Multi-degree-of-freedom electrically-driven transfer trolley and transfer method

Abstract

The invention provides a multi-degree-of-freedom electrically-driven transfer trolley and a transfer method. The multi-degree-of-freedom electrically-driven transfer trolley comprises a frame, a lifting mechanism, a multi-degree-of-freedom workbench, walking wheels and control equipment. The lifting mechanism is used for lifting the goods or the goods tray to a certain height, and the multi-degree-of-freedom workbench adjusts the degree of freedom of the multi-degree-of-freedom workbench so that the posture of the goods can be matched with the loading and unloading connector; the walking wheels are used for driving the transfer trolley to walk and steer flexibly; the control equipment is used for realizing man-machine interaction and motion control of each degree of freedom of the multi-degree-of-freedom electric drive transfer trolley; the lifting mechanism, the walking wheels and the control equipment are installed on the frame, the multi-degree-of-freedom workbench is installed on the lifting mechanism, and the walking wheels are a set of foldable and unfoldable steering wheel structures. According to the technical scheme, the problems that in the prior art, multiple devices are used for goods transferring and butt joint, operation is inconvenient, the labor intensity of workers is large, and efficiency is low can be solved, operation such as goods transferring, lifting and posture adjusting is automatically completed under control of operators, and the utilization efficiency of time, the utilization efficiency of the devices and the utilization efficiency of the workers are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of logistics transfer, and in particular relates to a multi-degree-of-freedom electric-driven transfer vehicle and a transfer method. Background Art

[0002] Some goods require infield transshipment, loading and unloading, and docking. Usually, a transfer vehicle is needed to complete the transshipment, a crane or a jack is used to complete the lifting, and manpower is used to adjust the goods' pitch, roll, translation, and plane rotation to ensure smooth loading and unloading or docking. This requires the use of many equipments, complicated operations, high labor intensity, and low efficiency.

[0003] Therefore, how to improve a multi-degree-of-freedom electric-driven transfer vehicle and transfer method that can overcome the problems of existing cargo transfer and docking that require multiple equipment, inconvenient operation, high labor intensity and low efficiency, and automatically complete operations such as cargo transfer, lifting, and posture adjustment under the control of the operator to further improve the utilization efficiency of time, equipment, and personnel has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present invention provide a multi-degree-of-freedom electric-driven transfer vehicle and transfer method, which can overcome the problems of existing cargo transfer and docking that require multiple equipment, inconvenient operation, high labor intensity and low efficiency, and automatically complete operations such as cargo transfer, lifting and posture adjustment under the control of the operator, further improving the utilization efficiency of time, equipment and personnel.

[0005] In one embodiment of the present invention, a multi-degree-of-freedom electric-driven transfer vehicle is provided, comprising: a vehicle frame 1, a lifting mechanism 2, a multi-degree-of-freedom workbench 3, walking wheels 4 and a control device 5.

[0006] The lifting mechanism 2 is used to lift the goods or the goods pallet to a certain height, and the multi-degree-of-freedom workbench 3 adjusts its degrees of freedom to match the posture of the goods with the loading and unloading interface;

[0007] Walking wheels 4 are used to drive the transport vehicle to flexibly walk and turn, and control equipment 5 is used to realize human-machine interaction and motion control of each degree of freedom of the multi-degree-of-freedom electric-driven transport vehicle;

[0008] The lifting mechanism 2, the running wheels 4 and the control device 5 are installed on the frame 1, the multi-degree-of-freedom workbench 3 is installed on the lifting mechanism 2, and the running wheels 4 are a group of steering wheel structures that can be folded and unfolded.

[0009] Furthermore, the multi-degree-of-freedom workbench 3 adjusts its degrees of freedom to match the position and posture of the goods with the loading and unloading interface, including:

[0010] The multi-degree-of-freedom workbench 3 matches the posture of the goods with the loading and unloading interface by adjusting its degrees of freedom including at least translation, pitch, and left and right tilt, and the lifting mechanism 2 connects the goods to the loading and unloading interface.

[0011] Furthermore, there are four running wheels 4, which are respectively arranged at the front and rear ends of the frame. The running wheels 4 support omnidirectional walking, can be folded and unfolded, and can be unfolded during loading and unloading.

[0012] In another embodiment of the present invention, an automated transport method is provided, based on an automated transport device as described in any one of the above, comprising:

[0013] The goods or goods pallets are placed on the multi-degree-of-freedom workbench 3, and the transfer vehicle is controlled by the control device 5 to travel to the loading and unloading position;

[0014] The lifting mechanism 2 lifts the goods to a certain height, and adjusts the multi-degree-of-freedom workbench 3 to at least include translation, pitch, and left and right degrees of freedom so that the position and posture of the goods match the loading and unloading interface;

[0015] The goods are docked onto the loading and unloading interface through the lifting mechanism 2, thus completing the loading and unloading of goods.

[0016] The beneficial effects brought by the present invention are as follows:

[0017] It can be seen from the above scheme that the embodiment of the present invention provides a multi-degree-of-freedom electric-driven transfer vehicle and transfer method, including: a frame, a lifting mechanism, a multi-degree-of-freedom workbench, running wheels and a control device. The lifting mechanism is used to lift the goods or goods pallets to a certain height, and the multi-degree-of-freedom workbench adjusts its degrees of freedom to match the posture of the goods with the loading and unloading interface; the running wheels are used to drive the transfer vehicle to walk and turn flexibly; the control device is used to realize the human-computer interaction and each degree-of-freedom motion control of the multi-degree-of-freedom electric-driven transfer vehicle; the lifting mechanism, the running wheels and the control device are installed on the frame, the multi-degree-of-freedom workbench is installed on the lifting mechanism, and the running wheels are a set of foldable and unfoldable steering wheel structures. The technical solution of the present invention can overcome the problems of the existing goods transfer and docking using multiple equipment, inconvenient operation, high labor intensity and low efficiency, and automatically complete the operations of goods transfer, lifting, posture adjustment, etc. under the control of the operator, further improving the efficiency of time, equipment and personnel utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A first structural schematic diagram showing a multi-degree-of-freedom electric-driven transport vehicle according to an embodiment of the present invention;

[0019] Figure 2 A second structural schematic diagram showing a multi-degree-of-freedom electric-driven transport vehicle according to an embodiment of the present invention;

[0020] Figure 3A schematic diagram showing goods being transferred by a multi-degree-of-freedom electric-driven transfer vehicle according to an embodiment of the present invention;

[0021] In the figure, 1 is a frame, 2 is a lifting mechanism, 3 is a multi-degree-of-freedom workbench, 4 is a traveling wheel, and 5 is a control device. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] In order to overcome the problems of existing cargo transfer and docking that require multiple equipment, inconvenient operation, high labor intensity and low efficiency, the present invention provides a multi-degree-of-freedom electric drive transfer vehicle. The transfer vehicle adopts a fully electric drive and can automatically complete operations such as cargo transfer, lifting, and posture adjustment under the control of the operator, thereby improving the utilization efficiency of time, equipment, and personnel.

[0024] like Figures 1 to 3 As shown, Figure 1 A first structural schematic diagram showing a multi-degree-of-freedom electric-driven transport vehicle according to an embodiment of the present invention; Figure 2 A second structural schematic diagram showing a multi-degree-of-freedom electric-driven transport vehicle according to an embodiment of the present invention; Figure 3 A schematic diagram of transferring goods using a multi-degree-of-freedom electric-driven transfer vehicle according to an embodiment of the present invention.

[0025] In the figure, a multi-degree-of-freedom electric-driven transfer vehicle includes: a frame 1, a lifting mechanism 2, a multi-degree-of-freedom workbench 3, walking wheels 4 and a control device 5.

[0026] The lifting mechanism 2 is used to lift the goods or the goods pallet to a certain height, and the multi-degree-of-freedom workbench 3 adjusts its degrees of freedom to match the posture of the goods with the loading and unloading interface;

[0027] Walking wheels 4 are used to drive the transport vehicle to flexibly walk and turn, and control equipment 5 is used to realize human-machine interaction and motion control of each degree of freedom of the multi-degree-of-freedom electric-driven transport vehicle;

[0028] The lifting mechanism 2, the running wheels 4 and the control device 5 are installed on the frame 1, the multi-degree-of-freedom workbench 3 is installed on the lifting mechanism 2, and the running wheels 4 are a group of steering wheel structures that can be folded and unfolded.

[0029] In the embodiments of the present invention, the efficiency of transfer and loading and unloading is improved, and the efficiency of cargo transfer and loading and unloading is improved by more than 2 times compared with the existing multi-degree-of-freedom electric-driven transfer vehicles; the operation is simple, and the transfer, lifting, and posture adjustment of cargo can all be completed through a handheld controller, which can reduce labor intensity; the full electric drive is adopted, and the control is more precise and sensitive, and the leakage of hydraulic equipment is eliminated; the vehicle body is foldable to reduce the space occupied during storage.

[0030] In another embodiment of the present invention, the multi-degree-of-freedom workbench 3 adjusts its degrees of freedom to match the posture of the goods with the loading and unloading interface, including:

[0031] The multi-degree-of-freedom workbench 3 matches the posture of the goods with the loading and unloading interface by adjusting its degrees of freedom including at least translation, pitch, and left and right tilt, and the lifting mechanism 2 connects the goods to the loading and unloading interface.

[0032] In another embodiment of the present invention, the number of the running wheels 4 is four, which are respectively arranged at the front and rear ends of the frame. The running wheels 4 support omnidirectional walking, can be folded and unfolded, and unfolded during loading and unloading.

[0033] It can be understood that in other implementations of the embodiment of the present invention, the number of the running wheels 4 can be adjusted as needed, and is not specifically limited here.

[0034] In an embodiment of the present invention, a multi-degree-of-freedom electric-driven transfer vehicle is composed of a vehicle frame, a lifting mechanism, a multi-degree-of-freedom workbench, running wheels, a control device, and other parts, wherein the lifting mechanism can lift goods or cargo pallets to a certain height, the multi-degree-of-freedom workbench can adjust the posture of the goods by translation, rotation, and swivel, the running wheels can drive the transfer vehicle to flexibly walk and turn, and the control device is responsible for realizing human-computer interaction and motion control of each degree of freedom. When performing cargo transfer and loading and unloading tasks, first place the goods or cargo pallets on the multi-degree-of-freedom workbench, then control the transfer vehicle to travel to the loading and unloading position through the control device and lift the goods to a certain height through the lifting mechanism, then adjust the translation, pitch, left and right tilt and other degrees of freedom of the multi-degree-of-freedom workbench to make the position and posture of the goods match the loading and unloading interface, and finally connect the goods to the loading and unloading interface through the lifting mechanism, that is, complete the loading and unloading of a cargo.

[0035] In one embodiment of the present invention, a multi-degree-of-freedom electric-driven transport vehicle is composed of a frame 1, a lifting mechanism 2, a multi-degree-of-freedom workbench 3, a running wheel 4, a control device 5, etc. The lifting mechanism 2, the running wheel 4, and the control device 5 are mounted on the frame 1, the multi-degree-of-freedom workbench 3 is mounted on the lifting mechanism 2, and the running wheel 4 uses 4 sets of foldable or unfoldable steering wheels, which can travel in all directions and can be unfolded during loading and unloading to improve stability.

[0036] The transfer vehicle is usually stored in a folded state in the warehouse. When performing cargo transfer and loading and unloading tasks, the cargo or cargo pallet is first placed on the multi-degree-of-freedom workbench 3, and then the travel wheels 4 are controlled to move through the control device 5. After the transfer vehicle travels to the loading and unloading position, the cargo is lifted to a certain height through the lifting mechanism 2, and then the translation, pitch, left and right tilt and other degrees of freedom of the multi-degree-of-freedom workbench 3 are adjusted to make the cargo position and posture match the loading and unloading interface, and finally the cargo is docked to the loading and unloading interface through the lifting mechanism 2, thus completing the loading and unloading of a cargo.

[0037] Figure 1 In the first structural schematic diagram of a multi-degree-of-freedom electric-driven transport vehicle according to an embodiment of the present invention, the lifting mechanism is in an unfolded state. Figure 2 In the figure, a second structural schematic diagram of a multi-degree-of-freedom electric-driven transfer vehicle according to an embodiment of the present invention is a folded state of the lifting mechanism.

[0038] It is understandable that in other implementations of the embodiments of the present invention, the cargo unloading process is opposite to the loading and unloading process, and will not be described in detail.

[0039] The technical solution of the present invention is a multi-degree-of-freedom electric-driven transfer vehicle, which has improved transfer and loading and unloading efficiency, and the cargo transfer and loading and unloading efficiency is increased by more than 2 times compared with the existing multi-degree-of-freedom electric-driven transfer vehicles. Among them, the operation is simple, and the transfer, lifting, and posture adjustment of the goods can all be completed through a handheld controller, which can reduce the labor intensity of the operator. The technical solution of the present invention adopts a full electric drive, and the control is more precise and sensitive, which can prevent the leakage of hydraulic equipment. In addition, the vehicle body can be folded to reduce the space occupied during storage.

[0040] In another embodiment of the present invention, an automated transport method is provided, based on an automated transport device as described in any one of the above, comprising:

[0041] The goods or goods pallets are placed on the multi-degree-of-freedom workbench 3, and the transfer vehicle is controlled by the control device 5 to travel to the loading and unloading position;

[0042] The lifting mechanism 2 lifts the goods to a certain height, and adjusts the multi-degree-of-freedom workbench 3 to at least include translation, pitch, and left and right degrees of freedom so that the position and posture of the goods match the loading and unloading interface;

[0043] The goods are docked onto the loading and unloading interface through the lifting mechanism 2, thus completing the loading and unloading of goods.

[0044] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom electric-driven transport vehicle, characterized in that: The electric-driven transfer vehicle comprises: a vehicle frame (1), a lifting mechanism (2), a multi-degree-of-freedom workbench (3), running wheels (4) and a control device (5); The lifting mechanism (2) is used to lift goods or a goods pallet to a certain height, and the multi-degree-of-freedom workbench (3) adjusts its degrees of freedom to match the posture of the goods with the loading and unloading interface; The walking wheels (4) are used to drive the electric-driven transport vehicle to flexibly walk and turn, and the control device (5) is used to realize human-machine interaction and motion control of each degree of freedom of the multi-degree-of-freedom electric-driven transport vehicle; The lifting mechanism (2), the running wheels (4) and the control device (5) are installed on the frame (1), the multi-degree-of-freedom workbench (3) is installed on the lifting mechanism (2), and the running wheels (4) are a group of steering wheel structures that can be folded and unfolded.

2. A multi-degree-of-freedom electric-driven transport vehicle according to claim 1, characterized in that: The multi-degree-of-freedom workbench (3) adjusts its degrees of freedom so that the posture of the goods matches the loading and unloading interface, including: The multi-degree-of-freedom workbench (3) adjusts its degrees of freedom, including at least translation, pitch, and left and right tilt, so that the posture of the goods matches the loading and unloading interface, and the lifting mechanism (2) docks the goods to the loading and unloading interface.

3. The multi-degree-of-freedom electric-driven transport vehicle according to claim 1, characterized in that: The number of the running wheels (4) is four, which are respectively arranged at the front and rear ends of the frame. The running wheels (4) support omnidirectional walking, can be folded and unfolded, and can be unfolded during loading and unloading.

4. An automated transport method, based on an automated transport device as claimed in any one of claims 1 to 3, characterized in that: The method comprises: Goods or pallets of goods are placed on the multi-degree-of-freedom workbench (3), and the transfer vehicle is controlled by the control device (5) to travel to the loading and unloading position; The lifting mechanism (2) lifts the goods to a certain height, and adjusts the multi-degree-of-freedom workbench (3) including at least translation, pitch, and left-right tilt degrees of freedom so that the position and posture of the goods match the loading and unloading interface; The goods are docked onto the loading and unloading interface through the lifting mechanism (2), thus completing the loading and unloading of the goods.

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