WO2024066929A1 - 搬运装置 - Google Patents
搬运装置 Download PDFInfo
- Publication number
- WO2024066929A1 WO2024066929A1 PCT/CN2023/116656 CN2023116656W WO2024066929A1 WO 2024066929 A1 WO2024066929 A1 WO 2024066929A1 CN 2023116656 W CN2023116656 W CN 2023116656W WO 2024066929 A1 WO2024066929 A1 WO 2024066929A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- telescopic arm
- vehicle body
- sliding member
- top plate
- abutting portion
- Prior art date
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 241001131688 Coracias garrulus Species 0.000 claims description 35
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 230000032258 transport Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 12
- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 4
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 2
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 101000827703 Homo sapiens Polyphosphoinositide phosphatase Proteins 0.000 description 1
- 102100023591 Polyphosphoinositide phosphatase Human genes 0.000 description 1
- 101100233916 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) KAR5 gene Proteins 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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
- 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
-
- 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
Definitions
- the present disclosure relates to the technical field of automatic guided transport, and in particular to a handling device.
- Existing transport devices usually include a vehicle body and a telescopic arm disposed on the vehicle body.
- the telescopic arm includes an arm body and a lifting mechanism and rollers disposed on the arm body.
- the telescopic arm can be extended from the vehicle body to lift the goods through the lifting mechanism.
- the vehicle body transports the goods to the destination.
- the telescopic arm is connected to the vehicle body through a telescopic mechanism.
- the telescopic arm is equipped with rollers. When the telescopic arm is extended, the rollers rotate to increase the smoothness of the extension of the telescopic arm.
- the rollers installed on the telescopic arm need to be off the ground to reduce the friction resistance between the transport device and the ground, so that the transport device can move more conveniently.
- the embodiment of the present disclosure provides a transport device, which includes a vehicle body, a telescopic arm, and a telescopic mechanism connected to the vehicle body and the telescopic arm.
- a transport device which includes a vehicle body, a telescopic arm, and a telescopic mechanism connected to the vehicle body and the telescopic arm.
- the telescopic arm When the telescopic arm is extended or retracted relative to the vehicle body, the telescopic mechanism is extended or shortened, the vehicle body includes a mounting portion, the telescopic mechanism includes a limiter, and the limiter is rotatably arranged on the mounting portion.
- the mounting portion is provided with a slide groove, at least a portion of the limiting member is received in the slide groove and the limiting member can move up and down along the slide groove.
- the telescopic arm includes a bottom plate, a roller and a lifting mechanism disposed on the bottom plate, and a top plate disposed on the lifting mechanism, the lifting mechanism can drive the top plate to move up and down relative to the bottom plate, one of the top plate and the vehicle body is provided with a first abutting portion, and the other is provided with a second abutting portion, when the first abutting portion abuts against the second abutting portion, the lifting mechanism can drive the bottom plate and the roller to move toward a direction close to the top plate.
- a receiving groove is provided in one of the top plate and the vehicle body, and when the first abutting portion abuts against the second abutting portion, at least a portion of the first abutting portion or at least a portion of the second abutting portion is received in the receiving groove.
- the receiving groove and the first abutting portion are arranged on the top plate, and the second abutting portion is arranged on the
- the lifting mechanism drives the top plate to move downward so that the second supporting portion is received in the receiving groove.
- the top plate is further provided with an avoidance groove, and when the avoidance groove is located below the second supporting portion, the lifting mechanism drives the top plate to move upward so that the second supporting portion passes through the avoidance groove, and after the second supporting portion passes through the avoidance groove, the telescopic arm moves so that the storage groove is located above the second supporting portion.
- the vehicle body includes a convex shaft, and the second abutting portion is sleeved on the convex shaft and can rotate along the convex shaft.
- the telescopic arm includes a shaft and a connecting rod
- the shaft is fixed to the base plate
- the rollers are provided as a pair and are respectively provided at both ends of the connecting rod
- the connecting rod is rotatably provided on the shaft, and when the telescopic arm is extended along a first direction relative to the vehicle body, the rollers rotate along the first direction and the connecting rod can swing relative to the first direction to drive the rollers to swing.
- the connecting rod is provided with an assembly hole, and at least a portion of the shaft portion is located in the assembly hole.
- the telescopic arm is provided with an elastic member, and the connecting rod squeezes the elastic member when it swings.
- the telescopic arm further includes a baffle, and at least part of the elastic member is located between the connecting rod and the baffle.
- the top plate is provided with an arc-shaped guiding portion to guide the second abutting portion to enter the receiving groove, and the guiding portion surrounds the receiving groove.
- the lifting mechanism includes a screw assembly and a pair of push rods
- the screw assembly includes a screw and a nut arranged on the screw
- the pair of push rods are hinged together
- the top ends of the pair of push rods are hinged to the top plate
- the bottom end of one of the push rods is hinged to the bottom plate
- the bottom end of the other push rod is hinged to the nut.
- the lifting mechanism also includes a second motor to drive the screw to rotate, thereby driving the nut to move, so that the top ends of a pair of push rods rotate toward or away from each other, thereby driving the top plate or the bottom plate to move in the up and down directions.
- the telescopic arm also includes a fixing seat fixed to the base plate, a switch arranged on the fixing seat, and a triggering part arranged on the top plate.
- the triggering part triggers the switch, the second motor is controlled to stop working, so that the base plate and the roller stop moving upward, thereby making the roller leave the ground.
- the telescopic mechanism comprises a first sliding member limited to the vehicle body and a second sliding member limited to the telescopic arm, and when the telescopic arm is extended or retracted relative to the vehicle body, the second sliding member is relative to the first sliding member.
- the moving part slides.
- the telescopic mechanism further includes a third sliding member, the third sliding member connects the first sliding member and the second sliding member, the third sliding member can slide relative to the first sliding member, and the second sliding member can slide relative to the third sliding member.
- the telescopic arm further includes a driving wheel and a first motor, and the first motor drives the driving wheel to rotate to drive the telescopic arm to extend and retract.
- FIG1 is a schematic diagram of a handling device according to an embodiment of the present disclosure, wherein the telescopic arm is in a retracted state;
- FIG2 is a schematic diagram of a handling device according to an embodiment of the present disclosure, wherein the telescopic arm is in an extended state;
- FIG3 is a partial enlarged view of the A portion of the transport device shown in FIG2;
- FIG4 is a schematic diagram of the telescopic arm of the handling device shown in FIG1 , wherein the top plate is in a raised state;
- FIG5 is a schematic diagram of the cooperation between the stopper and the mounting portion shown in FIG2 ;
- FIG6 is an exploded view of the stopper shown in FIG5 ;
- FIG. 7 is an assembly diagram of the roller, connecting rod, shaft, elastic member and baffle of the telescopic arm shown in FIG. 2 ;
- FIG8 is an exploded view of the assembly diagram shown in FIG7;
- FIG9 is a schematic cross-sectional view of the assembly diagram shown in FIG7 ;
- FIG10 is a schematic diagram of a first abutting portion of the vehicle body shown in FIG2 ;
- FIG. 11 is a schematic diagram of the positional relationship between the first abutting portion of the telescopic arm and the second abutting portion of the vehicle body according to an embodiment of the present disclosure, wherein the second abutting portion is located below the storage slot;
- FIG. 12 is a schematic diagram of the positional relationship between the first abutting portion of the telescopic arm and the second abutting portion of the vehicle body according to an embodiment of the present disclosure, wherein the second abutting portion is located in the receiving groove;
- FIG. 13 is a schematic diagram of the positional relationship between the first abutting portion of the telescopic arm and the second abutting portion of the vehicle body according to an embodiment of the present disclosure, wherein the roller is off the ground;
- FIG. 14 is a schematic diagram of another embodiment of the cooperation between the stopper and the mounting portion shown in FIG. 5 .
- vehicle body 1 mounting portion 11; slide groove 110; first stop portion 14; second stop portion 15; second stop portion 16; convex shaft 17; telescopic arm 2; fixing seat 201; switch 202; bottom plate 22; roller 23; lifting machine Structure 24; screw assembly 241; screw 2411; nut 2412; push rod 242; second motor 243; top plate 25; first abutment portion 251; storage groove 252; avoidance groove 253; guide portion 254; trigger portion 255; shaft 26; bushing 262; connecting rod 27; assembly hole 270; elastic member 28; baffle 291; base 292; driving wheel 293; first motor 294; telescopic mechanism 3; limit member 31; first limit member 311; main body 3110; limit shaft 3111; rotating member 3112; second limit member 312; first sliding member 32; second sliding member 33; third sliding member 34; third abutment portion 35; connecting member 36; ground 4.
- Words such as “include” or “comprise” mean that the elements or objects appearing in front of “include” or “comprise” include the elements or objects listed after “include” or “comprise” and their equivalents, and do not exclude other elements or objects. Words such as “connect” or “connected” or “fixed” or “set” are not limited to physical or mechanical connections, and can include electrical connections, whether direct or indirect. As used in this disclosure and the appended claims, the singular forms “a”, “an”, “said”, and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term “and/or” as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
- the telescopic arm moves up and down, which can easily damage the telescopic mechanism.
- the telescopic arm has high requirements for the installation accuracy of the roller. If the roller is tilted, the rolling direction of the roller will be inconsistent with the extension direction of the telescopic arm, which will generate guiding resistance and affect the smoothness of the extension of the telescopic arm.
- the handling device in the related art needs to add an additional roller retracting structure, which makes the handling device structure more complicated and the cost higher.
- the present disclosure provides a transport device to solve the above problems.
- the transport device of the type includes a vehicle body 1, a telescopic arm 2, and a telescopic mechanism 3 connected to the vehicle body 1 and the telescopic arm 2.
- the vehicle body 1 includes a mounting portion 11.
- the telescopic mechanism 3 includes a limiter 31.
- the limiter 31 is rotatably disposed on the mounting portion 11.
- the limit member 31 rotates around the mounting portion 11 to prevent the force applied to the telescopic mechanism 3 from causing the telescopic mechanism 3 to break, thereby effectively protecting the telescopic mechanism 3 .
- the mounting portion 11 is provided with a slide groove 110 . At least a portion of the limiting member 31 is received in the slide groove 110 .
- the limiting member 31 includes a first limiting member 311 and a second limiting member 312 fixed together. An end of the first limiting member 311 is received in the slide slot 110 . An end of the second limiting member 312 is fixed to the telescopic mechanism 3 .
- the first limiting member 311 includes a bearing, and the bearing is received in the sliding groove 110 to increase the smoothness of the rotation of the first limiting member 311 .
- the telescopic mechanism 3 includes a first sliding member 32 limited to the vehicle body 1 and a second sliding member 33 limited to the telescopic arm 2.
- the second sliding member 33 slides relative to the first sliding member 32.
- one of the first sliding member 32 and the second sliding member 33 includes a slide groove, and the other includes a slider, and the slider slides in cooperation with the slide groove; or, the first sliding member 32 and the second sliding member 33 may also include any structure that can be slidably matched, so that the second sliding member 33 can slide relative to the first sliding member 32.
- the telescopic mechanism 3 further includes a third sliding member 34.
- the third sliding member 34 connects the first sliding member 32 and the second sliding member 33.
- the third sliding member 34 can slide relative to the first sliding member 32, and the second sliding member 33 can slide relative to the third sliding member 34.
- the provision of the third sliding member 34 can extend the extension stroke of the telescopic arm 2 without changing the length of the transport device.
- one of the first sliding member 32 and the third sliding member 34 includes a sliding groove, and the other includes a sliding block, and the sliding block slides in cooperation with the sliding groove; or, the first sliding member 32 and the third sliding member 34 may also include any structure that can be slidably matched, so that the third sliding member 34 can slide relative to the first sliding member 32.
- one of the second sliding member 33 and the third sliding member 34 includes a slide groove, and the other includes a slider, and the slider slides in cooperation with the slide groove; or the second sliding member 33 and the third sliding member 34 may also include a slide groove.
- the third sliding member 34 may include any structure that can be slidably matched, so that the second sliding member 33 can slide relative to the third sliding member 34.
- the embodiment of the present disclosure does not limit the number of the sliding members, and the telescopic mechanism is not limited to the sliding members, but can be any telescopic structure.
- the telescopic arm 2 further includes a bottom plate 22, rollers 23 and a lifting mechanism 24 disposed on the bottom plate 22, and a top plate 25 disposed on the lifting mechanism 24.
- the rollers 23 contact the ground 4 to increase the smoothness of the extension of the telescopic arm 2.
- the telescopic arm 2 When the handling device is in use, the telescopic arm 2 is extended to the bottom of the cargo, and the lifting mechanism 24 drives the top plate 25 to move upward relative to the bottom plate 22 to lift the cargo, and then the telescopic arm 2 is retracted to drive the cargo to move above the vehicle body 1, and the vehicle body 1 moves to transport the cargo to the destination.
- the telescopic arm 2 When the cargo needs to be unloaded, the telescopic arm 2 is extended, and the lifting mechanism 24 drives the top plate 25 to move downward relative to the bottom plate 22 to put down the cargo, and then the telescopic arm 2 is retracted.
- the handling device can be used in scenarios where the vehicle body 1 cannot enter under the cargo.
- the vehicle body 1 When the transport device is in use, when the telescopic arm 2 lifts the goods, the vehicle body 1 may also be moved under the goods, and then the vehicle body 1 drives the goods to move to the destination.
- the vehicle body 1 further includes a first stopper 14 and a second stopper 15.
- the telescopic mechanism 3 includes a third stopper 35.
- the third stopper 35 stops the first stopper 14 to prevent the telescopic arm 2 from being further extended and falling; when the telescopic arm 2 is retracted, the third stopper 35 stops the second stopper 15 to prevent the telescopic arm 2 from being further retracted.
- the third blocking portion 35 may be directly or indirectly fixed to the third sliding member 34 .
- first sliding member 32 , the second sliding member 33 and the third sliding member 34 are each provided as a pair.
- the pair of second sliding members 33 is located at both sides of the bottom plate 22 .
- the telescopic mechanism 3 includes a connecting member 36, the connecting member 36 is connected to a pair of the third sliding members 34, and the third stopper 35 is fixed to the connecting member 36.
- the provision of the connecting member 36 increases the strength of the telescopic mechanism 3.
- the third blocking portion 35 may also be integrally provided with the connecting member 36 .
- the lifting mechanism 24 includes a screw assembly 241 and a pair of push rods 242.
- the screw assembly 241 includes a screw 2411 and a nut 2412 disposed on the screw 2411.
- the pair of push rods 242 are hinged together to form a scissors.
- the top ends of a pair of top rods 242 are hinged to the top plate 25 , the bottom end of one of the top rods 242 is hinged to the bottom plate 22 , and the bottom end of the other top rod 242 is hinged to the nut 2412 .
- the lifting mechanism 24 also includes a second motor 243 to drive the screw 2411 to rotate, to drive the nut 2412 to move, to drive the top ends of a pair of push rods 242 to rotate toward or away from each other, to drive the top plate 25 or the bottom plate 22 to move in the up and down directions.
- the telescopic arm 2 further includes a shaft 26 and a connecting rod 27.
- the shaft 26 is fixed to the bottom plate 22.
- the rollers 23 are provided as a pair and are respectively provided at both ends of the connecting rod 27.
- the connecting rod 27 is rotatably provided on the shaft 26.
- the shaft portion 26 may be directly fixed to the bottom plate 22 or may be indirectly fixed to the bottom plate 22 .
- the connecting rod 27 is provided with an assembly hole 270, and at least a portion of the shaft portion 26 is located in the assembly hole 270.
- the assembly hole 270 can be a through hole or a blind hole.
- the telescopic arm 2 is also provided with an elastic member 28.
- the elastic member 28 When the connecting rod 27 swings, the elastic member 28 is squeezed. The elastic force of the elastic member 28 pushes against the connecting rod 27, so that the roller 23 is straightened. When the compression amount of the elastic member 28 reaches the limit, the maximum steering angle of the connecting rod 27 and the roller 23 is limited.
- the elastic member 28 can rebound after being subjected to force, for example, it can be a spring, a sponge block, or rubber.
- the telescopic arm 2 further includes a baffle 291. At least part of the elastic member 28 is located between the connecting rod 27 and the baffle 291. Along the extension direction of the telescopic arm 2, the baffle 291 is located in front of the connecting rod 27.
- the telescopic arm 2 further includes a base 292. The base 292 is fixed to the bottom plate 22. The shaft 26 and the baffle 291 are fixed to the base 292, for example, by screws.
- the baffle plate 291 may also be directly fixed to the shaft portion 26 , or the baffle plate 291 and the shaft portion 26 may be fixed to the bottom plate 22 respectively.
- the telescopic arm 2 further includes a bushing 262 sleeved on the shaft portion 26.
- the bushing 262 is located between the shaft portion 26 and the connecting rod 27 to prevent the connecting rod 27 and the shaft portion 26 from being worn when the connecting rod 27 swings.
- the telescopic arm 2 further includes a driving wheel 293 and a first motor 294.
- the first motor 294 drives the driving wheel 293 to rotate, so as to drive the telescopic arm 2 to extend and retract.
- the driving wheel 293 is located in front of the roller 23.
- the top plate 25 is provided with a first abutting portion 251.
- the vehicle body 1 is provided with a second abutting portion 16.
- the top plate 25 remains stationary.
- the top ends of the pair of top rods 242 of the lifting mechanism 24 move away from each other, thereby driving the bottom plate 22 and the roller 23 to move toward the top plate 25, so that the roller 23 is out of contact with the ground 4.
- the present disclosure is not limited to this.
- the first abutting portion may be provided on the vehicle body, and the second abutting portion may be provided on the top plate.
- the transport device of the disclosed embodiment is resisted by the first resisting portion 251 and the second resisting portion 16, and the lifting mechanism 24 drives the bottom plate 22 and the roller 23 to move toward the top plate 25, so that the roller 23 is separated from the ground 4. There is no need to set up a roller folding structure separately.
- the transport device has a simple structure and saves costs.
- the first stopper 311 can move up and down along the slide groove 110.
- the roller 23 is off the ground to reduce the friction resistance between the transport device and the ground 4, making the transport device more convenient to move.
- the bottom plate 22 moves upward relative to the vehicle body 1 to drive the first stopper 311 to move upward along the slide groove 110.
- the bottom plate 22 moves downward relative to the vehicle body 1 , driving the first stopper 311 to move downward along the slide groove 110 , so that the roller 23 contacts the ground 4 .
- One of the top plate 25 and the vehicle body 1 may be provided with a receiving groove 252.
- the top plate 25 is provided with a receiving groove 252.
- the lifting mechanism 24 drives the top plate 25 to move downward, so that the second abutting portion 16 is received in the receiving groove 252, so as to prevent the telescopic arm 2 from moving when the roller 23 is raised.
- the top plate 25 is also provided with an escape groove 253.
- the escape groove 253 is located behind the storage groove 252.
- the lifting mechanism 24 drives the top plate 25 to move upward, so that the second abutting portion 16 passes through the escape groove 253 and is located below the escape groove 253.
- the telescopic arm 2 retracts so that the storage groove 252 moves to the top of the second abutting portion 16.
- the lifting mechanism 24 drives the top plate 25 to move downward, so that the second abutting portion 16 is accommodated in the storage groove 252.
- the second abutting portion 16 abuts against the first abutting portion 251, and the lifting mechanism 24 drives the bottom plate 22 and the roller 23 to move in the direction close to the top plate 25, so that the roller 23 is separated from the ground 4.
- the vehicle body 1 further includes a protruding shaft 17 .
- the second abutting portion 16 is sleeved on the protruding shaft 17 and can rotate along the protruding shaft 17 to reduce wear of the second abutting portion 16 and the top plate 25 .
- the second abutting portion 16 includes a bearing to increase the smoothness of rotation.
- the top plate 25 is provided with an arc-shaped guide portion 254 to guide the second abutting portion 16 to enter the receiving groove 252 .
- the guide portion 254 surrounds the receiving groove 252 .
- the telescopic arm 2 further includes a fixing seat 201 fixed to the bottom plate 22, a switch 202 disposed on the fixing seat 201, and a triggering portion 255 disposed on the top plate 25.
- the second abutting portion 16 abuts against the first abutting portion 251, and the lifting mechanism 24 drives the bottom plate 22 and the roller 23 to move toward the top plate 25, so that the roller 23 is separated from the ground 4.
- the triggering portion 255 triggers the switch 202
- the second motor 243 is controlled to stop working, and the bottom plate 22 and the roller 23 stop moving upward, completing the work of the roller 23 being separated from the ground 4.
- the switch 202 includes a trigger switch or a sensor.
- the second abutting portion 16 and the first abutting portion 251 may be provided as one or more.
- a plurality of the first abutting portions 251 may be disposed on one side or two opposite sides of the telescopic arm 2 .
- one or more telescopic arms 2 may be provided.
- the first stopper 311 includes a main body 3110, a stopper shaft 3111 extending from the main body 3110, and a rotating member 3112 rotatably disposed on the stopper shaft 3111.
- the rotating member 3112 is located in the slide slot 110 and can move up and down along the slide slot 110.
- the stopper shaft 3111 is fixed to the second stopper 312.
- the main body 3110 and the second stopper 312 are located on opposite sides of the slide slot 110.
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Abstract
一种搬运装置，包括车体、伸缩臂以及连接至所述车体与所述伸缩臂的伸缩机构，所述伸缩臂相对所述车体伸出或缩回时，所述伸缩机构伸长或者缩短，所述车体包括安装部，所述伸缩机构包括限位件，所述限位件可转动地设置于所述安装部；所述伸缩臂伸出的过程中，当遇到不平整路面导致伸缩臂上下移动时，所述限位件绕所述安装部转动，防止施加在伸缩机构上的力导致伸缩机构断裂，从而有效地保护伸缩机构。
Description
相关申请的交叉引用
本申请要求于2022年9月30日提交的、申请号为2022226538237、2022226537874和2022226261173的中国专利申请的优先权，这些申请以引用的方式并入本文中。
本公开涉及自动导引运输技术领域，尤其涉及搬运装置。
现有的搬运装置，通常包括车体和设置在车体上的伸缩臂。伸缩臂包括臂体和设置在臂体上的举升机构和滚轮。伸缩臂能够从车体中伸出，以通过举升机构举升货物。车体将货物运送至目的地。伸缩臂与车体通过伸缩机构连接。伸缩臂安装有滚轮。伸缩臂伸出时，滚轮转动，以增加伸缩臂伸出时的顺畅性。搬运装置在行走过程中，其伸缩臂上安装的滚轮需要脱离地面，以减小搬运装置与地面之间的摩擦阻力，使得搬运装置行走更加的便捷。
发明内容
本公开实施方式提供一种搬运装置，其包括车体、伸缩臂以及连接至所述车体与所述伸缩臂的伸缩机构。所述伸缩臂相对所述车体伸出或缩回时，所述伸缩机构伸长或者缩短，所述车体包括安装部，所述伸缩机构包括限位件，所述限位件可转动地设置于所述安装部。
可选地，所述安装部设有滑槽，至少部分所述限位件收容至所述滑槽内且所述限位件可沿所述滑槽上下移动。
可选地，所述伸缩臂包括底板、设置于所述底板的滚轮与举升机构以及设置于所述举升机构的顶板，所述举升机构可带动所述顶板相对所述底板上下移动，所述顶板与所述车体其中之一设有第一抵持部，另一个设有第二抵持部，所述第一抵持部与所述第二抵持部抵持时，所述举升机构可带动所述底板以及所述滚轮向靠近所述顶板的方向移动。
可选地，所述顶板与所述车体其中之一设有收纳槽，所述第一抵持部与所述第二抵持部抵持时，至少部分所述第一抵持部或至少部分所述第二抵持部收容至所述收纳槽内。
可选地，所述收纳槽及所述第一抵持部设置于所述顶板，所述第二抵持部设置于所
述车体，所述收纳槽位于所述第二抵持部的上方时，所述举升机构带动所述顶板向下移动，以使得所述第二抵持部收容至所述收纳槽内。
可选地，所述顶板还设有避让槽，所述避让槽位于所述第二抵持部的下方时，所述举升机构带动所述顶板向上移动，以使得所述第二抵持部穿过所述避让槽，所述第二抵持部穿过所述避让槽后，所述伸缩臂移动，以使得所述收纳槽位于所述第二抵持部的上方。
可选地，所述车体包括凸轴，所述第二抵持部套设于所述凸轴且可沿所述凸轴转动。
可选地，所述伸缩臂包括轴部与连杆，所述轴部固定至所述底板，所述滚轮设置为一对且分别设置于所述连杆的两端，所述连杆可转动地设置于所述轴部，所述伸缩臂相对所述车体沿第一方向伸出时，所述滚轮沿所述第一方向转动且所述连杆可相对所述第一方向摆动，以带动所述滚轮摆动。
可选地，所述连杆设有组装孔，至少部分所述轴部位于所述组装孔内。
可选地，所述伸缩臂设有弹性件，所述连杆摆动时挤压所述弹性件。
可选地，所述伸缩臂还包括挡板，至少部分所述弹性件位于所述连杆与所述挡板之间。
可选地，所述顶板设有弧形的导引部，以引导所述第二抵持部进入所述收纳槽，所述导引部围成所述收纳槽。
可选地，所述举升机构包括丝杠组件以及一对顶杆，所述丝杠组件包括丝杠以及设置于所述丝杠的螺母，一对所述顶杆铰接在一起，一对所述顶杆的顶端与所述顶板铰接，其中一个所述顶杆的底端与所述底板铰接，另一个所述顶杆的底端与所述螺母铰接。
可选地，所述举升机构还包括第二电机，以驱动所述丝杠转动，从而带动所述螺母移动，使得一对所述顶杆的顶端向靠近或远离彼此的方向转动，以带动所述顶板或所述底板沿上下方向移动。
可选地，所述伸缩臂还包括固定至所述底板的固定座、设置于所述固定座的开关以及设置于所述顶板的触发部，当所述触发部触发所述开关时，控制所述第二电机停止工作，使得所述底板及所述滚轮停止向上移动，从而使所述滚轮脱离地面。
可选地，所述伸缩机构包括限位至所述车体的第一滑动件以及限位至所述伸缩臂的第二滑动件，所述伸缩臂相对所述车体伸出或缩回时，所述第二滑动件相对所述第一滑
动件滑动。
可选地，所述伸缩机构还包括第三滑动件，所述第三滑动件连接所述第一滑动件与所述第二滑动件，所述第三滑动件可相对所述第一滑动件滑动，所述第二滑动件可相对所述第三滑动件滑动。
可选地，所述伸缩臂还包括主动轮和第一电机，所述第一电机驱动所述主动轮转动，以带动所述伸缩臂伸出以及缩回。
图1是本公开实施方式的搬运装置的示意图，其中，伸缩臂处于缩回状态；
图2是本公开实施方式的搬运装置的示意图，其中，伸缩臂处于伸出状态；
图3是图2所示的搬运装置的A处的局部放大图；
图4是图1所示的搬运装置的伸缩臂的示意图，其中，顶板处于升起状态；
图5是图2所示的限位件与安装部配合的示意图；
图6是图5所示的限位件的分解图；
图7是图2所示的伸缩臂的滚轮、连杆、轴部、弹性件以及挡板的组装图；
图8是图7所示的组装图的分解图；
图9是图7所示的组装图的剖面示意图；
图10是图2所示的车体的第一抵持部的示意图；
图11是本公开实施方式的伸缩臂的第一抵持部与车体的第二抵持部的位置关系的示意图，其中，第二抵持部位于所述收纳槽的下方；
图12是本公开实施方式的伸缩臂的第一抵持部与车体的第二抵持部的位置关系的示意图，其中，第二抵持部位于所述收纳槽内；
图13是本公开实施方式的伸缩臂的第一抵持部与车体的第二抵持部的位置关系的示意图，其中，滚轮脱离地面；
图14是图5所示的限位件与安装部配合的另一实施方式的示意图。
附图标号说明：车体1；安装部11；滑槽110；第一抵挡部14；第二抵挡部15；第二抵持部16；凸轴17；伸缩臂2；固定座201；开关202；底板22；滚轮23；举升机
构24；丝杠组件241；丝杠2411；螺母2412；顶杆242；第二电机243；顶板25；第一抵持部251；收纳槽252；避让槽253；导引部254；触发部255；轴部26；衬套262；连杆27；组装孔270；弹性件28；挡板291；底座292；主动轮293；第一电机294；伸缩机构3；限位件31；第一限位件311；主体部3110；限位轴3111；转动件3112；第二限位件312；第一滑动件32；第二滑动件33；第三滑动件34；第三抵挡部35；连接件36；地面4。
这里将详细地对示例性实施方式进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施方式中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置的例子。
在本公开使用的术语是仅仅出于描述特定实施方式的目的，而非旨在限制本公开。除非另作定义，本公开使用的技术术语或者科学术语应当为本公开所属领域内具有一般技能的人士所理解的通常意义。本公开说明书以及权利要求书中使用的“第一”“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。同样，“一个”或者“一”等类似词语也不表示数量限制，而是表示存在至少一个。“多个”或者“若干”表示两个及两个以上。除非另行指出，“前部”、“后部”、“下部”和/或“上部”等类似词语只是为了便于说明，而并非限于一个位置或者一种空间定向。“包括”或者“包含”等类似词语意指出现在“包括”或者“包含”前面的元件或者物件涵盖出现在“包括”或者“包含”后面列举的元件或者物件及其等同，并不排除其他元件或者物件。“连接”或者“相连”或者“固定”或者“设置”等类似的词语并非限定于物理的或者机械的连接，而且可以包括电性的连接，不管是直接的还是间接的。在本公开说明书和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
在相关技术中，当遇到路面颠簸时，伸缩臂上下移动，容易损坏伸缩机构。伸缩臂对于滚轮的安装精度有很高的要求，如果滚轮倾斜，会导致滚轮的滚动方向与伸缩臂的伸出方向不一致，会产生导向阻力，影响伸缩臂伸出的顺畅性。此外，相关技术中的搬运装置需要额外增加滚轮收起结构，导致搬运装置结构较复杂，成本较高。
本公开提供一种搬运装置，以解决上述问题。参见图1至图6所示，本公开实施方
式的搬运装置包括车体1、伸缩臂2以及连接至所述车体1与所述伸缩臂2的伸缩机构3。所述伸缩臂2相对所述车体1伸出或缩回时，所述伸缩机构3伸长或者缩短。所述车体1包括安装部11。所述伸缩机构3包括限位件31。所述限位件31可转动地设置于所述安装部11。
所述伸缩臂2伸出或缩回过程中，当遇到不平整路面导致伸缩臂2上下移动时，所述限位件31绕所述安装部11转动，防止施加在伸缩机构3上的力导致伸缩机构3断裂，有效地保护伸缩机构3。
所述安装部11设有滑槽110。至少部分所述限位件31收容至所述滑槽110内。
可选地，所述限位件31包括固定在一起的第一限位件311与第二限位件312。所述第一限位件311的端部收容于所述滑槽110内。所述第二限位件312的端部固定至所述伸缩机构3。
可选地，所述第一限位件311包括轴承，所述轴承收容于所述滑槽110内，以增加所述第一限位件311转动的顺畅性。
可选地，所述伸缩机构3包括限位至所述车体1的第一滑动件32以及限位至所述伸缩臂2的第二滑动件33。所述伸缩臂2相对所述车体1伸出或缩回时，所述第二滑动件33相对所述第一滑动件32滑动。
可选地，所述第一滑动件32与所述第二滑动件33其中之一包括滑槽，另一个包括滑块，滑块与滑槽配合滑动；或者，所述第一滑动件32与所述第二滑动件33也可以包括任何可以滑动配合的结构，使得第二滑动件33可相对所述第一滑动件32滑动即可。
可选地，所述伸缩机构3还包括第三滑动件34。所述第三滑动件34连接所述第一滑动件32与所述第二滑动件33。所述第三滑动件34可相对所述第一滑动件32滑动，所述第二滑动件33可相对所述第三滑动件34滑动。所述第三滑动件34的设置，在不改变搬运装置的长度的情况下，可延长所述伸缩臂2的伸出行程。
可选地，所述第一滑动件32与所述第三滑动件34其中之一包括滑槽，另一个包括滑块，滑块与滑槽配合滑动；或者，所述第一滑动件32与所述第三滑动件34也可以包括任何可以滑动配合的结构，使得所述第三滑动件34可相对所述第一滑动件32滑动即可。
可选地，所述第二滑动件33与所述第三滑动件34其中之一包括滑槽，另一个包括滑块，滑块与滑槽配合滑动；或者，所述第二滑动件33与所述第三滑动件34也可以包
括任何可以滑动配合的结构，使得所述第二滑动件33可相对所述第三滑动件34滑动即可。
本公开实施方式并不对所述滑动件的数量进行限制，所述伸缩机构也不局限于滑动件，可以是任何可以伸缩的结构。
所述伸缩臂2还包括底板22、设置于所述底板22的滚轮23与举升机构24以及设置于所述举升机构24的顶板25。所述伸缩臂2伸出时，所述滚轮23与地面4接触，以增加所述伸缩臂2伸出的顺畅性。
所述搬运装置使用时，所述伸缩臂2伸出至货物的下方，所述举升机构24带动所述顶板25相对所述底板22向上移动，以举起货物，然后，伸缩臂2缩回以带动货物移动至车体1的上方，车体1移动以把货物运送至目的地。当需要卸载货物时，所述伸缩臂2伸出，所述举升机构24带动所述顶板25相对所述底板22向下移动，以放下货物，然后，伸缩臂2缩回。所述搬运装置可适用车体1无法进入货物下方的场景。
所述搬运装置使用时，所述伸缩臂2举起货物时，也可以是所述车体1移动至所述货物的下方，然后，所述车体1带动货物移动至目的地。
所述车体1还包括第一抵挡部14与第二抵挡部15。所述伸缩机构3包括第三抵挡部35。当所述伸缩臂2伸出至极限位置时，所述第三抵挡部35与所述第一抵挡部14抵挡，以阻止所述伸缩臂2的进一步伸出，防止所述伸缩臂2掉落；当所述伸缩臂2缩回时，所述第三抵挡部35与所述第二抵挡部15抵挡，以阻止所述伸缩臂2的进一步缩回。
可选地，所述第三抵挡部35可直接或间接固定至所述第三滑动件34。
可选地，所述第一滑动件32、所述第二滑动件33及所述第三滑动件34均设置为一对。一对所述第二滑动件33位于所述底板22的两侧。
可选地，所述伸缩机构3包括连接件36，所述连接件36连接至一对所述第三滑动件34，所述第三抵挡部35固定至所述连接件36。所述连接件36的设置，增加了所述伸缩机构3的强度。
可选地，所述第三抵挡部35也可与所述连接件36一体设置。
所述举升机构24包括丝杠组件241以及一对顶杆242。所述丝杠组件241包括丝杠2411以及设置于所述丝杠2411的螺母2412。一对所述顶杆242铰接在一起，形成剪刀
状结构。一对所述顶杆242的顶端与所述顶板25铰接，其中一个所述顶杆242的底端与所述底板22铰接，另一个所述顶杆242的底端与所述螺母2412铰接。
所述举升机构24还包括第二电机243，以驱动所述丝杠2411转动，以带动所述螺母2412移动，以带动一对顶杆242的顶端向靠近或远离彼此的方向转动，以带动所述顶板25或所述底板22沿上下方向移动。
参见图7至图9所示，所述伸缩臂2还包括轴部26与连杆27。所述轴部26固定至所述底板22。所述滚轮23设置为一对且分别设置于所述连杆27的两端。所述连杆27可转动地设置于所述轴部26。所述伸缩臂2相对所述车体1沿第一方向伸出时，所述滚轮23沿所述第一方向转动且所述连杆27可相对所述第一方向摆动，以带动所述滚轮23摆动，以校正所述滚轮23的滚动方向，降低导向阻力，确保伸缩臂2伸出的顺畅性。
所述轴部26可直接固定至所述底板22，也可间接固定至所述底板22。
所述连杆27设有组装孔270，至少部分所述轴部26位于所述组装孔270内。所述组装孔270可为通孔，也可为盲孔。
所述伸缩臂2还设有弹性件28。所述连杆27摆动时挤压所述弹性件28。所述弹性件28的弹性力抵顶所述连杆27，使得所述滚轮23摆正。当所述弹性件28的压缩量达到极限时，限制所述连杆27以及所述滚轮23的最大转向角度。
所述弹性件28受力后可回弹，比如，可以是弹簧或海绵块或橡胶等。
所述伸缩臂2还包括挡板291。至少部分所述弹性件28位于所述连杆27与所述挡板291之间。沿所述伸缩臂2的伸出方向，所述挡板291位于所述连杆27的前方。所述伸缩臂2还包括底座292。所述底座292固定至所述底板22。所述轴部26以及所述挡板291固定至所述底座292，比如，可通过螺钉固定等方式进行固定。
所述挡板291也可直接固定至所述轴部26或者所述挡板291与所述轴部26分别固定至所述底板22。
所述伸缩臂2还包括套设于所述轴部26的衬套262。所述衬套262位于所述轴部26与所述连杆27之间，以防止所述连杆27摆动时，磨损所述连杆27以及所述轴部26。
所述伸缩臂2还包括主动轮293与第一电机294。所述第一电机294驱动所述主动轮293转动，以带动所述伸缩臂2伸出以及缩回。沿所述伸缩臂2的伸出方向，所述主动轮293位于所述滚轮23的前方。
参见图10至图13所示，所述顶板25设有第一抵持部251。所述车体1设有第二抵持部16。所述第一抵持部251与所述第二抵持部16抵持时，所述顶板25位置不动，此时，所述举升机构24的一对顶杆242的顶端向远离彼此的方向移动，即可带动所述底板22以及所述滚轮23向靠近所述顶板25的方向移动，以使得所述滚轮23脱离与地面4的接触。需要说明的是，本公开并不限制于此，在其他实施例中，第一抵持部可以设置在车体上，第二抵持部可以设置在顶板上。
本公开实施方式的搬运装置通过所述第一抵持部251与所述第二抵持部16抵挡，所述举升机构24带动所述底板22以及所述滚轮23向靠近所述顶板25的方向移动，以使得滚轮23脱离地面4，无需另外设置滚轮收起结构，搬运装置结构简单，节省了成本。
所述第一限位件311可沿所述滑槽110上下移动。所述车体1移动前，所述滚轮23离地，以减小搬运装置与地面4之间的摩擦阻力，使得搬运装置行走更加的便捷。所述滚轮23离地的过程中，所述底板22相对于所述车体1向上移动，以带动所述第一限位件311沿所述滑槽110向上移动。
所述伸缩臂2伸出前，所述底板22相对于所述车体1向下移动，带动所述第一限位件311沿所述滑槽110向下移动，以使得所述滚轮23与地面4接触。
所述顶板25与所述车体1其中之一可以设有收纳槽252，所述第一抵持部251与所述第二抵持部16抵持时，至少部分所述第一抵持部251或至少部分所述第二抵持部16收容至所述收纳槽252内。在本实施例中，所述顶板25设有收纳槽252。所述收纳槽252位于所述第二抵持部16的上方时，所述举升机构24带动所述顶板25向下移动，以使得所述第二抵持部16收容至所述收纳槽252内，以防止滚轮23升起时，伸缩臂2移动。
所述顶板25还设有避让槽253。沿所述伸缩臂2的伸出方向，所述避让槽253位于所述收纳槽252的后方。所述伸缩臂2放下货物后缩回时，所述第二抵持部16位于所述避让槽253的上方。此时，所述举升机构24带动所述顶板25向上移动，以使得所述第二抵持部16穿过所述避让槽253且位于所述避让槽253的下方。此时，所述伸缩臂2做缩回动作，以使得所述收纳槽252移动至所述第二抵持部16的上方。此时，所述举升机构24带动所述顶板25向下移动，以使得所述第二抵持部16收容于所述收纳槽252内。此时，所述第二抵持部16与所述第一抵持部251抵持，所述举升机构24带动所述底板22以及所述滚轮23向靠近所述顶板25的方向移动，以使得所述滚轮23脱离地面4。
所述车体1还包括凸轴17。所述第二抵持部16套设于所述凸轴17且可沿所述凸轴17转动，以降低第二抵持部16与顶板25的磨损。
可选地，所述第二抵持部16包括轴承，以增加转动的顺畅性。
所述顶板25设有弧形的导引部254，以引导所述第二抵持部16进入所述收纳槽252。所述导引部254围成所述收纳槽252。
所述伸缩臂2还包括固定至所述底板22的固定座201、设置于所述固定座201的开关202以及设置于所述顶板25的触发部255。所述第二抵持部16与所述第一抵持部251抵持，所述举升机构24带动所述底板22以及所述滚轮23向靠近所述顶板25的方向移动，使得所述滚轮23脱离地面4，在此过程中，当所述触发部255触发所述开关202时，控制所述第二电机243停止工作，所述底板22及所述滚轮23停止向上移动，完成滚轮23脱离地面4的工作。
所述开关202包括触发开关或传感器等。
可选地，所述第二抵持部16以及所述第一抵持部251可设置为一个或者多个。
可选地，多个所述第一抵持部251可设置于所述伸缩臂2的一侧或者相对的两侧。
可选地，所述伸缩臂2可设置一个或者多个。
参见图14所示，在另一实施方式中，所述第一限位件311包括主体部3110、自所述主体部3110延伸的限位轴3111以及可转动地设置于所述限位轴3111的转动件3112。所述转动件3112位于所述滑槽110内且可沿所述滑槽110上下移动。所述限位轴3111固定至所述第二限位件312。所述主体部3110与所述第二限位件312位于所述滑槽110相对的两侧。
以上所述仅是本公开的较佳实施方式而已，并非对本公开做任何形式上的限制，虽然本公开已以较佳实施方式揭露如上，然而并非用以限定本公开，任何熟悉本专业的技术人员，在不脱离本公开技术方案的范围内，当可利用上述揭示的技术内容做出些许更动或修饰为等同变化的等效实施方式，但凡是未脱离本公开技术方案的内容，依据本公开的技术实质对以上实施方式所作的任何简单修改、等同变化与修饰，均仍属于本公开技术方案的范围内。
Claims (18)
- 一种搬运装置，包括车体、伸缩臂以及连接至所述车体与所述伸缩臂的伸缩机构，所述伸缩臂相对所述车体伸出或缩回时，所述伸缩机构伸长或者缩短，所述车体包括安装部，所述伸缩机构包括限位件，所述限位件可转动地设置于所述安装部。
- 根据权利要求1所述的搬运装置，其特征在于，所述安装部设有滑槽，至少部分所述限位件收容至所述滑槽内且所述限位件可沿所述滑槽上下移动。
- 根据权利要求2所述的搬运装置，其特征在于，所述伸缩臂包括底板、设置于所述底板的滚轮与举升机构以及设置于所述举升机构的顶板，所述举升机构可带动所述顶板相对所述底板上下移动，所述顶板与所述车体其中之一设有第一抵持部，另一个设有第二抵持部，所述第一抵持部与所述第二抵持部抵持时，所述举升机构可带动所述底板以及所述滚轮向靠近所述顶板的方向移动。
- 根据权利要求3所述的搬运装置，其特征在于，所述顶板与所述车体其中之一设有收纳槽，所述第一抵持部与所述第二抵持部抵持时，至少部分所述第一抵持部或至少部分所述第二抵持部收容至所述收纳槽内。
- 根据权利要求4所述的搬运装置，其特征在于，所述收纳槽及所述第一抵持部设置于所述顶板，所述第二抵持部设置于所述车体，所述收纳槽位于所述第二抵持部的上方时，所述举升机构带动所述顶板向下移动，以使得所述第二抵持部收容至所述收纳槽内。
- 根据权利要求5所述的搬运装置，其特征在于，所述顶板还设有避让槽，所述避让槽位于所述第二抵持部的下方时，所述举升机构带动所述顶板向上移动，以使得所述第二抵持部穿过所述避让槽，所述第二抵持部穿过所述避让槽后，所述伸缩臂移动，以使得所述收纳槽位于所述第二抵持部的上方。
- 根据权利要求6所述的搬运装置，其特征在于，所述车体包括凸轴，所述第二抵持部套设于所述凸轴且可沿所述凸轴转动。
- 根据权利要求3所述的搬运装置，其特征在于，所述伸缩臂包括轴部与连杆，所述轴部固定至所述底板，所述滚轮设置为一对且分别设置于所述连杆的两端，所述连杆可转动地设置于所述轴部，所述伸缩臂相对所述车体沿第一方向伸出时，所述滚轮沿所述第一方向转动且所述连杆可相对所述第一方向摆动，以带动所述滚轮摆动。
- 根据权利要求8所述的搬运装置，其特征在于，所述连杆设有组装孔，至少部分所述轴部位于所述组装孔内。
- 根据权利要求8所述的搬运装置，其特征在于，所述伸缩臂设有弹性件，所述 连杆摆动时挤压所述弹性件。
- 根据权利要求10所述的搬运装置，其特征在于，所述伸缩臂还包括挡板，至少部分所述弹性件位于所述连杆与所述挡板之间。
- 根据权利要求5所述的搬运装置，其特征在于，所述顶板设有弧形的导引部，以引导所述第二抵持部进入所述收纳槽，所述导引部围成所述收纳槽。
- 根据权利要求3所述的搬运装置，其特征在于，所述举升机构包括丝杠组件以及一对顶杆，所述丝杠组件包括丝杠以及设置于所述丝杠的螺母，一对所述顶杆铰接在一起，一对所述顶杆的顶端与所述顶板铰接，其中一个所述顶杆的底端与所述底板铰接，另一个所述顶杆的底端与所述螺母铰接。
- 根据权利要求13所述的搬运装置，其特征在于，所述举升机构还包括第二电机，以驱动所述丝杠转动，从而带动所述螺母移动，使得一对所述顶杆的顶端向靠近或远离彼此的方向转动，以带动所述顶板或所述底板沿上下方向移动。
- 根据权利要求14所述的搬运装置，其特征在于，所述伸缩臂还包括固定至所述底板的固定座、设置于所述固定座的开关以及设置于所述顶板的触发部，当所述触发部触发所述开关时，控制所述第二电机停止工作，使得所述底板及所述滚轮停止向上移动，从而使所述滚轮脱离地面。
- 根据权利要求1至15中任一项所述的搬运装置，其特征在于，所述伸缩机构包括限位至所述车体的第一滑动件以及限位至所述伸缩臂的第二滑动件，所述伸缩臂相对所述车体伸出或缩回时，所述第二滑动件相对所述第一滑动件滑动。
- 根据权利要求16所述的搬运装置，其特征在于，所述伸缩机构还包括第三滑动件，所述第三滑动件连接所述第一滑动件与所述第二滑动件，所述第三滑动件可相对所述第一滑动件滑动，所述第二滑动件可相对所述第三滑动件滑动。
- 根据权利要求1所述的搬运装置，其特征在于，所述伸缩臂还包括主动轮和第一电机，所述第一电机驱动所述主动轮转动，以带动所述伸缩臂伸出以及缩回。
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| CN202222653787.4 | 2022-09-30 | ||
| CN202222626117.3U CN218371572U (zh) | 2022-09-30 | 2022-09-30 | 搬运装置 |
| CN202222653787.4U CN218371573U (zh) | 2022-09-30 | 2022-09-30 | 搬运装置 |
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