述第一连接桥的第一连接部和所述第一连接桥的第三连接部之间，所述第二连接桥的第二连接部位于所述第二连接桥的第一连接部和所述第二连接桥的第三连接部之间，所述第一连接桥的第一连接部与所述第一轮体转动连接，所述第二连接桥的第一连接部与所述第二轮体转动连接，所述第一连接桥的第二连接部和所述第二连接桥的第二连接部均与所述车本体转动连接，且所述第一连接桥的第三连接部与所述连接杆的第一端转动连接，所述第二连接桥的第三连接部与所述连接杆的第二端转动连接。
可选地，所述车体包括车本体和第二轮组，所述第二轮组包括第三轮体、第四轮体和第三连接桥，其中：
所述第三连接桥与所述车本体转动连接，且所述第三连接桥与所述车本体的连接处位于所述第三连接桥的第一端和第二端之间，所述第三轮体与所述第三连接桥的第一端转动连接，所述第四轮体与所述第三连接桥的第二端转动连接。
可选地，所述搬运臂包括支撑底板、支撑顶板和举升机构，所述支撑底板与所述车体活动连接，所述举升机构设于所述支撑底板与所述支撑顶板之间，且所述举升机构的两端分别与所述支撑底板和所述支撑顶板相连，在所述举升机构收缩或伸长时，所述支撑底板和所述支撑顶板相互靠近或远离。
可选地，所述车体设有第一定位部，所述搬运臂设有第二定位部，在所述搬运臂处于缩回状态的情况下，所述第一定位部和所述第二定位部在所述第二方向上定位配合。
可选地，所述第一定位部和所述第二定位部中的一者设有定位凸起，所述第一定位部和所述第二定位部中的另一者设有定位槽，在所述搬运臂处于缩回状态的情况下，所述定位凸起与所述定位槽在所述第二方向上定位配合。
可选地，在所述搬运臂处于缩回状态的情况下，所述第一定位部和所述第二定位部磁吸配合。
可选地，所述第一定位部和所述第二定位部的数量均为至少两个，且一一对应，在所述搬运臂的宽度方向上，所述搬运臂具有相背的第一侧和第二侧，至少两个所述第二 定位部分别设于所述第一侧和所述第二侧。
可选地，所述搬运臂包括臂体，所述搬运装置还包括第一导轨，所述第一导轨与所述车体沿所述第一方向滑动连接，所述臂体与所述第一导轨沿所述第一方向滑动连接。
第二方面，本申请实施例还提供一种搬运方法，包括：
控制驱动轮与地面接触；
控制搬运臂和车体中的至少一者沿所述搬运臂的延伸方向运动，以使所述搬运臂的至少部分伸出至容纳槽之外，并插入货物的下方；
控制所述搬运臂的举升机构伸长，以使所述搬运臂的支撑顶板抬升货物；
控制所述搬运臂和所述车体中的至少一者沿所述搬运臂的延伸方向运动，以使所述搬运臂缩回至所述容纳槽之内；
控制所述举升机构收缩，以使所述支撑顶板在所述车体的高度方向上向下运动，直至货物置于所述车体上。
可选地，所述控制驱动轮与地面接触，包括：
控制所述车体的第一定位部和所述搬运臂的第二定位部定位配合以及控制所述举升机构收缩，以使所述驱动轮处于悬空状态；
控制所述举升机构伸长，以使所述驱动轮在所述车体的高度方向上向下运动，直至所述驱动轮与地面接触；
控制所述举升机构继续伸长，以使所述第一定位部和所述第二定位部分离。
可选地，在所述搬运臂缩回至所述容纳槽之内之后，所述搬运方法还包括：
控制所述举升机构收缩，直至货物置于所述车体上且所述车体的第一定位部和所述搬运臂的第二定位部定位配合；
控制所述举升机构继续收缩，以使所述搬运臂的支撑底板和所述驱动轮在所述车体的高度方向上向上运动，直至所述驱动轮恢复至悬空状态。
在本申请实施例中，由于搬运臂和驱动轮可相对于车体在车体的高度方向上运动，若地面的平整度不一致，即地面高低不平，驱动轮和搬运臂可通过浮动连接组件相对于车体在车体的高度方向上运动一定距离，从而使驱动轮的位置改变，以适应不平整的地面，保证驱动轮与地面持续接触，避免驱动轮打滑而无法驱动搬运臂运动的情况，避免 影响搬运装置的搬运过程。
附图说明
图1是本申请实施例公开的搬运臂处于缩回状态时搬运装置的结构示意图。
图2是本申请实施例公开的搬运臂处于缩回状态时搬运装置的正视图。
图3是本申请实施例公开的搬运臂伸出至容纳槽之外时搬运装置的结构示意图。
图4是本申请实施例公开的搬运臂伸出至容纳槽之外时搬运装置的侧视图。
图5是本申请实施例公开的浮动连接组件与车体的连接结构示意图。
图6是本申请实施例公开的举升机构处于收缩状态时搬运臂的结构示意图。
图7是本申请实施例公开的举升机构处于伸长状态时搬运臂的结构示意图。
图8是本申请实施例公开的第一定位部的结构示意图。
图9是本申请实施例公开的车体的部分结构的示意图。
图10是本申请实施例公开的车体的部分结构在另一视角下的示意图。
附图标记说明：
100-车体；
110-车本体；111-容纳槽；
120-第一轮组；121-第一轮体；122-第二轮体；123-第一连接桥；124-第二连接桥；
125-连接杆；
130-第二轮组；131-第三轮体；132-第四轮体；133-第三连接桥；
200-搬运臂；
210-臂体；211-支撑底板；212-支撑顶板；213-举升机构；
220-驱动轮；
300-浮动连接组件；
310-第一连接件；
320-第二连接件；321-第一滑块；322-转动基座；
410-第一定位部；411-定位槽；412-磁吸部；
420-第二定位部；421-定位凸起；
500-第一导轨；
600-第二导轨。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例进行清楚地描述。显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”等所区分的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求书中的“和/或”表示所连接对象的至少其中之一。字符“/”，一般表示前后关联对象是一种“或”的关系。
相关技术中，由于地面的平整度不一致，有的地面存在高低不平的情况，导致搬运装置的驱动轮不易与地面接触，存在驱动轮打滑的情况，进而驱动轮无法驱动搬运装置的搬运臂正常运动，阻碍搬运装置的正常搬运过程。
本申请实施例的目的是提供一种搬运装置及搬运方法，能够解决相关技术中由于地面的平整度不一致导致搬运装置的驱动轮打滑、阻碍搬运过程的问题。
下面结合附图，通过具体的实施例及其应用场景对本申请实施例提供的搬运装置及搬运方法进行详细地说明。
请参考图1-图10，本申请实施例公开的搬运装置包括车体100、搬运臂200和浮动连接组件300，其中，车体100相对于地面可运动，搬运臂200与车体100活动连接，具体地，搬运臂200可相对于车体100在第一方向上滑动，第一方向为搬运臂200的延伸方向。在本实施例中，车体100设有容纳槽111，搬运臂200相对于车体100在第一方向上滑动的过程中，搬运臂200可以伸入容纳槽111内或从容纳槽111伸出。
浮动连接组件300分别与车体100和搬运臂200相连，搬运臂200可通过浮动连接 组件300相对于车体100在第二方向上运动，第二方向为车体100的高度方向，此处指搬运臂200的整体结构在第二方向上运动。在一个实施例中，浮动连接组件300可以包括导向配合的导轨和导向块，导轨沿第二方向设置，导轨和导向块中的一者与车体100相连，导轨和导向块中的另一者与搬运臂200相连，搬运臂200可以相对于车体100在第二方向上滑动(如图4中的直线箭头所示)，如此，通过搬运臂200在第二方向上的滑动过程，能够实现搬运臂200相对于车体100在第二方向上的运动。在另一实施例中，浮动连接组件300也可以包括轴套和柱体，轴套套设在柱体的外部，且轴套与柱体转动配合，轴套和柱体中的一者与车体100相连，轴套和柱体中的另一者与搬运臂200相连，如此，搬运臂200也可以相对于车体100转动(例如，搬运臂200可以相对于车体100做俯仰运动，如图4中的曲线箭头所示)，通过搬运臂200的转动过程，也能够实现搬运臂200相对于车体100在第二方向上的运动。当然，搬运臂200可以既相对于车体100在第二方向上滑动，又相对于车体100转动。总之，无论哪种情况，只要能够实现搬运臂200相对于车体100在第二方向上的运动即可。
如图2和图4所示，搬运臂200可转动地设有驱动轮220，驱动轮220驱动搬运臂200相对于车体100在第一方向上滑动。具体地，搬运臂200的内部设有第一驱动机构，第一驱动机构与驱动轮220相连，从而对驱动轮220进行驱动，驱动轮220转动并带动搬运臂200沿第一方向相对于车体100滑动。
在本实施例中，搬运装置为自动导引运输车(AGV，Automated Guided Vehicle)，可以用于搬运各种类型的货物和货架。
搬运臂200可通过浮动连接组件300相对于车体100在第二方向上运动。如此设置，在地面的平整度不一致的情况下，即地面高低不平，驱动轮220和搬运臂200可相对于车体100在车体100的高度方向上运动一定距离。具体地，在搬运装置遇到位置较高的地面的情况下，凸起的地面会向驱动轮220施加作用力，进而驱动搬运臂200在车体100的高度方向上向上运动，驱动轮220随搬运臂200在车体100的高度方向上向上运动，从而使驱动轮220与凸起的地面持续接触；在搬运装置遇到位置较低的地面的情况下，由于地面向下凹陷，搬运臂200在自身的重力作用下，能够在车体100的高度方向上向下运动，驱动轮220随搬运臂200在车体100的高度方向上向下运动，从而使驱动轮220与凹陷的地面持续接触。因此，通过搬运臂200相对于车体100在车体100的高度方向上运动，使驱动轮220的位置改变，以适应不平整的地面，保证驱动轮220与地面持续接触，避免驱动轮220打滑而无法驱动搬运臂200运动的情况，避免影响搬运装置的搬 运过程。
在可选的实施例中，如图5所示，浮动连接组件300包括第一连接件310和第二连接件320。其中，第一连接件310与搬运臂200沿第一方向滑动连接，第一连接件310和车体100中的一者与第二连接件320沿第二方向滑动连接，第一连接件310和车体100中的另一者与第二连接件320转动连接。可选地，可以是第一连接件310与第二连接件320沿第二方向滑动连接，车体100与第二连接件320转动连接；也可以是车体100与第二连接件320沿第二方向滑动连接，第一连接件310与第二连接件320转动连接。
具体地，第一连接件310与搬运臂200之间、第一连接件310和车体100中的一者与第二连接件320之间均可以通过滑块和滑轨相配合的结构实现滑动连接，当然，也可以通过其它结构实现滑动连接。第一连接件310和车体100中的另一者可以与第二连接件320相铰接，也可以通过其它结构实现转动连接。
如此设置，搬运臂200既可以相对于车体100在第二方向上滑动，又可以相对于车体100转动，搬运臂200通过滑动和转动相结合的方式来使驱动轮220更好地接触地面，对地面的不平整性的适应效果更好。
在本实施例中，如图5所示，第二连接件320包括第一滑块321和转动基座322，车体100设有第二导轨600，第一滑块321与第二导轨600导向配合，从而实现第二连接件320与车体100滑动连接。第一连接件310包括转轴，转动基座322设有轴孔，转轴伸入轴孔内，且转动基座322与转轴转动配合，即转轴相对于轴孔可转动，从而实现第一连接件310与第二连接件320转动连接。
通过第二导轨600与第一滑块321的配合作用，对搬运臂200相对于车体100的滑动方向施加导向，避免浮动连接组件300和搬运臂200相对于车体100的运动方向发生偏移。
在本实施例中，搬运臂200相对于车体100的转动轴线平行于搬运臂200的宽度方向。也就是说，轴孔和转轴的轴线方向均平行于搬运臂200的宽度方向。当然，在其它实施例中，搬运臂200相对于车体100的转动轴线可以相交于搬运臂200的宽度方向，可选地，搬运臂200相对于车体100的转动轴线可以平行于搬运臂200的延伸方向(即，第一方向)。
在搬运臂200的宽度方向上，搬运臂200具有相背的第一侧和第二侧。搬运臂200相对于车体100的转动轴线平行于搬运臂200的宽度方向时，搬运臂200的第一侧和第 二侧的运动一致，避免第一侧和第二侧在车体100的高度方向上的位置不一致，而导致搬运臂200倾斜的情况。
可选地，浮动连接组件300的数量为至少两个，在搬运臂200的宽度方向上，搬运臂200具有相背的第一侧和第二侧，至少两个浮动连接组件300分别设于第一侧和第二侧，也就是说，搬运臂200的第一侧和第二侧分别设有至少一个浮动连接组件300。
在本实施例中，搬运臂200的数量为至少两个，且间隔设置。各个搬运臂200的第一侧和第二侧分别设有浮动连接组件300，浮动连接组件300的第一连接件310与搬运臂200滑动连接，第一连接件310与第二连接件320转动连接，而且，浮动连接组件300的第二连接件320与车体100滑动连接。
通过至少两个浮动连接组件300，车体100对搬运臂200的两侧均提供滑动支撑作用和转动支撑作用，保证搬运臂200在第二方向上的运动过程中的稳定性。
在本申请的实施例中，如图10所示，车体100包括车本体110和第一轮组120，第一轮组120包括第一轮体121、第二轮体122、第一连接桥123、第二连接桥124和连接杆125，第一连接桥123和第二连接桥124均具有第一连接部、第二连接部和第三连接部。其中，第二连接部位于第一连接部和第三连接部之间，第一连接桥123的第一连接部与第一轮体121转动连接，第二连接桥124的第一连接部与第二轮体122转动连接，第一连接桥123的第二连接部和第二连接桥124的第二连接部均与车本体110转动连接，且第一连接桥123的第三连接部与连接杆125的第一端转动连接，第二连接桥124的第三连接部与连接杆125的第二端转动连接。
在本实施例中，连接杆125的长度可以小于或等于第一连接桥123的第二连接部与第二连接桥124的第二连接部之间的距离。
具体地，第二连接部与车本体110之间、第三连接部与连接杆125的端部之间可以相铰接，也可以通过其它方式实现转动连接。第一连接桥123可以设置第一开槽与第一轴孔，第一开槽与第一轴孔相连通，第一轮体121伸入第一开槽内，且第一轮体121的轮轴伸入第一轴孔，轮轴与第一轴孔转动配合，从而实现第一轮体121与第一连接桥123之间的相对转动。同样地，第二轮体122与第二连接桥124之间也可以采用该结构。当然，第一轮体121与第一连接桥123之间、第二轮体122与第二连接桥124之间也可以采用其它结构实现转动连接。
在本实施例中，第一轮体121和第二轮体122为万向轮，即第一轮体121通过万向 节与第一连接桥123相连，第二轮体122通过万向节与第二连接桥124相连。这样一来，第一轮体121和第二轮体122能够全方位转动。
第一连接桥123的第二连接部和第二连接桥124的第二连接部的位置固定，第二连接部为转动支点。在第一轮体121受力时，第一轮体121相对于第一连接桥123的第二连接部转动，进而带动第一连接桥123相对于车本体110转动，第一连接桥123通过连接杆125驱动第二连接桥124运动，以使第二连接桥124带动第二轮体122相对于车本体110转动，反之亦然。
具体地，在第一轮体121受地面的作用力上升时，第一连接桥123的第一连接部上升、第三连接部下降，即连接杆125的第一端的位置下降，由于连接杆125的长度固定，且连接杆125的第二端受第二连接桥124的第二连接部的牵制作用，导致连接杆125无法整体下降，连接杆125的第二端翘起上升，也就是第二连接桥124的第三连接部上升，进而第二连接桥124的第一连接部下降，即第二轮体122的位置下降。同样地，在第二轮体122受地面的作用力上升时，第一轮体121下降。
如此设置，在车体100遇到不平整的地面时，第一轮体121和第二轮体122中的一者能够上升，第一轮体121和第二轮体122中的另一者能够下降，以适应地面情况，提高车体100对不平整的地面的适应性，保证第一轮体121和第二轮体122均与地面持续接触，避免第一轮体121和第二轮体122出现打滑情况，保持搬运装置运动过程中的稳定性。
在可选的实施例中，如图9所示，车体100还包括第二轮组130，第二轮组130包括第三轮体131、第四轮体132和第三连接桥133，第三连接桥133与车本体110转动连接，且第三连接桥133与车本体110的连接处位于第三连接桥133的第一端和第三连接桥133的第二端之间，第三轮体131与第三连接桥133的第一端转动连接，第四轮体132与第三连接桥133的第二端转动连接。
其中，第三连接桥133与车本体110可以通过铰接方式实现转动连接，也可以通过其它方式实现转动连接。第三连接桥133的第一端可以设置第二开槽与第二轴孔，第三轮体131伸入第二开槽内，且第三轮体131的轮轴伸入第二轴孔，轮轴与第二轴孔转动配合，从而实现第三轮体131与第三连接桥133之间的相对转动。同样地，第四轮体132与第三连接桥133之间也可以采用该结构。当然，第三轮体131与第三连接桥133之间、第四轮体132与第三连接桥133之间也可以采用其它结构实现转动连接。在本实施例中，第三轮体131和第四轮体132可以为万向轮。
具体地，由于第三连接桥133与车本体110的连接处的位置固定，以该连接处为支点，第三轮体131和第四轮体132均可以绕该支点转动。具体来说，第三轮体131绕支点相对于车本体110升高时，第四轮体132绕支点相对于车本体110下降，反之，第三轮体131绕支点相对于车本体110下降时，第四轮体132绕支点相对于车本体110上升。
在车体100遇到不平整的地面时，第三轮体131和第四轮体132能够绕支点转动，以适应地面情况，提高车体100对不平整的地面的适应性，保证第三轮体131和第四轮体132均与地面持续接触，避免第三轮体131和第四轮体132出现打滑情况，保持搬运装置运动过程中的稳定性。
可选地，车本体110设有容纳槽111，容纳槽111具有槽口，至少部分搬运臂200设于容纳槽111中，驱动轮220驱动搬运臂200通过槽口伸入容纳槽111或通过槽口从容纳槽111伸出。第一轮组120和第二轮组130中的一者的数量为至少两个，第一轮组120和第二轮组130中的一者的其中两个分别设于容纳槽111的两侧，第一轮组120和第二轮组130中的另一者设于容纳槽111的背离槽口的一侧。在本实施例中，如图1所示，容纳槽111和搬运臂200的数量均为至少两个，且一一对应，两个第二轮组130分别设置在两个容纳槽111的相互背离的两个侧部，第一轮组120设置在容纳槽111的背离槽口的一侧。
而且，车本体110设有用于驱动第四轮体132转动的第二驱动机构，故第四轮体132为主动轮，第一轮体121、第二轮体122和第三轮体131均为被动轮。第四轮体132的转动带动车体100相对于地面运动，进一步车体100带动第一轮体121、第二轮体122和第三轮体131转动。在本实施例中，第四轮体132位于第三轮体131和第一轮组120之间，即主动轮位于车本体110的中间位置，相比于将主动轮设于车本体110的边缘位置，车体100在运动过程中的稳定性更好。
在本实施例中，如图6所示，搬运臂200包括支撑底板211、支撑顶板212和举升机构213。支撑底板211与车体100活动连接，具体地，支撑底板211与浮动连接组件300的第一连接件310沿第一方向滑动连接，驱动轮220可转动地设置于支撑底板211。举升机构213设于支撑底板211与支撑顶板212之间，且举升机构213的两端分别与支撑底板211和支撑顶板212相连，在举升机构213收缩或伸长时，支撑底板211和支撑顶板212相互靠近或远离。需要说明的是，举升机构213收缩或伸长的方向为车体100或搬运臂200的高度方向(即，第二方向)。
可选地，举升机构213可以为伸缩缸，伸缩缸的两端分别与支撑底板211和支撑顶 板212相连。当然，如图6和图7所示，为使举升机构213具有较为紧凑的结构，举升机构213也可以采用可折叠结构。总之，通过举升机构213自身的伸缩动作实现支撑底板211和支撑顶板212的相互靠近或远离即可。
在搬运臂200回缩至容纳槽111的过程中，通过举升机构213的伸长和收缩实现搬运臂200对货物的抬起和下放，使货物有效避开障碍物，便于将货物顺利搬运至车体100的上端面。而且，通过举升机构213的收缩使搬运臂200能够收容于车体100内，减小占用空间。
在使用搬运臂200搬运货物时，车体100运动至货物附近，驱动轮220驱动搬运臂200伸出至容纳槽111之外，此时举升机构213处于收缩状态，搬运臂200可插入货物的底部，使货物落于支撑顶板212上；然后举升机构213伸长，支撑顶板212上升并举升起货物，驱动轮220再驱动搬运臂200缩回至容纳槽111内，此时货物位于车体100的上方，最后举升机构213收缩，支撑顶板212下降，以使货物落于车体100上，车体100即可将货物运送至目标位置。
在可选的实施例中，如图2和图3所示，车体100设有第一定位部410，搬运臂200设有第二定位部420，在搬运臂200处于缩回状态的情况下，第一定位部410和第二定位部420在第二方向上定位配合，此处对第一定位部410和第二定位部420的具体结构不做限制。本实施例中，第一定位部410设置在容纳槽111的侧壁上，第二定位部420设置在支撑顶板212上。需要说明的是，此处的搬运臂200处于缩回状态指搬运臂200位于容纳槽111之内的状态。
通过第一定位部410和第二定位部420的定位配合，避免搬运臂200沿车体100的高度方向(即，第二方向)相对于车体100运动。并且，在举升机构213收缩时，支撑底板211与支撑顶板212之间的距离缩小，而支撑顶板212通过第二定位部420和第一定位部410的定位配合结构相对于车体100固定，因此，支撑底板211相对于车体100向上运动，驱动轮220随支撑底板211向上运动，故驱动轮220处于悬空状态，进而避免驱动轮220与地面接触而阻碍车体100的运动过程。
在可选的实施例中，第一定位部410和第二定位部420中的一者设有定位凸起421，第一定位部410和第二定位部420中的另一者设有定位槽411。在搬运臂200处于缩回状态的情况下，定位凸起421与定位槽411在第二方向上定位配合。可选地，可以是第一定位部410设有定位凸起421，第二定位部420设有定位槽411。如图8所示，也可以是第一定位部410设有定位槽411，第二定位部420设有定位凸起421。此处对定位 凸起421和定位槽411的具体结构不做限制，定位凸起421和定位槽411的形状相同。
在本实施例中，如图8所示，定位槽411和定位凸起421呈倒锥状，这样一来，定位槽411的槽口面积较大，定位凸起421较容易对准定位槽411并伸入定位槽411内。
通过定位槽411和定位凸起421相配合，对第一定位部410和第二定位部420的相对位置进行限制，进而对搬运臂200进行限位，避免搬运臂200相对于车体100晃动。
可选地，在搬运臂200处于缩回状态的情况下，第一定位部410和第二定位部420磁吸配合。具体地，可以是第一定位部410和第二定位部420均为磁吸件，第一定位部410和第二定位部420直接磁吸配合；也可以在第一定位部410和第二定位部420上分别设置磁吸部412，第一定位部410和第二定位部420通过磁吸部412磁吸配合。
通过第一定位部410和第二定位部420磁吸配合，可以增大第一定位部410和第二定位部420之间的吸引力，进一步保持第一定位部410和第二定位部420的相对位置固定，提高第一定位部410和第二定位部420之间的稳定性。而且，磁吸作用有利于第一定位部410和第二定位部420之间的自动对准。
可选地，第一定位部410和第二定位部420的数量均为至少两个、且一一对应。在搬运臂200的宽度方向上，搬运臂200具有相背的第一侧和第二侧，至少两个第二定位部420分别设于第一侧和第二侧，也就是说，第一侧和第二侧分别设有至少一个第二定位部420。而且，至少两个第一定位部410分别设于容纳槽111沿宽度方向相对的两个侧壁上。
在本实施例中，各个搬运臂200的第一侧和第二侧均设有至少两个第二定位部420，位于第一侧的第二定位部420或者位于第二侧的第二定位部420沿第一方向间隔设置，同样地，位于容纳槽111同一侧壁上的第一定位部410沿容纳槽111的长度方向间隔设置。而且，各组相对应的第一定位部410和第二定位部420之间均通过定位凸起421和定位槽411实现定位配合，同时，各组相对应的第一定位部410和第二定位部420之间磁吸配合。
此时，搬运臂200的第一侧和第二侧均通过第一定位部410和第二定位部420实现与车体100的定位配合，避免第一侧和第二侧中的任何一侧沿第二方向相对于车体100运动，搬运臂200在悬空状态下的稳定性得到提升。
在可选的实施例中，如图3和图4所示，搬运臂200包括臂体210，搬运装置还 包括第一导轨500，第一导轨500与车体100沿第一方向滑动连接，臂体210与第一导轨500沿第一方向滑动连接。具体地，第一导轨500与第一连接件310滑动连接，其中，第一连接件310可以为滑块，第一导轨500与滑块导向配合；而且，臂体210包括上述的支撑顶板212、支撑底板211和举升机构213，支撑底板211与第一导轨500滑动连接，其中，支撑底板211的边缘可以与第一导轨500导向配合。
当然，在其它实施例中，臂体210的支撑底板211可以直接与第一连接件310滑动连接。
通过增加第一导轨500，可以延长臂体210沿第一方向的滑动行程，搬运臂200能够伸出足够的长度来接触货物，保证货物搬运过程的正常进行。
基于本申请公开的搬运装置，本申请实施例还公开一种搬运方法，搬运方法包括步骤S100-S500。
在步骤S100、控制驱动轮220与地面接触。
在步骤S200、控制搬运臂200和车体100中的至少一者沿搬运臂200的延伸方向运动，以使搬运臂200的至少部分伸出至容纳槽111之外，并插入货物的下方。可选地，可以控制搬运臂200沿自身延伸方向滑动，且控制车体100相对于地面的位置不变；可以控制车体100沿搬运臂200的延伸方向运动，且控制搬运臂200相对于地面的位置不变；也可以控制搬运臂200和车体100均沿搬运臂200的延伸方向运动，搬运臂200的滑动方向与车体100的运动方向相反。
在搬运臂200的至少部分伸出至容纳槽111之外后，由于举升机构213处于伸长状态，搬运臂200在高度方向上的尺寸过大，无法直接插入货物下方，因此，需先控制举升机构213收缩，缩小搬运臂200在高度方向上的尺寸，再控制搬运臂200和车体100中的至少一者沿搬运臂200的延伸方向继续运动，以使搬运臂200插入货物的下方。
在步骤S300、控制搬运臂200的举升机构213伸长，以使搬运臂200的支撑顶板212抬升货物。如此，将货物抬起一定高度，方便后续货物能够置于车体100的上端面。
在步骤S400、控制搬运臂200和车体100中的至少一者沿搬运臂200的延伸方向运动，以使搬运臂200缩回至容纳槽111之内。可选地，可以控制搬运臂200沿自身延伸方向滑动，且控制车体100相对于地面的位置不变，此时搬运臂200的滑动方向与步骤S200中搬运臂200的滑动方向相反；可以控制车体100沿搬运臂200的延伸方向 运动，且控制搬运臂200相对于地面的位置不变，此时车体100的运动方向与步骤S200中车体100的运动方向相反；也可以控制搬运臂200和车体100均沿搬运臂200的延伸方向运动，搬运臂200的滑动方向与车体100的运动方向相反。
在步骤S500、控制举升机构213收缩，以使支撑顶板212在车体100的高度方向上向下运动，直至货物置于车体100上。
在可选的实施例中，控制驱动轮220与地面接触，包括步骤S110-S140。
在步骤S110、控制车体100的第一定位部410和搬运臂200的第二定位部420定位配合以及控制搬运臂200的举升机构213收缩，以使驱动轮220处于悬空状态。此为搬运臂200处于未使用状态下的情况，如图1和图2所示，驱动轮220与地面未接触，在后续车体100运动的过程中，避免驱动轮220与地面接触而阻碍车体100运动。
在步骤S120、控制车体100运动至目标位置。可选地，车体100的底部设有第一轮组120和第二轮组130，通过驱动第一轮组120和第二轮组130运动来带动车体100运动至目标位置。
在步骤S130、控制举升机构213伸长。由于第一定位部410和第二定位部420定位配合，故支撑顶板212相对于车体100在车体100的高度方向上的位置不变，支撑底板211和驱动轮220在车体100的高度方向上向下运动，直至驱动轮220与地面接触。
在步骤S140、控制举升机构213继续伸长。由于驱动轮220与地面接触，支撑底板211的位置不变，故支撑顶板212在车体100的高度方向上向上运动，直至第一定位部410和第二定位部420分离时举升机构213停止伸长。由于第一定位部410和第二定位部420解除定位配合，故第一定位部410和第二定位部420不再阻碍搬运臂200后续沿搬运臂200的延伸方向相对于车体100滑动。
在可选的实施例中，在搬运臂200缩回至容纳槽111之内之后，搬运方法还包括步骤S600和S700。
在步骤S600、控制举升机构213收缩，直至货物置于车体100上且车体100的第一定位部410和搬运臂200的第二定位部420定位配合。具体地，在支撑顶板212下降的过程中，货物先置于车体100的上端面，然后第一定位部410和第二定位部420再定位配合。
在步骤S700、控制举升机构213继续收缩，以使支撑底板211和驱动轮220在车体100的高度方向上向上运动，直至驱动轮220恢复至悬空状态。由于第一定位部410 和第二定位部420定位配合后，支撑顶板212相对于车体100在高度方向上的位置固定，故举升机构213收缩时支撑底板211向上运动，驱动轮220随支撑底板211向上运动，直至驱动轮220与地面分离，此时搬运臂200恢复至未使用状态，待下次再搬运货物时，重复上述步骤S100-S700即可。
如此设置，采用上述搬运方法，根据地面的情况改变搬运臂200和驱动轮220在车体100的高度方向上的位置，以适应不平整的地面，保证驱动轮220与地面持续接触，避免驱动轮220打滑而无法驱动搬运臂200运动的情况。而且，在车体100的运动过程中，驱动轮220能够处于悬空状态，避免驱动轮220与地面接触而阻碍车体100的运动过程。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式。上述的具体实施方式仅仅是示意性的，而不是限制性的。本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围的情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (15)

  1. 一种搬运装置，包括：
    车体(100)和搬运臂(200)，所述搬运臂(200)与所述车体(100)活动连接，所述搬运臂(200)可相对于所述车体(100)在第一方向上滑动，所述第一方向为所述搬运臂(200)的延伸方向；以及
    浮动连接组件(300)，所述浮动连接组件(300)分别与所述车体(100)和所述搬运臂(200)相连，所述搬运臂(200)可通过所述浮动连接组件(300)相对于所述车体(100)在第二方向上运动，所述第二方向为所述车体(100)的高度方向，
    其中，所述搬运臂(200)可转动地设有驱动轮(220)，所述驱动轮(220)驱动所述搬运臂(200)相对于所述车体(100)在所述第一方向上滑动。
  2. 根据权利要求1所述的搬运装置，其中，所述浮动连接组件(300)包括第一连接件(310)和第二连接件(320)，所述第一连接件(310)与所述搬运臂(200)沿所述第一方向滑动连接，所述第一连接件(310)和所述车体(100)中的一者与所述第二连接件(320)沿所述第二方向滑动连接，所述第一连接件(310)和所述车体(100)中的另一者与所述第二连接件(320)转动连接。
  3. 根据权利要求2所述的搬运装置，其中，所述搬运臂(200)相对于所述车体(100)的转动轴线平行于所述搬运臂(200)的宽度方向。
  4. 根据权利要求1所述的搬运装置，其中，所述浮动连接组件(300)的数量为至少两个，在所述搬运臂(200)的宽度方向上，所述搬运臂(200)具有相背的第一侧和第二侧，至少两个所述浮动连接组件(300)分别设于所述第一侧和所述第二侧。
  5. 根据权利要求1所述的搬运装置，其中，所述车体(100)包括车本体(110)和第一轮组(120)，所述第一轮组(120)包括第一轮体(121)、第二轮体(122)、第一连接桥(123)、第二连接桥(124)和连接杆(125)，其中：
    所述第一连接桥(123)和所述第二连接桥(124)均具有第一连接部、第二连接部和第三连接部，所述第一连接桥(123)的第二连接部位于所述第一连接桥(123)的第一连接部和所述第一连接桥(123)的第三连接部之间，所述第二连接桥(124)的第二连接部位于所述第二连接桥(124)的第一连接部和所述第二连接桥(124)的第三连接部之间，所述第一连接桥(123)的第一连接部与所述第一轮体(121)转动连接，所述第二连接桥(124)的第一连接部与所述第二轮体(122)转动连接，所述第一连接桥(123)的第二连接部和所述第二连接桥(124)的第二连接部均与所述车本体(110)转动连接，且所述第一连接桥(123)的第三连接部与所述连接杆(125)的第一端转动连接，所述 第二连接桥(124)的第三连接部与所述连接杆(125)的第二端转动连接。
  6. 根据权利要求1所述的搬运装置，其中，所述车体(100)包括车本体(110)和第二轮组(130)，所述第二轮组(130)包括第三轮体(131)、第四轮体(132)和第三连接桥(133)，其中：
    所述第三连接桥(133)与所述车本体(110)转动连接，且所述第三连接桥(133)与所述车本体(110)的连接处位于所述第三连接桥(133)的第一端和第二端之间，所述第三轮体(131)与所述第三连接桥(133)的所述第一端转动连接，所述第四轮体(132)与所述第三连接桥(133)的所述第二端转动连接。
  7. 根据权利要求1所述的搬运装置，其中，所述搬运臂(200)包括支撑底板(211)、支撑顶板(212)和举升机构(213)，所述支撑底板(211)与所述车体(100)活动连接，所述举升机构(213)设于所述支撑底板(211)与所述支撑顶板(212)之间，且所述举升机构(213)的两端分别与所述支撑底板(211)和所述支撑顶板(212)相连，在所述举升机构(213)收缩或伸长时，所述支撑底板(211)和所述支撑顶板(212)相互靠近或远离。
  8. 根据权利要求1所述的搬运装置，其中，所述车体(100)设有第一定位部(410)，所述搬运臂(200)设有第二定位部(420)，在所述搬运臂(200)处于缩回状态的情况下，所述第一定位部(410)和所述第二定位部(420)在所述第二方向上定位配合。
  9. 根据权利要求8所述的搬运装置，其中，所述第一定位部(410)和所述第二定位部(420)中的一者设有定位凸起(421)，所述第一定位部(410)和所述第二定位部(420)中的另一者设有定位槽(411)，在所述搬运臂(200)处于缩回状态的情况下，所述定位凸起(421)与所述定位槽(411)在所述第二方向上定位配合。
  10. 根据权利要求8所述的搬运装置，其中，在所述搬运臂(200)处于缩回状态的情况下，所述第一定位部(410)和所述第二定位部(420)磁吸配合。
  11. 根据权利要求8所述的搬运装置，其中，所述第一定位部(410)和所述第二定位部(420)的数量均为至少两个，且一一对应，在所述搬运臂(200)的宽度方向上，所述搬运臂(200)具有相背的第一侧和第二侧，至少两个所述第二定位部(420)分别设于所述第一侧和所述第二侧。
  12. 根据权利要求1所述的搬运装置，其中，所述搬运臂(200)包括臂体(210)，所述搬运装置还包括第一导轨(500)，所述第一导轨(500)与所述车体(100)沿所述第一方向滑动连接，所述臂体(210)与所述第一导轨(500)沿所述第一方向滑动连接。
  13. 一种搬运方法，包括：
    控制驱动轮(220)与地面接触；
    控制搬运臂(200)和车体(100)中的至少一者沿所述搬运臂(200)的延伸方向运动，以使所述搬运臂(200)的至少部分伸出至容纳槽(111)之外，并插入货物的下方；
    控制所述搬运臂(200)的举升机构(213)伸长，以使所述搬运臂(200)的支撑顶板(212)抬升货物；
    控制所述搬运臂(200)和所述车体(100)中的至少一者沿所述搬运臂(200)的延伸方向运动，以使所述搬运臂(200)缩回至所述容纳槽(111)之内；
    控制所述举升机构(213)收缩，以使所述支撑顶板(212)在所述车体(100)的高度方向上向下运动，直至货物置于所述车体(100)上。
  14. 根据权利要求13所述的搬运方法，其中，所述控制驱动轮(220)与地面接触，包括：
    控制所述车体(100)的第一定位部(410)和所述搬运臂(200)的第二定位部(420)定位配合以及控制所述举升机构(213)收缩，以使所述驱动轮(220)处于悬空状态；
    控制所述举升机构(213)伸长，以使所述驱动轮(220)在所述车体(100)的高度方向上向下运动，直至所述驱动轮(220)与地面接触；
    控制所述举升机构(213)继续伸长，以使所述第一定位部(410)和所述第二定位部(420)分离。
  15. 根据权利要求14所述的搬运方法，其中，在所述搬运臂(200)缩回至所述容纳槽(111)之内之后，所述搬运方法还包括：
    控制所述举升机构(213)收缩，直至货物置于所述车体(100)上且所述车体(100)的第一定位部(410)和所述搬运臂(200)的第二定位部(420)定位配合；
    控制所述举升机构(213)继续收缩，以使所述搬运臂(200)的支撑底板(211)和所述驱动轮(220)在所述车体(100)的高度方向上向上运动，直至所述驱动轮(220)恢复至悬空状态。
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CN208149478U (zh) * 2018-05-03 2018-11-27 北京京东尚科信息技术有限公司 自动引导运输车底盘结构及自动引导运输车
CN112194049A (zh) * 2020-09-30 2021-01-08 杭州海康机器人技术有限公司 一种带有伸缩臂机构的叉车
CN214456577U (zh) * 2020-12-30 2021-10-22 广东博智林机器人有限公司 货物搬运机器人
CN112830418A (zh) * 2020-12-31 2021-05-25 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
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
CN115258001A (zh) * 2022-08-30 2022-11-01 杭州海康机器人股份有限公司 搬运装置及搬运方法

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