Carrying device and carrying method

Abstract

The application discloses a carrying device and a carrying method, and belongs to the technical field of automatic guided transport. The carrying device comprises a vehicle body, a carrying arm and a floating connection assembly. The carrying arm is movably connected with the vehicle body and can slide relative to the vehicle body in a first direction. The first direction is the extension direction of the carrying arm. The floating connection assembly is connected with the vehicle body and the carrying arm respectively. The carrying arm can move relative to the vehicle body in a second direction through the floating connection assembly. The second direction is the height direction of the vehicle body. The carrying arm is rotatably provided with a driving wheel. The driving wheel drives the carrying arm to slide relative to the vehicle body in the first direction. In this way, in the case that the flatness of the ground is inconsistent, the driving wheel and the carrying arm can move relative to the vehicle body in the height direction of the vehicle body, so that the position of the driving wheel is changed to adapt to the uneven ground, the continuous contact between the driving wheel and the ground is ensured, the situation that the driving wheel slips and cannot drive the carrying arm to move is avoided, and the carrying process of the carrying device is not affected.

Description

Technical Field

[0001] This application belongs to the field of automated guided transportation technology, specifically relating to a handling device and handling method. Background Technology

[0002] In related technologies, a handling device includes a vehicle body and a handling arm mounted on the vehicle body. The handling arm includes an arm body and a lifting mechanism mounted on the arm body. The handling arm can extend from the vehicle body to lift goods through the lifting mechanism, thereby placing the goods on the vehicle body, and the vehicle body transports the goods to the destination.

[0003] Furthermore, the bottom of the transport arm is equipped with drive wheels, which drive the transport arm to slide relative to the vehicle body. During this process, the drive wheels need to maintain continuous contact with the ground. However, due to uneven ground surfaces, some roads are bumpy, making it difficult for the drive wheels to make contact with the ground. This can cause the drive wheels to slip, preventing them from driving the transport arm to move normally and hindering the normal transport process of the transport device. Summary of the Invention

[0004] The purpose of this application is to provide a handling device and a handling method that can solve the problem in the related art where the drive wheels of the handling device slip due to inconsistent ground flatness, thus hindering the handling process.

[0005] In a first aspect, embodiments of this application provide a conveying device, including:

[0006] The vehicle body and the transport arm, wherein the transport arm is movably connected to the vehicle body and can slide relative to the vehicle body in a first direction, the first direction being the extension direction of the transport arm;

[0007] A floating connection assembly is connected to the vehicle body and the transport arm respectively. The transport arm can move relative to the vehicle body in a second direction through the floating connection assembly. The second direction is the height direction of the vehicle body.

[0008] The transport arm is rotatably provided with a drive wheel, which drives the transport arm to slide relative to the vehicle body in the first direction.

[0009] Optionally, the floating connection assembly includes a first connector and a second connector, wherein the first connector is slidably connected to the transport arm along the first direction, and one of the first connector and the vehicle body is slidably connected to the second connector along the second direction, and the other is rotatably connected to the second connector.

[0010] Optionally, the axis of rotation of the transport arm relative to the vehicle body is parallel to the width direction of the transport arm.

[0011] Optionally, the number of floating connection components is at least two, and in the width direction of the transport arm, the transport arm has a first side and a second side facing away from each other, with at least two floating connection components respectively disposed on the first side and the second side.

[0012] Optionally, the vehicle body includes a vehicle body and a first wheel set, the first wheel set including a first wheel body, a second wheel body, a first connecting axle, a second connecting axle, and a connecting rod, wherein:

[0013] Both the first connecting bridge and the second connecting bridge have a first connecting portion, a second connecting portion, and a third connecting portion. The second connecting portion is located between the first connecting portion and the third connecting portion. The first connecting portion of the first connecting bridge is rotatably connected to the first wheel body, and the first connecting portion of the second connecting bridge is rotatably connected to the second wheel body. The second connecting portions of both the first and second connecting bridges are rotatably connected to the vehicle body. The third connecting portion of the first connecting bridge is rotatably connected to the first end of the connecting rod, and the third connecting portion of the second connecting bridge is rotatably connected to the second end of the connecting rod.

[0014] Optionally, the vehicle body includes a vehicle body and a second wheel set, the second wheel set including a third wheel body, a fourth wheel body and a third connecting axle, wherein:

[0015] The third connecting bridge is rotatably 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 third wheel is rotatably connected to the first end of the third connecting bridge, and the fourth wheel is rotatably connected to the second end of the third connecting bridge.

[0016] Optionally, the transport arm includes a supporting base plate, a supporting top plate, and a lifting mechanism. The supporting base plate is movably connected to the vehicle body, and the lifting mechanism is located between the supporting base plate and the supporting top plate. Both ends of the lifting mechanism are respectively connected to the supporting base plate and the supporting top plate. When the lifting mechanism retracts or extends, the supporting base plate and the supporting top plate move closer to or further away from each other.

[0017] Optionally, the vehicle body is provided with a first positioning part, and the transport arm is provided with a second positioning part. When the transport arm is in a retracted state, the first positioning part and the second positioning part are positioned and engaged in the second direction.

[0018] Optionally, one of the first positioning part and the second positioning part is provided with a positioning protrusion, and the other is provided with a positioning groove. When the transport arm is in the retracted state, the positioning protrusion and the positioning groove are positioned and engaged in the second direction.

[0019] Optionally, when the transport arm is in the retracted state, the first positioning part and the second positioning part are magnetically engaged.

[0020] Optionally, the number of the first positioning part and the second positioning part is at least two, and they correspond one-to-one. In the width direction of the conveying arm, the conveying arm has a first side and a second side facing away from each other, and at least two second positioning parts are respectively disposed on the first side and the second side.

[0021] Optionally, the transport arm includes an arm body, and the transport device further includes a first guide rail, the first guide rail being slidably connected to the vehicle body along the first direction, and the arm body being slidably connected to the first guide rail along the first direction.

[0022] Secondly, embodiments of this application also provide a transport method, including:

[0023] Control the drive wheels to maintain contact with the ground;

[0024] Control at least one of the transport arm and the vehicle body to move along the extension direction of the transport arm, so that at least a portion of the transport arm extends out of the receiving slot and inserts under the cargo;

[0025] The lifting mechanism of the transport arm is controlled to extend so that the support top plate of the transport arm lifts the goods;

[0026] Control at least one of the transport arm and the vehicle body to move along the extension direction of the transport arm, so that the transport arm retracts into the receiving slot;

[0027] Control the lifting mechanism to retract, so that the supporting top plate moves downward in the height direction of the vehicle body until the goods are placed on the vehicle body.

[0028] Optionally, the control drive wheel contacts the ground, including:

[0029] The first positioning part of the vehicle body and the second positioning part of the transport arm are positioned and engaged, and the lifting mechanism is retracted to make the drive wheel suspended in the air.

[0030] Control the lifting mechanism to extend so that the drive wheel moves downward in the height direction of the vehicle body until the drive wheel contacts the ground;

[0031] The lifting mechanism is controlled to continue extending so that the first positioning part and the second positioning part separate.

[0032] Optionally, after the conveying arm retracts into the receiving slot, the conveying method further includes:

[0033] Control the lifting mechanism to retract until the goods are placed on the vehicle body and the first positioning part of the vehicle body and the second positioning part of the transport arm are positioned and engaged.

[0034] The lifting mechanism is controlled to continue retracting, so that the support base plate of the transport arm and the drive wheel move upward in the height direction of the vehicle body until the drive wheel returns to a suspended state.

[0035] In this embodiment, since the transport arm and drive 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 height of the ground is uneven, the drive wheel and transport arm can move a certain distance relative to the vehicle body in the height direction of the vehicle body through the floating connection component, thereby changing the position of the drive wheel to adapt to the uneven ground, ensuring that the drive wheel is in continuous contact with the ground, avoiding the situation where the drive wheel slips and cannot drive the transport arm to move, and avoiding affecting the transport process of the transport device. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the conveying device when the conveying arm is in the retracted state, as disclosed in the embodiments of this application;

[0037] Figure 2 This is a front view of the conveying device when the conveying arm is in the retracted state, as disclosed in the embodiments of this application;

[0038] Figure 3 This is a schematic diagram of the conveying device when the conveying arm extends beyond the receiving groove, as disclosed in the embodiments of this application;

[0039] Figure 4 This is a side view of the conveying device disclosed in the embodiments of this application when the conveying arm extends beyond the receiving groove;

[0040] Figure 5 This is a schematic diagram of the connection structure between the floating connection component and the vehicle body disclosed in the embodiments of this application;

[0041] Figure 6 This is a schematic diagram of the lifting mechanism of the transport arm in the retracted state as disclosed in the embodiments of this application;

[0042] Figure 7 This is a schematic diagram of the lifting mechanism of the transport arm in the extended state as disclosed in the embodiments of this application;

[0043] Figure 8 This is a schematic diagram of the structure of the first positioning part disclosed in the embodiments of this application;

[0044] Figure 9 This is a schematic diagram of a portion of the vehicle body structure disclosed in the embodiments of this application;

[0045] Figure 10This is a schematic diagram of a portion of the vehicle body structure disclosed in an embodiment of this application from another perspective.

[0046] Explanation of reference numerals in the attached figures:

[0047] 100 - Vehicle body;

[0048] 110 - Vehicle body; 111 - Receiving slot;

[0049] 120 - First wheel assembly; 121 - First wheel body; 122 - Second wheel body; 123 - First connecting bridge; 124 - Second connecting bridge; 125 - Connecting rod;

[0050] 130 - Second wheel assembly; 131 - Third wheel assembly; 132 - Fourth wheel assembly; 133 - Third connecting bridge;

[0051] 200-Transporting arm;

[0052] 210 - Arm body; 211 - Support base plate; 212 - Support top plate; 213 - Lifting mechanism;

[0053] 220 - Drive wheel;

[0054] 300 - Floating connection component;

[0055] 310 - First connector;

[0056] 320 - Second connector; 321 - First slider; 322 - Rotating base;

[0057] 410 - First positioning part; 411 - Positioning groove; 412 - Magnetic suction part;

[0058] 420 - Second positioning part; 421 - Positioning protrusion;

[0059] 500 - First guide rail;

[0060] 600 - Second guide rail. Detailed Implementation

[0061] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0062] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0063] The conveying device provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0064] Please refer to Figures 1-10 The conveying device disclosed in this application includes a vehicle body 100, a conveying arm 200, and a floating connection assembly 300. The vehicle body 100 is movable relative to the ground, and the conveying arm 200 is movably connected to the vehicle body 100. Specifically, the conveying arm 200 can slide relative to the vehicle body 100 in a first direction, which is the extension direction of the conveying arm 200. In this embodiment, the vehicle body 100 is provided with a receiving groove 111. During the sliding process of the conveying arm 200 relative to the vehicle body 100 in the first direction, the conveying arm 200 can extend into or out of the receiving groove 111.

[0065] The floating connection assembly 300 is connected to the vehicle body 100 and the transport arm 200 respectively. The transport arm 200 can move relative to the vehicle body 100 in a second direction through the floating connection assembly 300. The second direction is the height direction of the vehicle body 100. Here, it refers to the movement of the overall structure of the transport arm 200 in the second direction. Optionally, the floating connection assembly 300 may include a guide rail and a guide block that are guided together. The guide rail is arranged along the second direction. One of the guide rail and the guide block is connected to the vehicle body 100, and the other is connected to the transport arm 200. The transport arm 200 can slide relative to the vehicle body 100 in the second direction. Thus, the movement of the transport arm 200 relative to the vehicle body 100 in the second direction can be achieved through the sliding process of the transport arm 200 in the second direction. The floating connection assembly 300 may also include a bushing and a column. The bushing is sleeved on the outside of the column, and the bushing and the column are rotatably connected. One of the bushing and the column is connected to the vehicle body 100, and the other is connected to the transport arm 200. Thus, the transport arm 200 can also rotate relative to the vehicle body 100. Through the rotation process of the transport arm 200, the movement of the transport arm 200 relative to the vehicle body 100 in the second direction can also be achieved. Of course, the transport arm 200 can both slide relative to the vehicle body 100 in the second direction and rotate relative to the vehicle body 100. In short, in either case, the goal is to achieve movement of the transport arm 200 relative to the vehicle body 100 in the second direction.

[0066] like Figure 2 and Figure 4 As shown, the transport arm 200 is rotatably equipped with a drive wheel 220, which drives the transport arm 200 to slide relative to the vehicle body 100 in a first direction. Specifically, the transport arm 200 is equipped with a first drive mechanism, which is connected to the drive wheel 220, thereby driving the drive wheel 220 to rotate and causing the transport arm 200 to slide relative to the vehicle body 100 in the first direction.

[0067] In this embodiment, the handling device is an automated guided vehicle (AGV), which can be used to handle various types of goods and shelves.

[0068] The transport arm 200 can move relative to the vehicle body 100 in a second direction via the floating connection assembly 300. With this configuration, when the ground is uneven (i.e., the ground is not level), the drive wheel 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. Specifically, when the transport device encounters a higher ground surface, the raised surface will exert a force on the drive wheel 220, thereby driving the transport arm 200 to move upward in the height direction of the vehicle body 100. The drive wheel 220 moves upward along with the transport arm 200 in the height direction of the vehicle body 100, thus ensuring continuous contact between the drive wheel 220 and the raised surface. When the transport device encounters a lower ground surface, due to the downward depression of the ground, the transport arm 200 can move downward in the height direction of the vehicle body 100 under its own gravity. The drive wheel 220 moves downward along with the transport arm in the height direction of the vehicle body 100, thus ensuring continuous contact between the drive wheel 220 and the depressed surface. 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 drive wheel 220 is changed to adapt to uneven ground, ensuring that the drive wheel 220 is in continuous contact with the ground, avoiding the situation where the drive wheel 220 slips and cannot drive the transport arm 200 to move, and avoiding affecting the transport process of the transport device.

[0069] In optional embodiments, such as Figure 5 As shown, the floating connection assembly 300 includes a first connector 310 and a second connector 320. The first connector 310 is slidably connected to the transport arm 200 along a first direction, and one of the first connector 310 and the vehicle body 100 is slidably connected to the second connector 320 along a second direction, while the other is rotatably connected to the second connector 320. Optionally, the first connector 310 and the second connector 320 may be slidably connected along the second direction, and the vehicle body 100 may be rotatably connected to the second connector 320; alternatively, the vehicle body 100 and the second connector 320 may be slidably connected along the second direction, and the first connector 310 and the second connector 320 may be rotatably connected.

[0070] Specifically, the first connecting member 310 and the transport arm 200, and one of the first connecting member 310 and the vehicle body 100 and the second connecting member 320 can be slidably connected by a structure that combines a slider and a slide rail. Of course, other structures can also be used to achieve a slidable connection. The other of the first connecting member 310 and the vehicle body 100 can be hinged to the second connecting member 320, or other structures can be used to achieve a rotational connection.

[0071] With this configuration, the transport arm 200 can slide relative to the vehicle body 100 in the second direction and rotate relative to the vehicle body 100. The transport arm 200 uses a combination of sliding and rotating to make the drive wheel 220 make better contact with the ground, and has a better adaptability to uneven ground.

[0072] In this embodiment, as Figure 5 As shown, the second connector 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 is guided and engaged with the second guide rail 600, thereby realizing the sliding connection between the second connector 320 and the vehicle body 100. The first connector 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 is rotatably engaged with the rotating shaft, that is, the rotating shaft can rotate relative to the shaft hole, thereby realizing the rotatable connection between the first connector 310 and the second connector 320.

[0073] The cooperation between the second guide rail 600 and the first slider 321 guides the sliding direction of the transport arm 200 relative to the vehicle body 100, preventing the floating connection assembly 300 and the transport arm 200 from deviating from the movement direction relative to the vehicle body 100.

[0074] In this embodiment, 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. That is, the axial directions of both the shaft hole and the rotating shaft are parallel to the width direction of the transport arm 200. Of course, in other embodiments, the rotation axis of the transport arm 200 relative to the vehicle body 100 may intersect with the width direction of the transport arm 200; optionally, the rotation axis of the transport arm 200 relative to the vehicle body 100 may be parallel to the extension direction of the transport arm 200.

[0075] In the width direction of the transport arm 200, the transport arm 200 has a first side and a second side facing away from each other. When 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 movement of the first side and the second side of the transport arm 200 is consistent, so as to avoid the situation where the first side and the second side are not in the same position in the height direction, which would cause the transport arm 200 to tilt.

[0076] Optionally, the number of floating connection components 300 is at least two. In the width direction of the conveying arm 200, the conveying arm 200 has a first side and a second side facing away from each other. At least two floating connection components 300 are respectively provided on the first side and the second side. That is, at least one floating connection component 300 is provided on the first side and the second side of the conveying arm 200 respectively.

[0077] In this embodiment, there are at least two transport arms 200, which are spaced apart. Each transport arm 200 has a floating connection component 300 on its first and second sides. The first connector 310 of the floating connection component 300 is slidably connected to the transport arm 200, and the first connector 310 and the second connector 320 are rotatably connected. Moreover, the second connector 320 of the floating connection component 300 is slidably connected to the vehicle body 100.

[0078] Through at least two floating connection components 300, 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.

[0079] In the scheme of this application, such as Figure 10 As shown, the vehicle body 100 includes a vehicle body 110 and a first wheel assembly 120. The first wheel assembly 120 includes a first wheel body 121, a second wheel body 122, a first connecting axle 123, a second connecting axle 124, and a connecting rod 125. Both the first connecting axle 123 and the second connecting axle 124 have a first connecting portion, a second connecting portion, and a third connecting portion. The second connecting portion is located between the first connecting portion and the third connecting portion. The first connecting portion of the first connecting axle 123 is rotatably connected to the first wheel body 121, and the first connecting portion of the second connecting axle 124 is rotatably connected to the second wheel body 122. The second connecting portions of both the first connecting axle 123 and the second connecting portion of the second connecting axle 124 are rotatably connected to the vehicle body 110. The third connecting portion of the first connecting axle 123 is rotatably connected to the first end of the connecting rod 125, and the third connecting portion of the second connecting axle 124 is rotatably connected to the second end of the connecting rod 125.

[0080] In this embodiment, 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.

[0081] Specifically, the second connecting part and the vehicle body 110, and the third connecting part and the end of the connecting rod 125, can be hinged or rotated in other ways. The first connecting bridge 123 can be provided with a first slot and a first axle hole, the first slot and the first axle hole being connected. The first wheel 121 extends into the first slot, and the axle of the first wheel 121 extends into the first axle hole. The first axle and the first axle hole are rotatably engaged, thereby realizing the relative rotation between the first wheel 121 and the first connecting bridge 123. Similarly, the second wheel 122 and the second connecting bridge 124 can also adopt this structure. Of course, the third wheel 131 and the third connecting bridge 133, and the fourth wheel 132 and the third connecting bridge 133 can also adopt other structures to achieve a rotational connection.

[0082] In this embodiment, the first wheel 121 and the second wheel 122 are omnidirectional wheels. Specifically, the first wheel 121 is connected to the first connecting bridge 123 via a universal joint, and the second wheel 122 is connected to the second connecting bridge 124 via a universal joint. In this way, the first wheel 121 and the second wheel 122 can rotate in all directions.

[0083] 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 pivot point. When the first wheel 121 is subjected to force, the first wheel 121 rotates relative to the second connecting portion, thereby driving the first connecting bridge 123 to rotate relative to the vehicle body 110. The first connecting bridge 123 drives the second connecting bridge 124 to move through the connecting rod 125, so that the second connecting bridge 124 drives the second wheel 122 to rotate relative to the vehicle body 110, and vice versa.

[0084] Specifically, when the first wheel 121 rises under the force of the ground, the first connecting part of the first connecting bridge 123 rises and the third connecting part falls, that is, the position of the first end of the connecting rod 125 falls. Since the length of the connecting rod 125 is fixed, and the second end of the connecting rod 125 is restrained by the second connecting part of the second connecting bridge 124, the connecting rod 125 cannot fall as a whole. The second end of the connecting rod 125 tilts upward, that is, the third connecting part of the second connecting bridge 124 rises, and then the first connecting part of the second connecting bridge 124 falls, that is, the position of the second wheel 122 falls. Similarly, when the second wheel 122 rises under the force of the ground, the first wheel 121 falls.

[0085] With this configuration, when the vehicle body 100 encounters uneven ground, one of the first wheel 121 and the second wheel 122 can rise while the other can descend, adapting to the ground conditions, improving the adaptability of the vehicle body 100 to uneven ground, ensuring that both the first wheel 121 and the second wheel 122 are in continuous contact with the ground, avoiding slippage of the first wheel 121 and the second wheel 122, and maintaining the stability of the transport device during movement.

[0086] In optional embodiments, such as Figure 9 As shown, the vehicle body 100 also includes a second wheel set 130, which 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 point between the third connecting bridge 133 and the vehicle body 110 is located between the first end and the second end of the third connecting bridge 133. The third wheel body 131 is rotatably connected to the first end of the third connecting bridge 133, and the fourth wheel body 132 is rotatably connected to the second end of the third connecting bridge 133.

[0087] The third connecting bridge 133 and the vehicle body 110 can be rotatably connected via a hinge or other means. The first end of the third connecting bridge 133 can be provided with a second slot and a second axle hole. The third wheel 131 extends into the second slot, and the axle of the third wheel 131 extends into the second axle hole. The axle and the second axle hole are rotatably engaged, thereby achieving relative rotation between the third wheel 131 and the third connecting bridge 133. Similarly, the fourth wheel 132 and the third connecting bridge 133 can also use this structure. Of course, other structures can also be used to achieve rotatable connections between the third wheel 131 and the third connecting bridge 133, and between the fourth wheel 132 and the third connecting bridge 133. In this embodiment, the third wheel 131 and the fourth wheel 132 can be omnidirectional wheels.

[0088] Specifically, since the position of the connection between the third connecting bridge 133 and the vehicle body 110 is fixed, the third wheel 131 and the fourth wheel 132 can both rotate around the fulcrum with the connection as the fulcrum. Specifically, when the third wheel 131 rises relative to the vehicle body 110 around the fulcrum, the fourth wheel 132 falls relative to the vehicle body 110 around the fulcrum. Conversely, when the third wheel 131 falls relative to the vehicle body 110 around the fulcrum, the fourth wheel 132 rises relative to the vehicle body 110 around the fulcrum.

[0089] When the vehicle body 100 encounters uneven ground, the third wheel 131 and the fourth wheel 132 can rotate around the fulcrum to adapt to the ground conditions, improve the adaptability of the vehicle body 100 to uneven ground, ensure that the third wheel 131 and the fourth wheel 132 are in continuous contact with the ground, avoid slippage of the third wheel 131 and the fourth wheel 132, and maintain the stability of the transport device during movement.

[0090] Optionally, the vehicle body 110 is provided with a receiving groove 111, the receiving groove 111 having an opening, at least a portion of the transport arm 200 is disposed in the receiving groove 111, and the drive wheel 220 drives the transport arm 200 to extend into the receiving groove 111 through the opening or extend out of the receiving groove 111 through the opening. The number of one of the first wheel sets 120 and the second wheel sets 130 is at least two, wherein two of the first wheel sets 120 or two of the second wheel sets 130 are respectively disposed on both sides of the receiving groove 111, and the other of the first wheel sets 120 and the second wheel sets 130 is disposed on the side of the receiving groove 111 opposite to the opening. In this embodiment, as... Figure 1 As shown, there are at least two receiving slots 111 and two conveying arms 200, and they correspond one to one. Two second wheel sets 130 are respectively set on the opposite side of the two receiving slots 111, and the first wheel set 120 is set on the opposite side of the receiving slot 111 from the slot opening.

[0091] Furthermore, the vehicle body 110 is equipped with a second drive mechanism for driving the fourth wheel 132 to rotate. Therefore, the fourth wheel 132 is the driving wheel, while the first wheel 121, the second wheel 122, and the third wheel 131 are all driven wheels. The rotation of the fourth wheel 132 causes the vehicle body 100 to move relative to the ground, and the vehicle body 100 further drives the first wheel 121, the second wheel 122, and the third wheel 131 to rotate. In this embodiment, the fourth wheel 132 is located between the third drive wheel 220 and the first wheel set 120, that is, the driving wheel is located in the middle of the vehicle body 110. Compared with placing the driving wheel at the edge of the vehicle body 110, the vehicle body 100 has better stability during movement.

[0092] In this plan, such as Figure 6 As shown, the transport arm 200 includes a supporting base plate 211, a supporting top plate 212, and a lifting mechanism 213. The supporting base plate 211 is movably connected to the vehicle body 100. Specifically, the supporting base plate 211 is slidably connected to the first connecting member 310 of the floating connection assembly 300 along a first direction. The drive wheel 220 is rotatably disposed on the supporting base plate 211. The lifting mechanism 213 is disposed between the supporting base plate 211 and the supporting top plate 212, and both ends of the lifting mechanism 213 are respectively connected to the supporting base plate 211 and the supporting top plate 212. When the lifting mechanism 213 retracts or extends, the supporting base plate 211 and the supporting top plate 212 move closer to or further away from each other. It should be noted that the direction of retraction or extension of the lifting mechanism 213 is the height direction of the transport arm 200.

[0093] Optionally, the lifting mechanism 213 can be a telescopic cylinder, with its two ends connected to the supporting base plate 211 and the supporting top plate 212, respectively. Of course, as... Figure 6 and Figure 7 As shown, in order to make the lifting mechanism 213 have a more compact structure, the lifting mechanism 213 can also adopt a foldable structure. In short, the lifting mechanism 213 can move the supporting base plate 211 and the supporting top plate 212 closer or further apart by its own telescopic movement.

[0094] During the retraction of the handling arm 200 into the receiving slot 111, the lifting mechanism 213 retracts and extends to lift and lower the goods, effectively avoiding obstacles and facilitating their smooth transport to the upper surface of the vehicle body 100. Furthermore, the retraction of the lifting mechanism 213 allows the handling arm 200 to be housed within the vehicle body 100, reducing the space it occupies.

[0095] When using the handling arm 200 to move goods, the vehicle body 100 moves to the vicinity of the goods, and the drive wheel 220 drives the handling arm 200 to extend beyond the receiving slot 111. At this time, the lifting mechanism 213 is in a retracted state, and the handling arm 200 can be inserted into the bottom of the goods, so that the goods fall onto the support top plate 212. Then the lifting mechanism 213 extends, the support top plate 212 rises and lifts the goods, and the drive wheel 220 drives the handling arm 200 to retract into the receiving slot 111. At this time, the goods are above the vehicle body 100. Finally, the lifting mechanism 213 retracts, the support top plate 212 descends, so that the goods fall onto the vehicle body 100, and the vehicle body 100 can then transport the goods to the target location.

[0096] In optional embodiments, such as Figure 2 and Figure 3 As shown, the vehicle body 100 is provided with a first positioning part 410, and the transport arm 200 is provided with a second positioning part 420. When the transport arm 200 is in the retracted state, the first positioning part 410 and the second positioning part 420 are positioned and engaged in a second direction. The specific structure of the first positioning part 410 and the second positioning part 420 is not limited here. In this embodiment, the first positioning part 410 is disposed on the side wall of the receiving groove 111, and the second positioning part 420 is disposed on the supporting top plate 212. It should be noted that the retracted state of the transport arm 200 here refers to the state in which the transport arm 200 is located within the receiving groove 111.

[0097] Through the positioning cooperation of the first positioning part 410 and the second positioning part 420, the transport arm 200 is prevented from moving relative to the vehicle body 100 along the height direction of the vehicle body 100. Furthermore, when the lifting mechanism 213 is in the retracted state, the distance between the support base plate 211 and the support top plate 212 is reduced. The support top plate 212 is fixed relative to the vehicle body 100 through the positioning cooperation structure of the second positioning part 420 and the first positioning part 410. Therefore, the support base plate 211 moves upward relative to the vehicle body 100, and the drive wheel 220 moves upward with the support base plate 211. Thus, the drive wheel 220 is in a suspended state, thereby preventing the drive wheel 220 from contacting the ground and hindering the movement of the vehicle body 100.

[0098] In an optional embodiment, one of the first positioning part 410 and the second positioning part 420 is provided with a positioning protrusion 421, and the other is provided with a positioning groove 411. When the transport arm 200 is in the retracted state, the positioning protrusion 421 and the positioning groove 411 are positioned and engaged in a second direction. Optionally, 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; for example... Figure 8As shown, the first positioning part 410 may be provided with a positioning groove 411, and the second positioning part 420 may be provided with a positioning protrusion 421. The specific structure of the positioning protrusion 421 and the positioning groove 411 is not limited here, and the positioning protrusion 421 and the positioning groove 411 have the same shape.

[0099] In this embodiment, as Figure 8 As shown, the positioning groove 411 and the positioning protrusion 421 are inverted cone shape. In this way, the groove 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.

[0100] The positioning groove 411 and the positioning protrusion 421 work together to restrict the relative position of the first positioning part 410 and the second positioning part 420, thereby limiting the transport arm 200 and preventing the transport arm 200 from shaking relative to the vehicle body 100.

[0101] Optionally, when the conveying arm 200 is in the retracted state, the first positioning part 410 and the second positioning part 420 are magnetically engaged. Specifically, both the first positioning part 410 and the second positioning part 420 can be magnetically engaged, and the first positioning part 410 and the second positioning part 420 can be directly magnetically engaged; alternatively, magnetic parts 412 can be provided on the first positioning part 410 and the second positioning part 420 respectively, and the two magnetic parts 412 can be magnetically engaged.

[0102] By magnetically engaging the first positioning part 410 and the second positioning part 420, the attractive force between them can be increased, further maintaining their relative positions and improving stability. Furthermore, the magnetic attraction facilitates automatic alignment between the first positioning part 410 and the second positioning part 420.

[0103] Optionally, the number of first positioning parts 410 and second positioning parts 420 is at least two and they correspond one-to-one. In the width direction of the conveying arm 200, the conveying arm 200 has a first side and a second side facing away from each other. At least two second positioning parts 420 are respectively provided on the first side and the second side, that is, at least one second positioning part 420 is provided on the first side and the second side respectively. Moreover, at least two first positioning parts 410 are respectively provided on two opposite sidewalls of the receiving groove 111 in the width direction.

[0104] In this embodiment, each conveying arm 200 has at least two second positioning portions 420 on its first and second sides. The second positioning portions 420 on the first side or the second side are spaced apart along a first direction. Similarly, the first positioning portions 410 on the same sidewall of the receiving groove 111 are spaced apart along the length of the receiving groove 111. Moreover, each set of corresponding first positioning portions 410 and second positioning portions 420 are positioned and engaged by positioning protrusions 421 and positioning grooves 411, and are also magnetically engaged with each other.

[0105] At this time, the first and second sides of the transport arm 200 are positioned and engaged with the vehicle body 100 through the first positioning part 410 and the second positioning part 420, so as to prevent either the first or the second side from moving relative to the vehicle body 100 in the height direction, and the stability of the transport arm 200 in the suspended state is improved.

[0106] In optional embodiments, such as Figure 3 and Figure 4 As shown, the transport arm 200 includes an arm body 210, and the transport device also 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. Specifically, the first guide rail 500 is slidably connected to a first connecting member 310, wherein the first connecting member 310 can be a slider, and the first guide rail 500 is guided and engaged with the slider; moreover, the arm body 210 includes the aforementioned supporting top plate 212, supporting bottom plate 211, and lifting mechanism 213, wherein the supporting bottom plate 211 is slidably connected to the first guide rail 500, and the edge of the supporting bottom plate 211 can be guided and engaged with the first guide rail 500.

[0107] Of course, in other embodiments, the support base plate 211 of the arm body 210 can be directly slidably connected to the first connector 310.

[0108] By adding the first guide rail 500, the sliding stroke of the arm 210 along the first direction can be extended, and the handling arm 200 can extend to a sufficient length to contact the goods, ensuring the normal operation of the goods handling process.

[0109] Based on the conveying device disclosed in this application, embodiments of this application also disclose a conveying method, the conveying method comprising:

[0110] S100 controls the drive wheel 220 to contact the ground.

[0111] S200, control at least one of the handling arm 200 and the vehicle body 100 to move along the extending direction of the handling arm 200, so that at least a portion of the handling arm 200 extends beyond the receiving slot 111 and inserts under the goods. Optionally, the handling arm 200 can be controlled to slide along its own extending direction while the position of the vehicle body 100 relative to the ground remains unchanged; the vehicle body 100 can be controlled to move along the extending direction of the handling arm 200 while the position of the handling arm 200 relative to the ground remains unchanged; or both the handling arm 200 and the vehicle body 100 can be controlled to move along the extending direction of the handling arm 200, with the sliding direction of the handling arm 200 opposite to the movement direction of the vehicle body 100.

[0112] After at least a portion of the handling arm 200 extends beyond the receiving slot 111, the lifting mechanism 213 is in an extended state, and the size of the handling arm 200 in the height direction is too large to be directly inserted under the goods. Therefore, it is necessary to first control the lifting mechanism 213 to retract, reduce the size of the handling arm 200 in the height direction, and then control at least one of the handling arm 200 and the vehicle body 100 to continue moving along the extension direction of the handling arm 200 so that the handling arm 200 can be inserted under the goods.

[0113] S300, the lifting mechanism 213 of the control arm 200 extends to raise the goods by the support top plate 212 of the control arm 200. In this way, the goods are raised to a certain height, making it convenient for subsequent goods to be placed on the upper surface of the vehicle body 100.

[0114] S400: Control at least one of the transport arm 200 and the vehicle body 100 to move along the extension direction of the transport arm 200, so that the transport arm 200 retracts into the receiving groove 111. Optionally, the transport arm 200 can be controlled to slide along its own extension direction, while the position of the vehicle body 100 relative to the ground remains unchanged. In this case, the sliding direction of the transport arm 200 is opposite to the sliding direction of the transport arm 200 in step S200. Alternatively, the vehicle body 100 can be controlled to move along the extension direction of the transport arm 200, while the position of the transport arm 200 relative to the ground remains unchanged. In this case, the movement direction of the vehicle body 100 is opposite to the movement direction of the vehicle body 100 in step S200. Or, both the transport arm 200 and the vehicle body 100 can be controlled to move along the extension direction of the transport arm 200, with the sliding direction of the transport arm 200 opposite to the movement direction of the vehicle body 100.

[0115] S500, control the lifting mechanism 213 to retract, so that the supporting top plate 212 moves downward in the height direction of the vehicle body 100 until the goods are placed on the vehicle body 100.

[0116] In an optional embodiment, controlling the drive wheel 220 to contact the ground includes:

[0117] S110, the first positioning part 410 of the control vehicle body 100 and the second positioning part 420 of the transport arm 200 are positioned and engaged, and the lifting mechanism 213 of the control arm 200 is retracted, so that the drive wheel 220 is in a suspended state. This is the case when the transport arm 200 is in an unused state, such as... Figure 1 and Figure 2 As shown, the drive wheel 220 is not in contact with the ground, which prevents the drive wheel 220 from contacting the ground and hindering the movement of the vehicle body 100 during subsequent movement of the vehicle body 100.

[0118] S120: Control the vehicle body 100 to move to the target position. Optionally, the bottom of the vehicle body 100 is provided with a first wheel set 120 and a second wheel set 130, and the vehicle body 100 is moved to the target position by driving the first wheel set 120 and the second wheel set 130.

[0119] S130, the lifting mechanism 213 extends. Due to the positioning and cooperation of the first positioning part 410 and the second positioning part 420, 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. The supporting bottom plate 211 and the drive wheel 220 move downward in the height direction of the vehicle body 100 until the drive wheel 220 contacts the ground.

[0120] S140, the lifting mechanism 213 continues to extend. Since the drive wheel 220 is in contact with the ground and the position of the support base plate 211 remains unchanged, the support top plate 212 moves upward in the height direction of the vehicle body 100 until the first positioning part 410 and the second positioning part 420 separate, at which point the lifting mechanism 213 stops extending. Since the first positioning part 410 and the second positioning part 420 are disengaged, the first positioning part 410 and the second positioning part 420 no longer obstruct the subsequent sliding of the transport arm 200 relative to the vehicle body 100 along the extension direction of the transport arm 200.

[0121] In an optional embodiment, after the transport arm 200 retracts into the receiving slot 111, the transport method further includes:

[0122] S500, the lifting mechanism 213 is retracted until the goods are placed on the vehicle body 100 and the first positioning part 410 of the vehicle body 100 and the second positioning part 420 of the transport arm 200 are positioned and engaged. Specifically, during the descent of the supporting top plate 212, the goods are first placed on the upper surface of the vehicle body 100, and then the first positioning part 410 and the second positioning part 420 are positioned and engaged.

[0123] S600: The lifting mechanism 213 continues to retract, causing the support base plate 211 and drive wheel 220 to move upward in the height direction of the vehicle body 100 until the drive wheel 220 returns to a suspended state. Since the support top plate 212 is fixed in the height direction relative to the vehicle body 100 after the first positioning part 410 and the second positioning part 420 are positioned and engaged, the support base plate 211 moves upward when the lifting mechanism 213 retracts, and the drive wheel 220 moves upward with the support base plate 211 until the drive wheel 220 separates from the ground. At this time, the transport arm 200 returns to an unused state. When transporting goods again, the above steps S100-S600 can be repeated.

[0124] With this configuration and the aforementioned handling method, the position of the handling arm 200 and the drive wheel 220 in the height direction of the vehicle body 100 can be changed according to the ground conditions to adapt to uneven ground, ensuring that the drive wheel 220 is in continuous contact with the ground and preventing the drive wheel 220 from slipping and failing to drive the handling arm 200 to move; moreover, during the movement of the vehicle body 100, the drive wheel 220 can be suspended in the air to prevent the drive wheel 220 from contacting the ground and hindering the movement of the vehicle body 100.

[0125] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A conveying device, characterized in that, include: The vehicle body (100) and the transport arm (200) are movably connected to the vehicle body (100). The transport arm (200) can slide relative to the vehicle body (100) in a first direction, which is the extension direction of the transport arm (200). A floating connection assembly (300) is connected to the vehicle body (100) and the transport arm (200) respectively. The transport arm (200) can move relative to the vehicle body (100) in a second direction through the floating connection assembly (300), where the second direction is the height direction of the vehicle body (100). The transport arm (200) is rotatably provided with a drive wheel (220), which drives the transport arm (200) to slide relative to the vehicle body (100) in the first direction; The floating connection assembly (300) includes a first connector (310) and a second connector (320). The first connector (310) is slidably connected to the transport arm (200) along the first direction. One of the first connector (310) and the vehicle body (100) is slidably connected to the second connector (320) along the second direction, and the other is rotatably connected to the second connector (320). The axis of rotation of the transport arm (200) relative to the vehicle body (100) is parallel to the width direction of the transport arm (200).

2. The conveying device according to claim 1, characterized in that, The number of floating connection assemblies (300) is at least two. In the width direction of the transport arm (200), the transport arm (200) has a first side and a second side facing away from each other, and at least two of the floating connection assemblies (300) are respectively disposed on the first side and the second side.

3. The conveying device according to claim 1, characterized in that, The vehicle body (100) includes a vehicle body (110) and a first wheel set (120), wherein the first wheel set (120) includes a first wheel body (121), a second wheel body (122), a first connecting axle (123), a second connecting axle (124), and a connecting rod (125), wherein: Both the first connecting bridge (123) and the second connecting bridge (124) 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 rotatably connected to the first wheel (121). The first connecting part of the second connecting bridge (124) is rotatably connected to the second wheel (122). The second connecting parts of the first connecting bridge (123) and the second connecting parts of the second connecting bridge (124) are both rotatably connected to the vehicle body (110). The third connecting part of the first connecting bridge (123) is rotatably connected to the first end of the connecting rod (125). The third connecting part of the second connecting bridge (124) is rotatably connected to the second end of the connecting rod (125).

4. The conveying device according to claim 1, characterized in that, The vehicle body (100) includes a vehicle body (110) and a second wheel set (130), the second wheel set (130) including a third wheel body (131), a fourth wheel body (132) and a third connecting axle (133), wherein: 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 and the second end of the third connecting bridge (133). The third wheel (131) is rotatably connected to the first end of the third connecting bridge (133), and the fourth wheel (132) is rotatably connected to the second end of the third connecting bridge (133).

5. The conveying device according to claim 1, characterized in that, The transport arm (200) includes a support base plate (211), a support top plate (212), and a lifting mechanism (213). The support base plate (211) is movably connected to the vehicle body (100). The lifting mechanism (213) is located between the support base plate (211) and the support top plate (212), and both ends of the lifting mechanism (213) are connected to the support base plate (211) and the support top plate (212) respectively. When the lifting mechanism (213) retracts or extends, the support base plate (211) and the support top plate (212) move closer to or further away from each other.

6. The conveying device according to claim 1, characterized in that, The vehicle body (100) is provided with a first positioning part (410), and the transport arm (200) is provided with a second positioning part (420). When the transport arm (200) is in a retracted state, the first positioning part (410) and the second positioning part (420) are positioned and cooperated in the second direction.

7. The conveying device according to claim 6, characterized in that, One of the first positioning part (410) and the second positioning part (420) is provided with a positioning protrusion (421), and the other is provided with a positioning groove (411). When the transport arm (200) is in the retracted state, the positioning protrusion (421) and the positioning groove (411) are positioned and engaged in the second direction.

8. The conveying device according to claim 6, characterized in that, When the transport arm (200) is in the retracted state, the first positioning part (410) and the second positioning part (420) magnetically engage.

9. The conveying device according to claim 6, characterized in that, The number of the first positioning part (410) and the second positioning part (420) is at least two, and they correspond one to one. In the width direction of the transport arm (200), the transport arm (200) has a first side and a second side facing away from each other, and at least two second positioning parts (420) are respectively provided on the first side and the second side.

10. The conveying device according to claim 1, characterized in that, The transport arm (200) includes an arm body (210), and the transport device further includes a first guide rail (500). The first guide rail (500) is slidably connected to the vehicle body (100) along the first direction, and the arm body (210) is slidably connected to the first guide rail (500) along the first direction.

11. A handling method, applied to the handling apparatus according to any one of claims 1-10, characterized in that, The transport method includes: Control the drive wheel (220) to contact the ground; Control at least one of the transport arm (200) and the vehicle body (100) to move along the extension direction of the transport arm (200) so that at least a portion of the transport arm (200) extends out of the receiving slot (111) and inserts under the cargo; The lifting mechanism (213) of the transport arm (200) is controlled to extend so that the support top plate (212) of the transport arm (200) lifts the goods; Control at least one of the transport arm (200) and the vehicle body (100) to move along the extension direction of the transport arm (200) so that the transport arm (200) retracts into the receiving slot (111); Control the lifting mechanism (213) to retract so that the support top plate (212) moves downward in the height direction of the vehicle body (100) until the goods are placed on the vehicle body (100).

12. The handling method according to claim 11, characterized in that, The control drive wheel (220) is in contact with the ground, including: The first positioning part (410) of the vehicle body (100) and the second positioning part (420) of the transport arm (200) are positioned and engaged, and the lifting mechanism (213) is retracted to make the drive wheel (220) suspended in the air; The lifting mechanism (213) is controlled to extend so that the drive wheel (220) moves downward in the height direction of the vehicle body (100) until the drive wheel (220) contacts the ground; The lifting mechanism (213) is controlled to continue to extend so that the first positioning part (410) and the second positioning part (420) separate.

13. The handling method according to claim 12, characterized in that, After the transport arm (200) retracts into the receiving slot (111), the transport method further includes: Control the lifting mechanism (213) to retract until the goods are placed on the vehicle body (100) and the first positioning part (410) of the vehicle body (100) and the second positioning part (420) of the transport arm (200) are positioned and engaged; The lifting mechanism (213) is controlled to continue to retract so that the support base plate (211) of the transport arm (200) and the drive wheel (220) move upward in the height direction of the vehicle body (100) until the drive wheel (220) returns to the suspended state.

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