Carrying vehicle

Abstract

The invention discloses a carrying vehicle. The carrying vehicle comprises a vehicle frame, a carrying component, a bearing wheel assembly connecting rod mechanism and supporting wheels. The carrying component is connected to the frame and can move up and down relative to the frame; the bearing wheel assembly is rotationally connected to the carrying component and can support the carrying component. The connecting rod mechanism is connected with the carrying component and the bearing wheel assembly and used for driving the bearing wheel assembly to rotate in the direction close to the carrying component based on the descending acting force of the carrying component in the descending process of the carrying component so that the bearing wheel assembly can leave the ground and ascend to the carrying component again. The supporting wheels are fixedly connected to the vehicle frame and used for keeping the carrying vehicle balanced after the bearing wheel assembly leaves the ground. According to the carrier, the carrying efficiency can be improved, and the operation stability and adaptability of the carrier are improved.

Description

Technical Field

[0001] The present application relates to the technical field of transportation equipment, and in particular to a transport vehicle. Background Art

[0002] With the rapid development of intelligent logistics, intelligent transport vehicles, such as AGV (Automated Guided Vehicle), have become the key to improving logistics efficiency and reducing labor costs.

[0003] However, when the transport vehicle in the prior art is performing a transporting operation, especially when the load-bearing wheel assembly needs to cross an obstacle, the lifting and lowering of the load-bearing wheel assembly often affects the overall stability and transporting efficiency of the transport vehicle. Summary of the invention

[0004] The present application provides a transport vehicle to solve the technical problem of how to maintain the stability and transport efficiency of the transport vehicle.

[0005] In order to solve the above technical problems, the present application proposes a transport vehicle, comprising:

[0006] Frame;

[0007] A transport component connected to the frame and capable of moving up and down relative to the frame;

[0008] A load-bearing wheel assembly, rotatably connected to the transport component and capable of supporting the transport component;

[0009] A connecting rod mechanism is respectively connected to the transport component and the load-bearing wheel assembly, and is used to drive the load-bearing wheel assembly to rotate in a direction close to the transport component based on the downward force of the transport component during the lowering process of the transport component, so that the load-bearing wheel assembly leaves the ground and rises back to the transport component;

[0010] The supporting wheels are fixedly connected to the frame and are used to keep the transport vehicle balanced after the load-bearing wheel assembly leaves the ground.

[0011] The beneficial effects of the present application are as follows: Different from the prior art, the present application provides a transport vehicle, including a frame, a transport component, a load-bearing wheel assembly connecting rod mechanism, and a supporting wheel. The transport component is connected to the frame and can move up and down relative to the frame; the load-bearing wheel assembly is rotatably connected to the transport component and can support the transport component; the connecting rod mechanism is respectively connected to the transport component and the load-bearing wheel assembly, and is used to drive the load-bearing wheel assembly to rotate in the direction close to the transport component based on the descending force of the transport component during the descent of the transport component, so that the load-bearing wheel assembly leaves the ground and rises back to the transport component; the supporting wheel is fixedly connected to the frame, and is used to maintain the balance of the transport vehicle after the load-bearing wheel assembly leaves the ground. The present application realizes the automatic lifting of the load-bearing wheel assembly when the transport component descends through the synergistic effect of the connecting rod mechanism, reduces the contact friction between the load-bearing wheel assembly and the ground or the pallet, improves the transport efficiency, and maintains the balance of the transport vehicle after the load-bearing wheel leaves the ground through the supporting wheel, thereby increasing the stability and adaptability of the transport vehicle operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0013] Figure 1 This is a schematic structural diagram of a transport vehicle in an embodiment provided by the present application;

[0014] Figure 2 is a structural schematic diagram of a transport vehicle in another embodiment provided by the present application;

[0015] Figure 3 This is a structural schematic diagram of a transport vehicle in a specific embodiment provided by the present application;

[0016] Figure 4 This is a schematic diagram of a structure of a transport vehicle flipping in one embodiment provided by the present application;

[0017] Figure 5 This is a structural schematic diagram of a transport vehicle provided by the present application in a first working mode;

[0018] Figure 6 It is a structural schematic diagram of a transition state of a transport vehicle provided by the present application during the process of changing from a first working mode to a second working mode;

[0019] Figure 7 It is a structural schematic diagram of a transport vehicle provided by the present application in a second working mode.

[0020] Figure numbers: 11, frame; 12, transport component; 13, load-bearing wheel assembly; 14, connecting rod mechanism; 15, support wheel; 16, force storage element; 17, vertical plate; 18, steering wheel; 111, plate body; 131, load-bearing wheel; 132, load-bearing arm; 141, active rod; 142, push rod; 143, pressure wheel; 151, support arm; 152, guide wheel; 201, first hinge connection point; 202, first connection fulcrum; 203, first mounting hole; 204, second mounting hole; 205, second hinge connection point; 206, second connection fulcrum; 207, pressure wheel core shaft. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0023] In the related art, especially when a forklift truck is transporting a square pallet, while lifting the truck's load-bearing wheels off the ground, it is necessary to ensure that the transport components can stably extend into the bottom of the pallet and maintain balance during the lifting process. The current common support scheme is to install support wheels at the root of the transport components to provide support after the load-bearing wheels rise off the ground and maintain the balance of the truck. However, this scheme has obvious limitations: the distance between the support wheel and the steering wheel is too close (about 300mm), resulting in a short wheelbase, while the distance between the fork tip of the transport component and the steering wheel is far (about 1450mm), so that the slight ups and downs of the ground on the fork tip are magnified, and the impact of the ground on the fork tip is magnified by 1450 / 300=4.83 times, thereby affecting the stability and handling efficiency of the truck. For example, if the ground fluctuates by 4 mm, the fluctuation of the fork tip will become 4.83*4=19.32 mm, and the thickness of the fork leg is generally 60 mm, the height of the fork insertion space is 90 mm, and the gap on one side is only 15 mm. If the fork leg fluctuates too much, it will lead to insufficient gap between the fork tip and the pallet, causing the handling parts to directly touch the pallet, resulting in failure to pick up the goods.

[0024] On the other hand, in some related solutions, in order to ensure that the load-bearing wheels are off the ground, a control system is added to complete a separate lifting action, such as using a hydraulic cylinder or a motor. The solution is relatively complex and costly. In addition, the need to wait for these systems to operate also extends the time for picking up and putting down goods, thereby reducing the handling efficiency of the transport vehicle.

[0025] In order to improve the handling efficiency while maintaining the stability of the transport vehicle, the present application uses the synergistic effect of the connecting rod mechanism to achieve that the load-bearing wheel assembly can automatically rise when the transport component descends, reducing the contact friction between the load-bearing wheel assembly and the ground or pallet, thereby improving the handling efficiency, and maintaining the balance of the transport vehicle after the load-bearing wheels leave the ground through the support wheels, thereby increasing the stability and adaptability of the transport vehicle operation.

[0026] The transport vehicle provided by the present invention is described in detail below in conjunction with the embodiments.

[0027] An embodiment of the present application provides a transport vehicle, such as Figure 1 As shown, it includes a frame 11, a transport component 12, a load-bearing wheel assembly 13, a connecting rod mechanism 14 and a supporting wheel 15.

[0028] The transport component 12 is connected to the frame 11 and can move up and down relative to the frame 11. In one example, the frame 11 and the transport component 12 are slidably connected, and a driving member, such as a hydraulic cylinder or a motor, is provided on the frame 11 to drive the transport component 12 to move up and down in the vertical direction relative to the frame 11; illustratively, the frame 11 and the transport component 12 are connected together through a channel steel installed on the frame 11 and a composite roller on the transport component 12, so that the transport component 12 can maintain vertical movement with the channel steel on the frame 11. The specific connection method is not limited here.

[0029] The load-bearing wheel assembly 13 is rotatably connected to the transport component 12, and can support the transport component 12. In one example, the load-bearing wheel assembly 13 is connected to the transport component 12 via a rotating shaft, and the up and down movement of the transport component 12 can generate a movement stroke of the load-bearing wheel assembly 13 in the vertical direction.

[0030] The link mechanism 14 is respectively connected to the transport component 12 and the load-bearing wheel assembly 13, and is used to drive the load-bearing wheel assembly 13 to rotate in a direction close to the transport component 12 based on the downward force of the transport component 12 during the process of the transport component 12 descending, so that the load-bearing wheel assembly 13 leaves the ground and rises back to the transport component 12. In other examples, the link mechanism 14 can also rotate the load-bearing wheel assembly 13 in a direction away from the transport component 12 based on the upward force of the transport component 12 during the process of the transport component 12 ascending, so that the load-bearing wheel assembly 13 leaves the transport component 12 and descends to the ground, so as to bear the load and assist the transport vehicle in walking.

[0031] The support wheels 15 are fixedly connected to the vehicle frame 11 and are used to keep the transport vehicle balanced after the load-bearing wheel assembly 13 leaves the ground.

[0032] In one embodiment, if Figure 2 As shown, the load-bearing wheel assembly 13 includes a load-bearing wheel 131 and a load-bearing arm 132 , and the connecting rod mechanism 14 includes an active rod 141 and a push rod 142 . The active rod 141 can drive the load-bearing wheel assembly 13 to rotate toward the direction close to the transport component 12 by rotating between itself and the transport component 12 .

[0033] In one example, the active rod 141 is arranged at one end close to the frame 11 and is rotatably connected to one end of the push rod 142; the support arm 132 is rotatably connected to the other end of the push rod 142; the push rod 142 is arranged corresponding to the transport component 12. For example, the transport component 12 extends in the horizontal direction, and the push rod 142 also extends in the horizontal direction. The extension direction of the transport component 12 is the same as the extension direction of the push rod 142. When the transport component 12 is controlled to move up and down in the vertical direction, the push rod 142 is also driven to move in the vertical direction.

[0034] In this embodiment, the active rod 141, the push rod 142 and the bearing arm 132 form a four-bar structure, which can realize efficient force transmission and motion conversion, so as to automatically control the lifting and lowering of the bearing wheel assembly 13. Specifically, the power system (such as a hydraulic or electric system) provided on the frame 11 provides the vertical lifting power to the transport component 12, and the active rod 141 receives the input of force through the rotation between itself and the transport component 12, and finally effectively transmits the force generated by the power system on the transport component 12 from the active rod 141 to the push rod 142 through its rotation connection with the push rod 142. As a force transmission medium, the push rod 142 transmits the force to the bearing arm 132 connected to the other end of the push rod 142, and the bearing arm 132 drives the bearing wheel 131 to slide horizontally on the ground and to lift and lower in the vertical direction under the action of the force.

[0035] In one embodiment, a pressure wheel 143 is provided at one end of the active rod 141 away from the load-bearing wheel assembly 13. During the rotation of the active rod 141, the pressure wheel 143 keeps contact with and rolls on a plate 111 of the frame 11. In one example, the pressure wheel 143 may be a steel wheel, and the plate 111 may be a pressure plate of the frame 11. The pressure plate is fixed to the bottom of the frame 11. During the descent or ascent of the transport component 12, the height of the pressure plate relative to the ground remains unchanged. The pressure wheel 143 abuts against the pressure plate, keeps contact with the pressure plate, and can roll along the pressure plate. Thus, the height of the pressure wheel 143 relative to the ground remains unchanged during the descent or ascent of the transport component 12.

[0036] In the embodiment provided in the present application, during the descent of the transport component 12, the travel speed of the pressure wheel 143 relative to the transport component 12 in the vertical direction is less than the travel speed of the load-bearing wheel 131 relative to the transport component 12 in the vertical direction, and the vertical travel difference between the load-bearing wheel 131 and the pressure wheel 143 is equal to the height that the load-bearing wheel 131 can rise after leaving the ground. The vertical travel difference is the difference between the travel of the load-bearing wheel 131 relative to the transport component 12 in the vertical direction and the travel of the pressure wheel 143 relative to the transport component 12 in the vertical direction. In addition, it should be noted that the vertical travel difference between the load-bearing wheel 131 and the pressure wheel 143 can also be approximately equal to the height that the load-bearing wheel 131 can rise after leaving the ground. Due to the influence of gravity, during the descent of the transport component 12, the height of the transport component 12 close to the frame 11 and the height of the end of the original frame 11 may not be strictly equal. Therefore, the vertical travel difference allows a certain range of deviation.

[0037] Preferably, in this embodiment, the length of the active rod 141 is smaller than the length of the carrying arm 132, so that the linear velocity on one side of the active rod 141 is smaller than that on one side of the carrying arm 132, and the travel speed of the control pressure wheel 143 in the vertical direction relative to the conveying component 12 is smaller than the travel speed of the carrying wheel 131 in the vertical direction relative to the conveying component 12.

[0038] By controlling the movement characteristics of the pressure wheel 143 and the load-bearing wheel 131 during the descending process of the transport component 12 in the above-mentioned embodiment, the load-bearing wheel 131 can be lifted off the ground in time to avoid friction and damage caused by contact with the ground. At the same time, the load-bearing wheel 131 can have sufficient travel to be fully raised to the required height, thereby achieving complete lifting of the load-bearing wheel assembly 13 off the ground without affecting the transport work of the transport vehicle.

[0039] In one embodiment, if Figure 3 to Figure 4 As shown, one end of the carrying arm 132 is provided with a carrying wheel 131, the other end of the carrying arm 132 and one end of the push rod 142 are hinged at a first hinge connection point 201, a first connection fulcrum 202 is provided between the two ends of the carrying arm 132, and the carrying arm 132 and the first connection fulcrum 202 are rotatably connected to the transport component 12. In an example, the first hinge connection point 201 is provided with a pushing shaft, and the first connection fulcrum 202 is provided with a swinging shaft, and the push rod 142 is connected to the carrying arm 132 through the pushing shaft, so that when the push rod 142 pushes / pull the pushing shaft, the carrying arm 132 is driven to rotate around the pushing shaft, and at the same time, the swinging shaft on the carrying arm 132 that is rotatably connected to the transport component 12 is driven during the pushing / pulling process of the push rod 142, so that the swinging shaft rotates around the pushing shaft.

[0040] A pressure wheel 143 is provided at one end of the active rod 141, and the other end of the active rod 141 serves as a second connection fulcrum 206. The active rod 141 and the second connection fulcrum 206 are rotatably connected to the transport component 12. A second hinge connection point 205 is provided between the two ends of the active rod 141, and the active rod 141 is hinged to the other end of the push rod 142 through the hinge connection point. In one example, the second hinge connection point 205 is provided with a push shaft, and the second connection fulcrum 206 is provided with a swing shaft. The active rod 141 rotates around the swing shaft rotatably connected to the transport component 12, and the active rod 141 is connected to the push rod 142 through the push shaft, so that the active rod 141 can push / pull the push rod 142 to move through the push shaft when rotating.

[0041] In one embodiment, if Figure 3 to Figure 4 As shown, the connecting rod mechanism 14 also includes at least one force storage element 16, and each force storage element 16 is connected to the connecting rod mechanism 14 and the conveying component 12. During the descent of the conveying component 12, the connecting rod mechanism 14 can receive the force of the connecting rod mechanism 14 and / or the conveying component 12 on the force storage element 16, and generate a reaction force to achieve at least one of the following: after the load-bearing wheel assembly 13 leaves the ground, the push rod 142 is used to pull the load-bearing wheel assembly 13 to continue to rotate in a direction close to the conveying component 12; after the load-bearing wheel assembly 13 rises back to the conveying component 12, the current state of the load-bearing wheel assembly 13 is maintained.

[0042] Among them, the force storage element 16 assists the movement between the connecting rod mechanism 14 and the transport component 12, and through its elastic characteristics, provides the necessary force to assist the push rod 142 to pull the load-bearing wheel assembly 13, so as to realize the rotation and position adjustment of the load-bearing wheel assembly 13. Exemplarily, the force storage element 16 can be a spring, which can store energy caused by gravity or other external forces during the descent of the transport component 12, or it can continuously have a certain amount of energy, and release this energy when needed to promote the rise of the load-bearing wheel assembly 13 or maintain its position, thereby improving the stability and safety of the transport vehicle. Preferably, the force storage element 16 is a constant force spring.

[0043] In one example, the transport component 12 includes at least one first mounting hole 203, through which the force storage element 16 is connected to the transport component 12, for fixing the force storage element 16. The push rod 142 includes at least one second mounting hole 204, through which the force storage element 16 is connected to the push rod 142.

[0044] In one embodiment, if Figures 1 to 4As shown, the transport vehicle further includes a support arm 151, which extends from the frame 11 toward the transport component 12, and a support wheel 15 is provided at the extended end of the support arm 151. In the embodiment of the present application, by providing the support wheel 15 on the transport vehicle, the support wheel 15 plays a role after the load-bearing wheel assembly 13 leaves the ground, and provides an additional support point after the transport component 12 descends and the load-bearing wheel assembly 13 leaves the ground. Since the wheelbase of the support arm 151 is greatly increased, the influence of ground fluctuations on the side of the transport component 12 away from the frame 11 is greatly reduced, thereby increasing the stability and safety of the transport vehicle.

[0045] There are at least two support wheels 15, which are arranged on the side of the frame 11 where the transport component 12 is arranged, and the distance between the support wheels 15 and the load-bearing wheel assembly 13 is less than the preset distance. In one example, the distance between the central axis of the support wheel 15 and the central axis of the load-bearing wheel 131 is less than or equal to the sum of the radii of the two wheels, thereby improving the stability of the transport vehicle.

[0046] There are two support arms 151, and each support arm 151 is provided with at least one support wheel 15. In one example, the two support arms 151 are respectively located on both sides of the transport component 12; in other examples, the horizontal projection of the support arm 151 is L-shaped. Optionally, the support arm 151 may have a certain width, and the height of the upper surface of the support arm 151 from the ground is consistent with the height of the upper surface of the transport component 12 from the ground during the movement, or the height difference is within a certain range, so that when the transport component 12 transports goods, the upper surface of the support arm 151 plays a role in assisting in carrying the goods.

[0047] In one embodiment, the frame 11 includes a vertical plate 17, and the support arm 151 is connected to the vertical plate 17. In some embodiments, the support arm 151 is fixedly connected to the vertical plate 17. In some embodiments, the support arm 151 can also be connected to the vertical plate 17 through an adjustment device (not shown in the figure), and the adjustment device is used to telescopically adjust the distance of the support arm 151 relative to the transport component 12 in the width direction, and move away or closer along the width direction of the transport component 12 as needed.

[0048] In some embodiments, the height of the support arm 151 is always kept consistent with or lower than the transport component 12. When the transport component 12 moves up and down in the vertical direction, the support arm 151 maintains the same degree of up and down movement through the connected vertical plate 17. When the transport vehicle is performing transport work, the height of the support arm 151 is such that the support arm 151 will not block or hinder the lifting and lowering of the transport component 12, and at the same time can provide additional support to maintain the stability of the transport component 12.

[0049] The frame 11 further includes a steering wheel 18 for controlling the travel and steering of the transport vehicle so that the transport vehicle can navigate flexibly.

[0050] Optionally, a guide wheel 152 is further provided at the end of the support arm 151, and the guide wheel 152 is used to guide the goods when the handling component 12 picks up and places the goods. Optionally, a guide wheel 152 can also be provided on the support arm 151. By guiding the goods, the direct impact between the handling component 12 and the goods is reduced, thereby reducing the risk of damage to the goods during the handling process. In some examples, the guide wheel 152 can rotate, contact the goods or pallets by rotating, and guide the position of the transport vehicle, so that the handling component 12 can carry the goods more accurately and stably, avoiding failure in picking up and placing goods.

[0051] Through the technical solution of the present application, it is possible to realize that the load-bearing wheel assembly can automatically fall or rise when the transport component rises or falls, and the transport vehicle provided by the present application does not need to add an additional control device to control the load-bearing wheel assembly to leave the ground, thereby improving the transport efficiency. Furthermore, after the load-bearing wheel assembly leaves the ground, the support wheels can be provided to maintain the balance of the transport vehicle after the load-bearing wheel leaves the ground, thereby increasing the stability and adaptability of the transport vehicle operation.

[0052] In the transporter provided in this application, please see Figures 5 to 7 When the transport vehicle provided by the embodiment of the present application performs transport work, the transport vehicle has a first working mode and a second working mode.

[0053] like Figure 5 As shown, Figure 5 The first working mode is the structural state of the transport vehicle in the first working mode, which is the walking state of the transport vehicle lifting the transport component 12 normally when the transport vehicle is carrying or unloaded. At this time, the load-bearing wheel assembly 13 cooperates with the steering wheel 18 to move on the ground, and the pressure wheel 143 abuts against the plate 111 on the frame 11, keeps in contact and is at the end away from the steering wheel 18, and the second hinge connection point 205 on the active rod 141 is to the right below the second connection fulcrum 206. The load-bearing wheel 131 is in sliding contact with the ground, and the first connection fulcrum 202 is to the left below the first hinge connection point 201. In the first working mode, the support wheel 15 is away from the ground and does not contact the ground.

[0054] like Figure 6 As shown, Figure 6 The schematic diagram is a structural diagram of a transition state of the transport vehicle in the process of changing from the first working mode to the second working mode. When the transport component 12 starts to descend relative to the frame 11, due to the structural characteristics of the connecting rod mechanism 14 in the present application, the descent speeds of the side of the frame 11 and the side of the transport component 12 away from the frame 11 are different, and the transport component 12 will be slightly tilted. Specifically, the right side of the transport component 12 in the figure descends faster than the left side, so that the height of the right side of the transport component 12 is slightly lower than that of the left side.

[0055] The active rod 141 is driven by the downward force of the transport component 12, and the second connection fulcrum 206 rotates clockwise, driving the second hinge connection point 205 to rotate clockwise around the second connection fulcrum 206, so that the pressure wheel 143 slides along the plate body 111 toward the direction close to the steering wheel 18, and drives the push rod 142 to move leftward. The push rod 142 moves leftward and drives the first hinge connection point 201 to rotate counterclockwise, thereby driving the first connection fulcrum 202 to rotate counterclockwise around the first hinge connection point 201, so that the carrying arm 132 rotates counterclockwise, driving the carrying wheel 131 on the carrying arm 132 to slide rightward along the ground.

[0056] At the moment when the support wheel 15 lands on the ground along with the transport component 12, the support wheel 15 and the load-bearing wheel assembly 13 land on the ground alternately. At this time, the load-bearing wheel assembly 13 starts to leave the ground and prepares to transition to the second working mode of the transport vehicle.

[0057] like Figure 7 As shown, Figure 7 The structural state of the transport vehicle in the second working mode, in which the transport vehicle can freely enter and exit the pallet or pick up and place goods in the second working mode. Specifically, the transport component 12 continues to descend, and the support wheel 15 is in contact with the ground at this time, providing support to the transport component 12 after the load-bearing wheel 131 leaves the ground, so that the transport component 12 can remain relatively horizontal. Under the tension of the power storage element 16 and the weight pressure of the transport component 12 itself, the push rod 142 pulls the load-bearing wheel assembly 13 to rotate counterclockwise around the first connection fulcrum 202, thereby lifting the load-bearing wheel assembly 13 to continue to rise from the ground and approach the position of the transport component 12 until it is completely received in the receiving groove (not shown in the figure) of the transport component 12. The transport component 12 is provided with a receiving groove for receiving the load-bearing wheel assembly 13, so that the load-bearing wheel assembly 13 is completely received in the transport component 12. When picking up and placing goods, the transport component 12 will not be affected by the load-bearing wheel assembly 13, and will not rub or release with the ground or the pallet, thereby improving the transport efficiency. At this time, the load-bearing wheel assembly 13 is completely retracted, and the transport vehicle relies on the steering wheel 18 and the supporting wheels 15 to support and maintain the balance of the transport vehicle, so that the transport vehicle can freely enter and exit the pallet or take and place goods.

[0058] When the transport vehicle is switched from the second working mode to the first working mode, Figure 7 , Figure 6 to Figure 5When the transport component 12 is subjected to an external force and moves upward relative to the vehicle frame 11, the second connection fulcrum 206 on the active rod 141 rotates counterclockwise, and at the same time, the second hinge connection point 205 rotates counterclockwise around the second connection fulcrum 206, pushing the push rod 142 to move toward the direction of the load-bearing wheel 131. The push rod 142 pushes the first hinge connection point 201, so that the first connection fulcrum 202 rotates clockwise around the first hinge connection point 201, driving the load-bearing wheel 131 to leave the transport component 12 and approach the ground. When the load-bearing wheel 131 touches the ground, the support wheel 15 begins to leave the ground, the transport component 12 continues to rise, and the push rod 142 continues to push the load-bearing wheel assembly 13 until the transport vehicle switches to the first working mode.

[0059] It should be noted that the terms "first" and "second" in the present application are only used for descriptive purposes and cannot be understood as indicating the number of indicated technical features. Thus, the features defined as "first" and "second" can expressly or implicitly include at least one of the features. All directional indications (such as up, down, left, right, front, back ...) in the present application embodiment are only used to explain the relative position relationship, movement conditions, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. The process, method, system, product or equipment such as including a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or equipment.

[0060] The above descriptions are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A transport vehicle, characterized in that: include: Frame (11); A transport component (12) connected to the frame (11) and capable of moving up and down relative to the frame (11); A load-bearing wheel assembly (13) rotatably connected to the transport component (12) and capable of supporting the transport component (12); A connecting rod mechanism (14) is respectively connected to the transport component (12) and the load-bearing wheel assembly (13), and is used to drive the load-bearing wheel assembly (13) to rotate in a direction close to the transport component (12) based on the downward force of the transport component (12) during the descending process of the transport component (12), so that the load-bearing wheel assembly (13) leaves the ground and rises back to the transport component (12); The support wheel (15) is fixedly connected to the vehicle frame (11) and is used to maintain the balance of the transport vehicle after the load-bearing wheel assembly (13) leaves the ground.

2. The transport vehicle according to claim 1, characterized in that: The load-bearing wheel assembly (13) comprises a load-bearing wheel (131), and the connecting rod mechanism (14) comprises an active rod (141), and the active rod (141) can drive the load-bearing wheel assembly (13) to rotate in a direction close to the transport component (12) by rotating between the active rod (141) and the transport component (12); a pressure wheel (143) is provided at one end of the active rod (141) away from the load-bearing wheel assembly (13), and during the rotation of the active rod (141), the pressure wheel (143) keeps in contact with and rolls on a plate (111) of the frame (11); Wherein, during the descent of the transport component (12), the travel speed of the pressure wheel (143) relative to the transport component (12) in the vertical direction is less than the travel speed of the load-bearing wheel (131) relative to the transport component (12), the vertical travel difference between the load-bearing wheel (131) and the pressure wheel (143) is equal to the height that the load-bearing wheel (131) can rise after leaving the ground, and the vertical travel difference is the difference between the travel of the load-bearing wheel (131) relative to the transport component (12) in the vertical direction and the travel of the pressure wheel (143) relative to the transport component (12).

3. The transport vehicle according to claim 2, characterized in that: The connecting rod mechanism (14) further comprises a push rod (142), the load-bearing wheel assembly (13) further comprises a load-bearing arm (132), and the active rod (141), the push rod (142) and the load-bearing arm (132) form a four-link structure.

4. The transport vehicle according to claim 3, characterized in that: The load-bearing wheel (131) is provided at one end of the load-bearing arm (132), the other end of the load-bearing arm (132) and one end of the push rod (142) are hinged at a first hinge connection point (201), a first connection fulcrum (202) is provided between the two ends of the load-bearing arm (132), and the load-bearing arm (132) and the first connection fulcrum (202) are rotatably connected to the transport component (12); The pressure wheel (143) is provided at one end of the active rod (141), and the other end of the active rod (141) serves as a second connecting fulcrum (206). The active rod (141) and the second connecting fulcrum (206) are rotatably connected to the conveying component (12). A second hinge connection point (205) is provided between the two ends of the active rod (141), and the active rod (141) is hinged to the other end of the push rod (142) via the hinge connection point.

5. The transport vehicle according to claim 4, characterized in that: The length of the active rod (141) is smaller than the length of the bearing arm (132).

6. The transport vehicle according to claim 3, characterized in that: The connecting rod mechanism (14) further comprises at least one force storage element (16), each of the force storage elements (16) being connected to the connecting rod mechanism (14) and the transport component (12), and being capable of receiving the force of the connecting rod mechanism (14) and / or the transport component (12) on the force storage element (16) during the descending process of the transport component (12), and generating a reaction force to achieve at least one of the following: After the load-bearing wheel assembly (13) leaves the ground, the load-bearing wheel assembly (13) is pulled by the push rod (142) to continue rotating in a direction close to the transport component (12); After the load-bearing wheel assembly (13) is lifted back to the transport component (12), the current state of the load-bearing wheel assembly (13) is maintained.

7. The transport vehicle according to claim 6, characterized in that: The force storage element (16) is a spring.

8. The transport vehicle according to claim 2, characterized in that: During the descent of the transport component (12), the height of the plate body (111) relative to the ground remains unchanged; and / or the plate body (111) is a pressure-bearing plate of the vehicle frame (11).

9. The transport vehicle according to claim 1, characterized in that: The supporting wheel (15) is arranged on a side of the vehicle frame (11) where the transport component (12) is arranged, and the distance between the supporting wheel (15) and the load-bearing wheel assembly (13) is less than a preset distance.

10. The transport vehicle according to claim 1, characterized in that: The transport vehicle further comprises a support arm (151), wherein the support arm (151) extends from the vehicle frame (11) in the direction of the transport component (12), and the support wheel (15) is arranged at the extended end of the support arm (151).

11. The transport vehicle according to claim 10, characterized in that: There are at least two support wheels (15), there are two support arms (151), each support arm (151) is provided with at least one support wheel (15), wherein the two support arms (151) are respectively located on both sides of the transport component (12); And / or, the projection of the support arm (151) in the horizontal direction is L-shaped; The vehicle frame (11) comprises a vertical plate (17), and the support arm (151) is connected to the vertical plate (17).

12. The transport vehicle according to claim 11, characterized in that: The support arm (151) is connected to the vertical plate (17) via an adjusting device, and the adjusting device is used to drive the support arm (151) to move away from or closer to the carrying component (12) along the width direction.

13. The transport vehicle according to claim 10, characterized in that: A guide wheel (152) is also provided at the end of the support arm (151), and the guide wheel (152) is used to guide the goods when the transport component (12) takes or places the goods.

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