Conveying device capable of automatically loading and unloading goods and crossing obstacles

Abstract

The invention discloses a conveying device capable of automatically loading and unloading goods and crossing obstacles. The device comprises a bearing mechanism, a loading and unloading mechanism, a supporting mechanism and a control mechanism. One end of the loading and unloading mechanism is fixed to the bottom and the side wall of the bearing mechanism. One end of the supporting mechanism is fixed to the four corners of the bearing mechanism. According to the technical scheme, loading and unloading of goods are completed through the automatic loading and unloading mechanism without manual operation or assistance, meanwhile, the supporting mechanism stretches out and draws back to be matched with the moving mechanism to climb over obstacles, the goods conveying efficiency is improved, and meanwhile the passing capacity in different environments is enhanced.

Description

Technical Field

[0001] The invention relates to the technical field of cargo transportation equipment, and in particular to a transportation device capable of autonomously loading and unloading cargo and climbing over obstacles. Background Art

[0002] With the continuous development of science and technology, robotics technology is becoming more and more perfect. Its high degree of automation and intelligence has brought about significantly improved production capacity and significantly improved quality, which has become more and more prominent. At the same time, various types of robots have been widely used in various industries in society, replacing manual labor to complete various tasks with high repetitiveness, fast physical exertion and strict quality requirements.

[0003] With the continuous increase in labor costs and the need for higher quality requirements, people are increasingly demanding the use of mechanical operations to replace manual operations. In addition, manual operations cannot be performed continuously for a long time, and the number of working-age workers has been decreasing year by year in recent years, resulting in a high-age workforce and frequent safety accidents, labor shortages, and high labor costs for enterprises.

[0004] The new generation of workers are no longer willing to do hard and tiring work like their parents. They prefer to use machines instead of manpower to complete their work in a labor-saving and efficient way. Summary of the invention

[0005] In view of the above problems, the present invention provides a transport device that can autonomously load and unload goods and climb over obstacles, so as to solve the problems existing in the background technology.

[0006] The objective of the present invention is achieved through the following technical solutions:

[0007] A transport device capable of autonomously loading and unloading goods and climbing over obstacles comprises: a bearing mechanism, a loading and unloading mechanism, a supporting mechanism, and a control mechanism; one end of the loading and unloading mechanism is mounted on the bottom and side wall of the bearing mechanism; one end of the supporting mechanism is mounted on the four corners of the bearing mechanism.

[0008] The bearing mechanism includes a load-bearing plate, a storage cavity and a moving mechanism; the storage cavity is fixed at the bottom of the load-bearing plate, and a detachable charging power supply and a controller of a control mechanism are arranged in the storage cavity; the moving mechanism includes a wheel, a wheel frame, a lifting mechanism and a steering mechanism; the wheel is rotatably connected to one end of the wheel frame; the other end of the wheel frame is rotatably connected to the steering mechanism; the steering mechanism is fixedly connected to one end of the lifting mechanism; the other end of the lifting mechanism is fixed to the bottom of the load-bearing plate; the wheel moves up and down through the lifting mechanism.

[0009] The loading and unloading mechanism includes a rigid self-locking chain, a chain motor, a gear, a suction cup and a ball mounted on a load-bearing plate; the chain motor is mounted on the side wall of the load-bearing plate; the gear is mounted on the power output end of the chain motor; the suction cup is mounted on one end of the rigid self-locking chain; the chain motor drives the rigid self-locking chain to extend and retract through the gear, thereby dragging the goods onto the device or pushing the goods on the device out of the device.

[0010] The support mechanism includes a horizontal telescopic mechanism, a vertical telescopic mechanism, and a support plate; the fixed end of the horizontal telescopic mechanism is installed in the storage cavity and fixedly connected to the load-bearing plate; one end of the telescopic end of the horizontal telescopic mechanism is fixedly connected to one end of the fixed end of the vertical telescopic mechanism; the telescopic end of the vertical telescopic mechanism is fixedly connected to the support plate.

[0011] The control mechanism includes a controller, a laser radar, a camera, and a rotating telescopic rod; the controller includes a CPU including a multi-task learning neural network, a mobile control unit, a loading and unloading control unit, an obstacle climbing control unit, and a sensor unit; the laser radar is installed at one end of the rotating telescopic rod; the other end of the rotating telescopic rod is installed at the top of the chain motor behind the storage cavity; the camera is installed at one end of the rotating telescopic rod; the other end of the rotating telescopic rod is installed at the four walls of the storage cavity; the laser radar can also be replaced by ultrasonic radar, millimeter wave radar or other types of positioning, ranging and imaging technologies according to the needs of the application scenario.

[0012] The middle part of the load-bearing plate of the bearing mechanism where the ball bearings are arranged is eliminated, and the bearing mechanism is divided into two independent parts on the left and right sides; the bearing mechanisms on the left and right sides are fixedly connected to one end of the width adjustment mechanism arranged at the rear end of the bearing mechanism; locking mechanisms are arranged at the upper and lower ends of the front end of the bearing mechanism; and auxiliary mechanisms for assisting loading and unloading are also arranged on the bearing mechanisms on the left and right sides.

[0013] The loading and unloading mechanism is a clamping mechanism with adjustable distance; the clamping mechanism is slidably connected to the carrying mechanism through a linear guide assembly; the linear guide assembly includes a guide rail, a slider, a guide motor, a gear, and a rack; the clamping mechanism includes a clamping plate and a reinforcement plate, and a load-bearing plate for carrying goods is provided at the bottom of the clamping mechanism; the clamping mechanism is also provided with an auxiliary mechanism for assisting loading and unloading; the horizontal telescopic mechanism of the support mechanism close to the loading and unloading mechanism side is replaced with a linear guide assembly, and is movably installed on the mobile mechanism close to the clamping mechanism side; the vertical telescopic mechanism of the support mechanism close to the loading and unloading mechanism side is installed between the two rear mobile mechanisms.

[0014] The suction cup of the loading and unloading mechanism is replaced with a series of scissor-type jacks; the scissor-type jacks are connected to each other through telescopic rods; the scissor-type jacks include a scissor-type support frame, a support frame connecting rod, a ball, a support limit plate, a support frame motor, and a support frame motor bearing kit; the support frame connecting rod is fixed at the upper and lower ends of the scissor-type support frame; the ball is rotatably connected to the lower end of the scissor-type support frame through the support frame connecting rod; the support limit plate is rotatably connected to the upper end of the scissor-type support frame through the support frame connecting rod; a support frame motor bearing kit is provided on the power output end of the support frame motor; the support frame motor bearing kit is rotatably connected to the telescopic rod; the support frame motor is also rotatably connected to the intersection of the scissor-type support frame; support frame motor; the chain motor of the loading and unloading mechanism is installed on the slider of the linear guide assembly; the guide rail of the linear guide assembly is installed at the bottom of the load-bearing plate; the ball is cancelled at the bottom of the load-bearing plate.

[0015] The loading and unloading mechanism is a robotic arm equipped with a suction cup, a clamp or a bracket; the base of the robotic arm is fixedly connected to the slider of the linear guide assembly; the guide rail of the linear guide assembly is installed on the top of the storage cavity and fixedly connected to the load-bearing plate; the linear guide assembly also includes a guide rail steering mechanism; the guide rail steering mechanism is installed at the two rear corners of the top of the storage cavity and fixedly connected to the load-bearing plate; the laser radar is installed on the base of the robotic arm; the ball bearing is eliminated at the bottom of the load-bearing plate; the supporting mechanism is a repeatedly arranged moving mechanism.

[0016] The vertical telescopic mechanism of the support mechanism is installed at the four corners of the storage cavity, close to the position of the moving mechanism; the vertical telescopic mechanism is also fixedly connected to the load-bearing plate; the horizontal telescopic mechanism of the support mechanism is replaced with a linear guide assembly; the slider of the linear guide assembly is fixedly connected to the top end of the lifting mechanism of the moving mechanism; the guide rail of the linear guide assembly is installed in the storage cavity and fixedly connected to the load-bearing plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the structure of the present invention.

[0019] Figure 2 A schematic top view of the structure of the present invention

[0020] Figure 3 It is a schematic side view of the structure of the present invention

[0021] Figure 4 The process of climbing over obstacles of the present invention is shown in FIG. Figure 1

[0022] Figure 5 The process of climbing over obstacles of the present invention is shown in FIG. Figure 2

[0023] Figure 6 The process of climbing over obstacles of the present invention is shown in FIG. Figure 3

[0024] Figure 7 The process of climbing over obstacles of the present invention is shown in FIG. Figure 4

[0025] Figure 8 The process of climbing over obstacles of the present invention is shown in FIG. Figure 5

[0026] Fig. 9 A schematic front view of the structure of the first embodiment of the present invention

[0027] Fig.10 A schematic top view of the structure of the first embodiment of the present invention

[0028] Fig.11 A schematic side view of the structure of the first embodiment of the present invention

[0029] Fig.12 A schematic top view of the structure of the second embodiment of the present invention

[0030] Fig.13 A schematic side view of the structure of the second embodiment of the present invention

[0031] Fig.14 A schematic top view of the structure of the third embodiment of the present invention

[0032] Fig.15 A schematic side view of the structure of the third embodiment of the present invention

[0033] Fig.16 A schematic top view of the structure of the fourth embodiment of the present invention

[0034] Fig.17 A schematic side view of the structure of the fourth embodiment of the present invention

[0035] Fig.18 A schematic front view of the structure of the fifth embodiment of the present invention

[0036] Fig.19 A schematic top view of the structure of the fifth embodiment of the present invention

[0037] Fig. 20 A schematic side view of the structure of the fifth embodiment of the present invention

[0038] In the figure: 1. bearing mechanism; 10. load-bearing plate; 11. storage cavity; 12. moving mechanism; 120. wheel; 121. wheel frame; 122. lifting mechanism; 123. steering mechanism; 13. width adjustment mechanism; 14. locking mechanism; 15. linear guide assembly; 150. guide rail; 151. slider; 152. guide rail motor; 153. rack; 154. guide rail steering mechanism; 2. loading and unloading mechanism; 20. rigid self-locking chain; 21. chain motor; 22. gear; 23. suction cup; 24. ball; 25. auxiliary mechanism; 26. clamp mechanism; 260. clamp plate; 261. reinforcement plate; 27. shear jack; 270, scissor-type support frame; 271, support frame connecting rod; 272, support limit plate; 273, support frame motor; 274, support frame motor bearing kit; 28, telescopic rod; 29, robotic arm; 290, base; 291, first steering joint; 292, second steering joint; 293, third steering joint; 294, Nth steering joint; 295, execution end; 296 execution end motor; 3, support mechanism; 30, horizontal telescopic mechanism; 31, vertical telescopic mechanism; 32, support plate; 4, control mechanism; 40, controller; 41, laser radar; 42, camera; 43, rotating telescopic rod. DETAILED DESCRIPTION

[0039] The following is a clear and complete description of a transport device that can autonomously load and unload goods and climb over obstacles provided by the present invention in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. For some well-known technologies, those skilled in the art may also adopt other alternative methods for implementation, and it is not intended to specifically limit the present invention. When describing specific features, structures or characteristics in conjunction with embodiments, it should be within the scope of protection of the present invention to realize such features, structures or characteristics in conjunction with other embodiments (whether or not explicitly described). Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of the present invention, and the terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

[0040] Unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium or the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] If there is a description of the direction (up, down, left, right, front, back, bottom, top) or other indications of the position or location relationship, it is based on the attached Figure 1 and attached Figure 3 The orientation or positional relationship shown is only for the convenience of describing the technical solution of the present invention, and does not indicate or imply that the technical features referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation of the present invention.

[0042] The terms "first", "second", "third" and similar terms used in the description of this application are used only for descriptive purposes to distinguish different components, and should not be understood as indicating or implying relative importance. The terms "one", "an" or "the" and similar terms used in the description of this application should not be understood as an absolute limitation on quantity, but should be understood as the existence of at least one. The terms "including" or "comprising" and similar terms used in the description of this application mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0043] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be another intermediate component through which it is fixed. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be another intermediate component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be another intermediate component at the same time.

[0044] See also Figures 1 to 20 , an embodiment of the present invention provides a transport device that can autonomously load and unload goods and climb over obstacles.

[0045] like Figure 1 to Figure 3 As shown, a transport device capable of autonomously loading and unloading goods and climbing over obstacles comprises: a carrying mechanism 1, a loading and unloading mechanism 2, a supporting mechanism 3, and a control mechanism 4; one end of the loading and unloading mechanism 2 is mounted on the bottom and side wall of the carrying mechanism 1. One end of the supporting mechanism 3 is mounted on the four corners of the carrying mechanism.

[0046] The bearing mechanism 1 includes a load-bearing plate 10, a storage cavity 11 and a moving mechanism 12. The storage cavity 11 is fixed at the bottom of the load-bearing plate 10, and a detachable charging power source and a controller 40 of the control mechanism 4 are arranged in the storage cavity 11. The moving mechanism 12 includes a wheel 120, a wheel frame 121, a lifting mechanism 122, and a steering mechanism 123. The wheel 120 is rotatably connected to one end of the wheel frame 121, and the other end of the wheel frame 121 is rotatably connected to the steering mechanism 123. The steering mechanism 123 is fixedly connected to one end of the lifting mechanism 122, and the other end of the lifting mechanism 122 is fixed at the bottom of the load-bearing plate 10. The wheel 120 moves up and down through the lifting mechanism (122).

[0047] The load-bearing plate 10 of the bearing mechanism 1 is a box body with an opening on one side and no top, and the top edge is turned outward; a plurality of balls 24 are rotatably mounted on the part of the load-bearing plate 10 that bears the goods. A detachable rechargeable power source is arranged in the storage cavity 11 at the bottom between the front and rear wheels on the left and right sides of the load-bearing plate 10. A controller 40 of the control mechanism 4 is arranged in the storage cavity 11 between the left and right wheels behind the load-bearing plate 10.

[0048] It should be noted that the wheel 120 may be an electric self-driving wheel with independent steering, or a combined steering drive wheel with a differential. The lifting mechanism 122 may be one or more of an electric hydraulic jack, an electric mechanical jack, or other mechanisms with lifting functions, and a combination thereof. By controlling and adjusting the lifting mechanism 122 on a single wheel 120, the device and the cargo can be kept balanced when the device is traveling on an uneven road.

[0049] The loading and unloading mechanism 2 includes a rigid self-locking chain 20, a chain motor 21, a gear 22, a suction cup 23, and a ball 24 mounted on the load-bearing plate. The chain motor 21 is mounted on the side wall of the load-bearing plate 10, the gear 22 is mounted on the power output end of the chain motor 21, and the suction cup 23 is mounted on one end of the rigid self-locking chain 20. The chain motor 21 drives the rigid self-locking chain 20 to extend and retract through the gear 22, thereby dragging the goods onto the device or pushing the goods on the device out of the device.

[0050] It should be noted that a plurality of balls 24 are also rotatably mounted at the bottom of the lower suction cup 23, and whether a suction cup stabilizing mechanism is required for the upper suction cup 23 is determined according to the requirements of the application scenario and the length of the rigid self-locking chain 20. The two ends of the suction cup stabilizing mechanism are slidably connected to the cavities on the left and right sides, and the middle is fixedly connected to the suction cup. The suction cup 23 is any one of an electric vacuum suction cup, an electromagnetic suction cup, or other devices with suction.

[0051] The rigid self-locking chain 20 is divided into two groups, one above and one below, each driven by a chain motor 21. The control mechanism 4 drives the rigid self-locking chain 20 to extend and retract by controlling the chain motor 21, so that the goods move back and forth horizontally on the load-bearing plate. The device uses the rigid self-locking chain 20 in the prior art to achieve the "push and pull" action of the goods, thereby achieving the loading and unloading function of the goods on the device; the loading and unloading mechanism 2 is folded to the back of the device when not working.

[0052] It should be noted that the rigid self-locking chain 20 and the chain motor 21 can also be replaced by a screw motor and a screw sleeve. The screw motor is embedded and installed on the side walls of the left and right load-bearing plates, and a connecting piece is installed on the screw sleeve. The connecting pieces on the left and right sides are fixedly connected by a connecting rod, and a suction cup 23 is installed on the connecting rod. The screw motor drives the screw sleeve to rotate so that the suction cup 23 on the connecting rod can reciprocate on the load-bearing plate. When the suction cup 23 is an electric suction cup, the suction cup 23 will be charged once every time it works and resets, so as to ensure that the suction cup 23 has sufficient power when working.

[0053] The support mechanism 3 includes a horizontal telescopic mechanism 30, a vertical telescopic mechanism 31, and a support plate 32; the fixed end of the horizontal telescopic mechanism 30 is installed in the storage cavity 11 and fixedly connected to the load-bearing plate 10; one end of the telescopic end of the horizontal telescopic mechanism 30 is fixedly connected to one end of the fixed end of the vertical telescopic mechanism 31; the telescopic end of the vertical telescopic mechanism 31 is fixedly connected to the support plate.

[0054] The horizontal telescopic mechanism 30 and the vertical telescopic mechanism 31 are one or more of an electric hydraulic jack, an electric mechanical jack or other components with such functions and their combination. The support mechanism 3 is similar to the shifting legs of a crane, which is an existing mature technology and will not be described here.

[0055] The control mechanism 4 includes a controller 40, a laser radar 41, a camera 42, and a rotating telescopic rod 43; the controller 40 includes a CPU including a multi-task learning neural network, a mobile control unit, a loading and unloading control unit, an obstacle climbing control unit, and a sensor unit; the laser radar 41 is installed at one end of the rotating telescopic rod 43; the other end of the rotating telescopic rod 43 is installed on the top of the chain motor 21 behind the storage cavity 11; the camera 42 is installed at one end of the rotating telescopic rod 43; the other end of the rotating telescopic rod 43 is installed on the four walls of the storage cavity 11; the laser radar 41 can also be replaced by ultrasonic radar, millimeter wave radar or other types of positioning, ranging and imaging technologies according to the needs of the application scenario.

[0056] The CPU including the multi-task learning neural network obtains the real-time data of the surrounding environment of the device through various sensors, laser radar 41 and camera 42, and annotates and processes the data in an online or offline manner, so as to achieve a complete and continuous description of the three-dimensional information of the surrounding environment of the device, and at the same time predicts and calibrates the movement status of all moving bodies (people, animals, objects), and generates loading and unloading operation instructions according to loading and unloading tasks, and issues collaborative loading and unloading operation instructions to each control unit according to certain rules, and the control unit controls their respective operating mechanisms to complete the batch operation instructions. Multi-task learning neural networks are prior art, and this patent does not involve software copyright, so other information will not be repeated here.

[0057] It should be noted that the laser radar 41 and camera 42 in the accompanying drawings are fixed positions and quantities in a certain scene application. The positions and quantities of the laser radar 41 and camera 42 in the actual operation process depend on the actual operation requirements; at the same time, the actual operation requirements also determine the installation method of the laser radar 41 and camera 42 and whether other types of positioning, ranging and imaging equipment are needed; the laser radar 41 and camera 42 are existing mature technologies and will not be elaborated here.

[0058] The sensor unit includes a gravity sensor for monitoring the load of the device, a pressure sensor, and an angular velocity sensor for monitoring the movement of the device and the posture control of the loading and unloading mechanism. The gravity sensor is installed on the wheel frame 121 to monitor the cargo loading status in real time. At the same time, by comparing and analyzing the data of gravity sensors in different positions, the position of the cargo is adjusted during loading and unloading to achieve the stability of the current cargo. It can also prevent the center of gravity from shifting due to the placement of the cargo not being in the center of the force of the load-bearing plate 10, thereby preventing the risk of the cargo tipping over and the device being damaged. The pressure sensor is installed on the suction cup 23 to detect the weight of the cargo during loading and unloading.

[0059] The process of loading, unloading and transporting goods of this device is as follows:

[0060] like Figure 4 As shown, when the device of this embodiment receives the loading and unloading and transportation instructions and completes the instruction analysis and task confirmation, the device of this embodiment automatically moves to the cargo accumulation location. The control mechanism 4 automatically adjusts the posture of the device of this embodiment according to the environmental conditions and loading and unloading rules, and controls the lifting mechanism 122 to make the bottom of the load-bearing plate 10 reach the ground or the position closest to the ground. The loading and unloading mechanism 2 is controlled to drive the rigid self-locking chain 20 to extend so that the suction cup 23 abuts against the cargo.

[0061] like Figure 5As shown, the suction cup 23 is controlled to firmly hold the goods. The loading and unloading mechanism 2 is controlled to retract the rigid self-locking chain 20 so that the suction cup 23 drags the goods to the load-bearing plate 10 of the device. The lifting mechanism 122 is controlled to raise the load-bearing plate 10 to a certain safe height. The moving mechanism is controlled to go to the unloading destination.

[0062] like Figure 6 As shown, when the device senses that there is an obstacle on the road ahead, it determines whether to go around the obstacle or climb over the obstacle according to certain rules. When it is decided to climb over the obstacle, the control mechanism controls the device to move forward to the safe position closest to the obstacle and stop. The front and rear lifting mechanisms 122 are controlled to rise so that the bottom of the load-bearing plate 10 is higher than the obstacle. The telescopic end of the horizontal telescopic mechanism 30 of the front support mechanism 3 is controlled to extend so that the vertical telescopic mechanism 31 crosses the obstacle and reaches a certain safe position. The telescopic end of the vertical telescopic mechanism 31 is controlled to extend so that the support plate 32 abuts the ground so that the support mechanism 3 replaces the front moving mechanism 12. The lifting mechanism 122 of the front moving mechanism 12 is controlled to be retracted to a height at which the front moving mechanism 12 can cross the obstacle. The telescopic end of the horizontal telescopic mechanism 30 is controlled to be retracted and the rear moving mechanism 12 is controlled to move the device forward.

[0063] like Figure 7 As shown, when the front moving mechanism 12 passes a certain safe position over the obstacle, the front lifting mechanism 122 is controlled to make the front moving mechanism 12 contact the ground again to replace the support mechanism 3. The support mechanism 3 is controlled to retract the vertical telescopic mechanism 31 and then retract the horizontal telescopic mechanism 30 to the initial state. The front and rear moving mechanisms 12 are controlled to continue to move forward.

[0064] like Figure 8 As shown, when the rear mobile mechanism 12 reaches the safe position closest to the obstacle, it stops. Control the telescopic end of the vertical telescopic mechanism 31 of the rear support mechanism 3 to extend, so that the support plate 32 abuts the ground so that the support mechanism 3 replaces the rear mobile mechanism 12. Control the lifting mechanism 122 of the rear mobile mechanism 12 to be retracted to a height at which the rear mobile mechanism 12 can cross the obstacle. Control the telescopic end of the rear horizontal telescopic mechanism 30 to extend while controlling the front mobile mechanism 12 to move the device forward. When the rear mobile mechanism 12 crosses a certain safe position of the obstacle, control the lifting mechanism 122 at the rear to make the rear mobile mechanism 12 abut the ground again to replace the rear support mechanism 3. Control the rear support mechanism 3 to retract the vertical telescopic mechanism 31 and then retract the horizontal telescopic mechanism 30 to the initial state. Control the front and rear mobile mechanisms 12 to continue moving forward.

[0065] When the device reaches the unloading destination, the control mechanism 4 automatically adjusts the posture of the device according to the environmental conditions and loading and unloading rules, and controls the lifting mechanism 122 to make the bottom of the load-bearing plate 10 reach the ground or the position closest to the ground. The loading and unloading mechanism 2 is controlled to drive the rigid self-locking chain 20 to extend so that the suction cup 23 pushes the goods to the designated position. At this point, the entire loading and unloading process is completed.

[0066] It should be noted that this loading, unloading and transporting process only shows the loading, unloading and transporting process applicable to some scenarios of the present invention. Due to different application scenarios and different loading and unloading goods, the operating steps or operating methods of the loading, unloading and transporting process may change in actual application. The present invention is further explained below in combination with different usage scenarios: Embodiment 1

[0067] like Figures 9 to 11 As shown, the middle part of the bearing plate 10 of the bearing mechanism 1 where the ball bearing is arranged is removed, and the bearing mechanism 1 is separated into two independent parts on the left and right sides; the bearing mechanisms 1 on the left and right sides are fixedly connected to one end of the width adjustment mechanism 13 arranged at the rear end of the bearing mechanism 1; the front end of the bearing mechanism 1 is provided with a locking mechanism 14 at the top and bottom; the bearing mechanisms 1 on the left and right sides are also provided with an auxiliary installation mechanism 25 for assisting loading and unloading. The locking mechanism 14 and the auxiliary installation mechanism 25 include a rigid self-locking chain 20, a chain motor 21, a gear 22, and a suction cup 23.

[0068] In this embodiment, the width adjustment mechanism 13 and the auxiliary mechanism 25 are used in conjunction with the independent supporting mechanisms 1 on the left and right sides to realize the loading and unloading of goods, thereby replacing the chain motor 21 to drive the rigid self-locking chain 20 to load and unload goods. At the same time, the risk of goods of different sizes and widths being loaded on the device and possibly shaking during transportation is reduced, and some goods with legs can also be loaded and unloaded.

[0069] The process of loading and unloading cargo by the device of this embodiment is as follows:

[0070] When the device of this embodiment receives the loading and unloading and transportation instructions and completes the instruction analysis and task confirmation, the device of this embodiment automatically moves to the cargo accumulation place. The control mechanism 4 automatically adjusts the loading posture of the device of this embodiment according to the environmental state and loading and unloading rules, and controls the width adjustment mechanism 13 to make the distance between the left and right load-bearing plates 10 greater than the width of the cargo. The lifting mechanism 122 is controlled to descend so that the bottom of the load-bearing plate 10 on one side reaches the position closest to the cargo on the ground, and the load-bearing plate 10 on the other side abuts the cargo. The auxiliary installation mechanism 25 on one side of the load-bearing plate 10 that controls the bottom of the load-bearing plate 10 to reach the ground is slightly extended so that the bottom of the cargo is at a certain height from the ground, so that the load-bearing plate 10 on this side can extend into the bottom of the cargo and reach the safe distance closest to the load-bearing mechanism 1 from the cargo, and the auxiliary installation mechanism 25 on this side is retracted so that the cargo slowly falls on the load-bearing plate 10 on this side. The load-bearing plate 10 on the side abutting the cargo is controlled to reach the ground, and the auxiliary installation mechanism 25 on this side is controlled to cooperate with the load-bearing plate 10 to complete the loading of the cargo on this side.

[0071] The manner and process of transporting goods and climbing over obstacles of the device of this embodiment are consistent with those of the prototype device.

[0072] When the device reaches the unloading destination, the control mechanism 4 automatically adjusts the posture of the device of this embodiment according to the environmental conditions and loading and unloading rules, and controls the moving mechanism 12 to make the load-bearing plate 10 reach the ground. The auxiliary loading mechanism 25 on one side is controlled to extend slightly so that the bottom of the goods is at a certain height from the load-bearing plate 10. The load-bearing plate 10 on this side is controlled to withdraw from the bottom of the goods, and the auxiliary loading mechanism 25 on this side is retracted. The auxiliary loading mechanism 25 on the other side is controlled to cooperate with the load-bearing plate 10 to complete the unloading of the goods on the other side. At this point, the entire loading and unloading process is completed.

[0073] It should be noted that in the process of loading and unloading goods, the bearing plate 10 abutting against the goods and the auxiliary loading mechanism 25 pushing the goods do not change the physical state and performance of the goods, ensuring the safety of the goods. Even if some containers containing liquids are loaded and slightly pushed, the liquid will not overflow or other risks will occur. In order to ensure the safety of the goods, when the goods are loaded, the rigid self-locking chains 20 on both sides of the locking mechanism 14 are controlled to extend at the same time, and when the suction cups 23 on the left and right sides overlap, they are locked to each other. In order to make the transportation of goods safer, the suction cups 23 of the locking mechanism 14 of this embodiment are power-off electromagnets. Embodiment 2

[0074] like Figure 12 to Figure 13As shown, the loading and unloading mechanism 2 is a clamp mechanism 26 with adjustable distance, and the clamp mechanism 26 is slidably connected to the bearing mechanism 1 through a linear guide assembly 15. The linear guide assembly 15 includes a guide rail 150, a slider 151, a guide motor 152, a gear 22, and a rack 153. The clamp mechanism 26 includes a clamp plate 260 and a reinforcement plate 261. The bottom of the clamp mechanism 26 is provided with a load-bearing plate 10 for carrying goods, and the clamp mechanism 26 is also provided with an auxiliary installation mechanism 25 for auxiliary loading and unloading. The horizontal telescopic mechanism 30 of the support mechanism 3 near the side of the clamp mechanism 26 of the support mechanism 3 is replaced with a linear guide assembly 15, and is movably installed on the moving mechanism 12 near the side of the clamp mechanism 26. The vertical telescopic mechanism 31 of the support mechanism 3 near the side of the clamp mechanism 26 is installed at a position between the two rear moving mechanisms 12.

[0075] In this embodiment, a clamp mechanism 26 with an adjustable distance is arranged on one side of the carrying mechanism so that the device of this embodiment can load wider cargo and heavier cargo. The storage cavity is also enlarged to store more power sources, so that the device has a longer battery life and operation time.

[0076] One end of the clamping plate 260 is fixedly connected to the slider 151 of the linear guide assembly 15, and is also fixedly connected to one end of the reinforcement plate 26. The other end of the reinforcement plate 26 is fixedly connected to the slider 151 of the linear guide assembly 15. A guide motor 152 is also installed at the position where the reinforcement plate 26 is installed. The guide motor 152 is also fixedly connected to the clamping plate 260 and the slider 151 of the linear guide assembly 15. A gear 22 is installed at the power output end of the guide motor 152, and the gear 22 is meshed and connected with the rack 153 on the mounting guide rail 150. The guide motor 152 drives the gear 22 to reciprocate on the rack 153, thereby driving the clamping plate 260 to adjust the width of the loaded cargo. A camera 42 is installed at the other end of the clamping plate 260, and an auxiliary installation mechanism 25 is also installed on the clamping plate 260.

[0077] The linear guide assembly 15 on the moving mechanism 12 and the linear guide assembly 15 connecting the clamp mechanism 26 and the bearing mechanism 1 are components of the same structure but different sizes. The slider 151 of the linear guide assembly 15 on the moving mechanism 12 is fixedly connected to the top of the lifting mechanism 122 on the moving mechanism 12, and the guide rails 150 of the linear guide assembly 15 are arranged in parallel and are installed in the storage cavity 11 and fixedly connected to the load-bearing plate 10. The guide motor 152 of the linear guide assembly 15 is installed between the parallel guide rails and is fixedly connected to the slider 151. The power output end of the guide motor 152 is installed with a gear 22, and the gear 22 is meshed and connected with the rack 153 on the mounting guide rail 150. The guide motor 152 drives the gear 22 to reciprocate on the rack 153, thereby driving the following moving mechanism to move forward and backward. It should be noted that the shape of the clamping plate 260 of the clamping mechanism 26 can be a flat plate, an arc-shaped plate, or a claw. In order to improve the safety of the device of this embodiment, a load-bearing plate 10 is added to the bottom of the clamping plate 260 to ensure the safety of the goods under extreme conditions, such as the possible fall of the goods due to the failure of the power device of the clamping mechanism 26 during transportation.

[0078] The process of loading and unloading cargo by the device of this embodiment is as follows:

[0079] When the device of this embodiment receives the loading and unloading and transportation instructions and completes the instruction parsing and task confirmation, the device of this embodiment automatically moves to the cargo pile. The control mechanism 4 automatically adjusts the loading posture of the device of this embodiment according to the environmental conditions and loading and unloading rules, and controls the clamp mechanism 26 to make the distance between the left and right clamps 260 greater than the width of the cargo. The lifting mechanism 122 is controlled to descend so that the bottom of the load-bearing plate 10 reaches the ground. The auxiliary mechanism 25 on one side is controlled to extend slightly so that the bottom of the cargo is at a certain height from the ground, so that the load-bearing plate 10 on this side can extend into the bottom of the cargo and reach the safe distance closest to the load-bearing mechanism 1 from the cargo. The auxiliary mechanism 25 on this side is retracted to allow the cargo to slowly descend on the load-bearing plate 10 on this side. The auxiliary mechanism 25 on the other side is controlled to cooperate with the load-bearing plate 10 to complete the loading of the cargo on this side.

[0080] The method and process of transporting goods by the device of this embodiment are consistent with those of the prototype device.

[0081] When it is confirmed that an obstacle needs to be climbed over, the method and process of the front wheel climbing over the obstacle are consistent with the prototype device, and when the rear wheel reaches the safe position closest to the obstacle. Control the telescopic end of the vertical telescopic mechanism 31 of the rear support mechanism 3 to extend until the support plate 32 abuts the ground, so that the vertical telescopic mechanism 31 replaces the rear mobile mechanism 12. Control the lifting mechanism 122 of the rear mobile mechanism 12 to be retracted to a height at which the rear mobile mechanism 12 can cross the obstacle. Control the rear linear guide assembly 15 to make the rear mobile mechanism 12 cross the obstacle to a certain safe position. Control the lifting mechanism 122 at the rear to make the rear mobile mechanism 12 abut the ground again to replace the rear vertical telescopic mechanism 31. Retract the vertical telescopic mechanism 31 to the initial state. Control the front and rear mobile mechanisms 12 to continue to move forward.

[0082] When the device reaches the unloading destination, the control mechanism 4 automatically adjusts the posture of the device according to the environmental conditions and loading and unloading rules, and controls the auxiliary loading mechanism 25 on one side to extend slightly so that the bottom of the goods is at a certain height from the load-bearing plate 10. The load-bearing plate 10 on this side is controlled to withdraw from the bottom of the goods, and the auxiliary loading mechanism 25 on this side is retracted. The auxiliary loading mechanism 25 on the other side is controlled to cooperate with the load-bearing plate 10 to complete the unloading of the goods on the other side. At this point, the entire loading and unloading process is completed. Embodiment 3

[0083] The suction cup 23 of the loading and unloading mechanism 2 is replaced with a scissor jack 27 in series, and the scissor jack 27 is connected to each other through a telescopic rod 28. The scissor jack 27 includes a scissor support frame 270, a support frame connecting rod 271, a ball 24, a support limit plate 272, a support frame motor 273, and a support frame motor bearing kit 274. The support frame connecting rod 271 is fixed to the upper and lower ends of the scissor support frame 270, the ball 24 is rotatably connected to the lower end of the scissor support frame 270 through the support frame connecting rod 271, the support limit plate 272 is rotatably connected to the upper end of the scissor support frame 270 through the support frame connecting rod 271, and a support frame motor bearing kit 274 is provided on the power output end of the support frame motor 273, the support frame motor bearing kit 274 is rotatably connected to the telescopic rod 28 and fixedly connected to one end of the rigid self-locking chain 20, and the support frame motor 273 is also rotatably connected to the intersection of the scissor support frame 270. The chain motor 21 of the loading and unloading mechanism 2 is mounted on the slider 151 of the linear guide assembly 15, and the guide rail 150 of the linear guide assembly 15 is mounted on the bottom behind the bearing plate 10. The bottom of the bearing plate 10 eliminates the ball bearing 24.

[0084] The device of this embodiment can extend the scissor jack 27 to the bottom of the cargo with legs, so that the device of this embodiment can load and unload cargo with legs. The structure of the scissor support frame 270 allows the device of this embodiment to carry heavier cargo. In this embodiment, the loading and unloading mechanism 2 originally installed on the top is moved to the bottom, and installed together with the loading and unloading mechanism 2 below on the slider 151 of the linear guide assembly 15, so that the device of this embodiment can load cargo of different widths. The distance between the front and rear scissor jacks 27 is adjusted by the telescopic rod 28, so that the device of this embodiment can load and unload cargo of different lengths.

[0085] The process of loading and unloading cargo by the device of this embodiment is as follows:

[0086] When the device of this embodiment receives the loading and unloading and transportation instructions and completes the instruction analysis and task confirmation, the device of this embodiment automatically moves to the cargo accumulation place. The control mechanism 4 automatically adjusts the loading posture of the device of this embodiment according to the environmental state and loading and unloading rules, and controls the lifting mechanism 122 to make the bottom of the load-bearing plate 10 reach the ground or the position closest to the ground. The loading and unloading mechanism 2 is controlled to drive the rigid self-locking chain 20 to extend so that the scissor jack 27 reaches the bottom of the cargo with feet, and at the same time, the linear guide assembly 15 makes the distance between the farthest ends of the scissor jacks 27 on the left and right sides just equal to or slightly greater than the width of the cargo, and controls the telescopic rod 28 so that the distance between the farthest ends of the support limit plates 272 of the front and rear scissor jacks 27 is just greater than the length of the cargo. The support frame motor 273 is controlled to make the support limit plate 272 abut the bottom of the cargo, and at the same time, the front and rear ends of the cargo are just within the limit of the support limit plate 272. The rigid self-locking chain 20 is controlled to be retracted to pull the cargo onto the device.

[0087] The manner and process of transporting goods and climbing over obstacles of the device of this embodiment are consistent with those of the prototype device.

[0088] When the device reaches the unloading destination, the control mechanism 4 automatically adjusts the posture of the device of this embodiment according to the environmental conditions and loading and unloading rules, and controls the moving mechanism 12 to make the load-bearing plate 10 reach the ground. The loading and unloading mechanism 2 is controlled to drive the rigid self-locking chain 20 to extend so that the goods on the scissor jack 27 can exit the device and reach the specified position. The support frame motor 273 is controlled to retract the support limit plate 272 to the initial state. The telescopic rod 28 is controlled to retract the front and rear scissor jacks 27 to the initial state, and the rigid self-locking chain 20 is controlled to retract to the initial state. At this point, the entire loading and unloading process is completed. Embodiment 4

[0089] The loading and unloading mechanism 2 is a mechanical arm 29 equipped with a suction cup, a clamp or a bracket. The base of the mechanical arm 29 is fixedly connected to the slider 151 of the linear guide assembly 15, and the guide rail 150 of the linear guide assembly 15 is installed on the top of the storage cavity 11 and fixedly connected to the load-bearing plate 10. The linear guide assembly 15 also includes a guide rail steering mechanism 154, which is installed at the two rear corners of the top of the storage cavity 11 and fixedly connected to the load-bearing plate 10. The laser radar 41 is installed on the base of the mechanical arm 29. The ball bearing 24 is eliminated at the bottom of the load-bearing plate 10. The support mechanism 3 is a repeatedly arranged moving mechanism 12.

[0090] The mechanical arm 29 includes a base 290, a first steering joint 291, a second steering joint 292, a third steering joint 293, an Nth steering joint 294, a telescopic rod 28, an execution end 295, and an execution end motor 296. The mechanical arm 29 can use other types of mechanical arms or linear modules to complete the loading and unloading operations according to different application scenarios and different loading and unloading cargoes.

[0091] The device of this embodiment is mainly used for loading and unloading a large number of small-volume goods. At the same time, the linear guide assembly 15 can be used to achieve multi-directional cargo loading and unloading without moving the device, so that the device of this embodiment can complete the task in some scenes where the space is small and it is not suitable to turn around or move. Replacing the support mechanism 3 with a repeatedly set moving mechanism 12 allows the device of this embodiment to cross wider and larger obstacles.

[0092] The process of loading and unloading cargo by the device of this embodiment is as follows:

[0093] When the device of this embodiment receives the loading and unloading and transportation instructions and completes the instruction analysis and task confirmation, the device of this embodiment automatically moves to the cargo accumulation location. The control mechanism 4 automatically adjusts the loading posture of the device of this embodiment according to the environmental state and the loading and unloading rules, and controls the mechanical arm 29 to move on the guide rail 150 of the linear guide assembly 15 according to certain rules, and loads the cargo according to certain rules until the cargo is loaded.

[0094] The manner and process of transporting goods by the device of this embodiment are consistent with those of the prototype device.

[0095] When it is confirmed that it is necessary to climb over an obstacle and reach a safe position where the front wheels are closest to the obstacle, the control mechanism 4 controls the lifting mechanism 122 on the front repeated moving mechanism 12 and the rear moving mechanism 12 to make the bottom of the load-bearing plate 10 higher than the obstacle. The front moving mechanism is controlled to be retracted to a height that can climb over the obstacle. The front repeated moving mechanism 12 and the rear moving mechanism 12 are controlled to move forward and stop when the front repeated moving mechanism 12 is at a safe position closest to the obstacle.

[0096] At this time, the front moving mechanism 12 has passed the obstacle, and the lifting mechanism 122 on the front moving mechanism 12 is controlled to make the front moving mechanism 12 contact the ground again. The front repeated moving mechanism 12 is controlled to be retracted to the initial state. The front moving mechanism 12 and the rear moving mechanism 12 are controlled to move forward and stop when the rear moving mechanism 12 is at a safe position closest to the obstacle.

[0097] At this time, the repeated mobile mechanism 12 at the rear has already passed the obstacle, and the lifting mechanism 122 on the repeated mobile mechanism 12 at the rear makes the repeated mobile mechanism 12 at the rear touch the ground. The mobile mechanism 12 at the rear is controlled to be retracted to a height that can pass over the obstacle. The front mobile mechanism 12 and the repeated mobile mechanism 12 at the rear are controlled to move forward, and stop when the mobile mechanism 12 at the rear passes the obstacle and reaches the nearest safe position. The lifting mechanism 122 on the mobile mechanism 12 at the rear makes the mobile mechanism 12 at the rear touch the ground again. The front and rear mobile mechanisms 12 are controlled to move forward.

[0098] When the device reaches the unloading destination, the control mechanism 4 automatically adjusts the posture of the device according to the environmental conditions and loading and unloading rules, and controls the mechanical arm 29 to move on the guide rail 150 of the linear guide assembly 15 according to certain rules, and unloads the goods according to certain rules until the unloading is completed. At this point, the entire loading and unloading process is completed. Embodiment 5

[0099] The vertical telescopic mechanism 31 of the support mechanism 3 is installed at the four corners of the storage cavity 11, close to the position of the moving mechanism 12; the vertical telescopic mechanism 31 is also fixedly connected to the load-bearing plate 10; the horizontal telescopic mechanism 30 of the support mechanism 3 is replaced with a linear guide assembly 15; the slider of the linear guide assembly 15 is fixedly connected to the top of the lifting mechanism 122 of the moving mechanism 12; the guide rail of the linear guide assembly 15 is installed in the storage cavity 11 and is fixedly connected to the load-bearing plate 10.

[0100] In this embodiment, the forward and backward movement function of the linear guide assembly 15 replaces the horizontal telescopic function of the horizontal telescopic mechanism 30 of the support mechanism 3, and cooperates with the vertical telescopic mechanism 31 to cooperate with the moving mechanism 12 to complete the operation of climbing over obstacles, so that the device of this embodiment has more ways and capabilities to climb over obstacles.

[0101] The method and process of loading and unloading and transporting goods in the device of this embodiment are consistent with those of the prototype device. The process of climbing over obstacles is somewhat different from that of the prototype device, as follows:

[0102] When it is confirmed that it is necessary to climb over the obstacle and reach the safe position where the front wheels are closest to the obstacle, the front and rear lifting mechanisms 122 are controlled to rise until the bottom of the load-bearing plate 10 is higher than the obstacle. The front guide motor 152 is controlled to drive the gear 22 to move backward on the rack 153, replacing the front moving mechanism 12, and together with the rear moving mechanism 12, the device of this embodiment moves forward until the gear 22 reaches the other end of the guide rail 150. At this time, the front vertical telescopic mechanism 31 has crossed the obstacle, and the telescopic end of the front vertical telescopic mechanism 31 is controlled to extend to the support plate 32 to abut the ground, so that the front vertical telescopic mechanism 31 replaces the front moving mechanism 12. The front lifting mechanism 122 is controlled to be retracted to the height at which the front moving mechanism 12 can cross the obstacle, and the linear guide assembly 15 is controlled to return the front moving mechanism 12 to the initial state.

[0103] At this time, the front moving mechanism 12 has already passed the obstacle, and the front lifting mechanism 122 is controlled to make the front moving mechanism 12 touch the ground. The front vertical telescopic mechanism 31 is retracted to the initial state. When the front and rear moving mechanisms 12 are controlled to continue to move forward to the safe position where the rear moving mechanism 12 is closest to the obstacle, the telescopic end of the rear vertical telescopic mechanism 31 is controlled to extend to the support plate 32 to touch the ground, so that the rear vertical telescopic mechanism 31 replaces the rear moving mechanism 12. The rear lifting mechanism 122 is controlled to be retracted to the height where the rear moving mechanism 12 can pass the obstacle, and the rear guide rail motor 152 is controlled to drive the gear 22 to move forward on the rack 153, driving the rear moving mechanism 12 until the gear 22 reaches the other end of the guide rail 150.

[0104] At this time, the rear mobile mechanism 12 has passed the obstacle. The rear lifting mechanism 122 is controlled to make the rear mobile mechanism 12 contact the ground again to replace the rear vertical telescopic mechanism 31. The front vertical telescopic mechanism 31 is retracted to the initial state. The front and rear mobile mechanisms are controlled to continue to move forward to the unloading destination. At this point, the entire loading and unloading process is completed. The above is only a partial embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. A transport device capable of autonomously loading and unloading goods and climbing over obstacles, characterized in that: The device comprises: a bearing mechanism (1), a loading and unloading mechanism (2), a supporting mechanism (3), and a control mechanism (4); one end of the loading and unloading mechanism (2) is mounted on the bottom and side wall of the bearing mechanism (1); and one end of the supporting mechanism (3) is mounted on the four corners of the bearing mechanism.

2. A transport device capable of autonomously loading and unloading goods and climbing over obstacles according to claim 1, characterized in that: The bearing mechanism (1) comprises a load-bearing plate (10), a storage cavity (11) and a moving mechanism (12); the storage cavity (11) is fixed to the bottom of the load-bearing plate (10), and a detachable charging power source and a controller (40) of a control mechanism (4) are arranged in the storage cavity (11); the moving mechanism (12) comprises a wheel (120), a wheel frame (121), a lifting mechanism (122) and a steering mechanism (123); the wheel (120) is rotatably connected to one end of the wheel frame (121); the other end of the wheel frame (121) is rotatably connected to the steering mechanism (123); the steering mechanism (123) is fixedly connected to one end of the lifting mechanism (122); the other end of the lifting mechanism (122) is fixed to the bottom of the load-bearing plate (10); the wheel (120) moves up and down through the lifting mechanism (122).

3. A transport device capable of autonomously loading and unloading goods and climbing over obstacles according to claim 1, characterized in that: The loading and unloading mechanism (2) comprises a rigid self-locking chain (20), a chain motor (21), a gear (22), a suction cup (23) and a ball (24) mounted on a load-bearing plate; the chain motor (21) is mounted on a side wall of the load-bearing plate (10); the gear (22) is mounted on a power output end of the chain motor (21); the suction cup (23) is mounted on one end of the rigid self-locking chain (20); the chain motor (21) drives the rigid self-locking chain (20) to extend and retract via the gear (22) so as to drag the goods onto the device or push the goods on the device out of the device.

4. A transport device capable of autonomously loading and unloading goods and climbing over obstacles according to claim 1, characterized in that: The support mechanism (3) comprises a horizontal telescopic mechanism (30), a vertical telescopic mechanism (31), and a support plate (32); a fixed end of the horizontal telescopic mechanism (30) is installed in the storage cavity (11) and is fixedly connected to the load-bearing plate (10); one end of the telescopic end of the horizontal telescopic mechanism (30) is fixedly connected to one end of the fixed end of the vertical telescopic mechanism (31); and the telescopic end of the vertical telescopic mechanism (31) is fixedly connected to the support plate.

5. The transport device capable of autonomously loading and unloading goods and climbing over obstacles according to claim 1, characterized in that: The control mechanism (4) comprises a controller (40), a laser radar (41), a camera (42), and a rotating telescopic rod (43); the controller (40) comprises a CPU including a multi-task learning neural network, a movement control unit, a loading and unloading control unit, an obstacle climbing control unit, and a sensor unit; the laser radar (41) is mounted on one end of the rotating telescopic rod (43); the other end of the rotating telescopic rod (43) is mounted on the top of the chain motor (21) behind the storage cavity (11); the camera (42) is mounted on one end of the rotating telescopic rod (43); the other end of the rotating telescopic rod (43) is mounted on the four walls of the storage cavity (11); the laser radar (41) can also be replaced by ultrasonic radar, millimeter wave radar or other types of positioning, ranging and imaging technologies according to the needs of the application scenario.

6. The transport device capable of autonomously loading and unloading goods and climbing over obstacles according to claim 1, characterized in that: The middle part of the load-bearing plate (10) of the bearing mechanism (1) provided with the ball bearing is removed, and the bearing mechanism 1 is separated into two independent parts on the left and right sides; the bearing mechanisms (1) on the left and right sides are fixedly connected to one end of a width adjustment mechanism (13) provided at the rear end of the bearing mechanism (1); locking mechanisms (14) are provided at the upper and lower ends of the front end of the bearing mechanism (1); and auxiliary installation mechanisms (25) for assisting loading and unloading are also provided on the bearing mechanisms (1) on the left and right sides.

7. The transport device capable of autonomously loading and unloading goods and climbing over obstacles according to claim 1, characterized in that: The loading and unloading mechanism (2) is a clamp mechanism (26) with adjustable distance; the clamp mechanism (26) is slidably connected to the bearing mechanism (1) through a linear guide assembly (15); the linear guide assembly (15) includes a guide rail (150), a slider (151), a guide motor (152), a gear (22), and a rack (153); the clamp mechanism 26 includes a clamp plate 260 and a reinforcement plate 261, and a load-bearing plate (10) for carrying goods is arranged at the bottom of the clamp mechanism (26); an auxiliary loading and unloading mechanism (25) is also arranged on the clamp mechanism (26); the horizontal telescopic mechanism (30) of the support mechanism (3) close to the loading and unloading mechanism (2) is replaced with a linear guide assembly (15), and is movably installed on the moving mechanism (12) close to the clamp mechanism (26); the vertical telescopic mechanism (31) of the support mechanism (3) close to the loading and unloading mechanism (2) is installed between the two moving mechanisms (12) at the back.

8. The transport device capable of autonomously loading and unloading goods and climbing over obstacles according to claim 1, characterized in that: The suction cup (23) of the loading and unloading mechanism (2) is replaced with a scissor-type jack (27) connected in series; the scissor-type jacks (27) are connected to each other via a telescopic rod (28); the scissor-type jack (27) comprises a scissor-type support frame (270), a support frame connecting rod (271), a ball (24), a support limit plate (272), a support frame motor (273), and a support frame motor bearing kit (274); the support frame connecting rod (271) is fixed to the upper and lower ends of the scissor-type support frame (270); the ball (24) is rotatably connected to the lower end of the scissor-type support frame (270) via the support frame connecting rod (271); the support limit plate (272) is connected to the support frame connecting rod ( 271) is rotatably connected to the upper end of the scissor-type support frame (270); a support frame motor bearing kit (274) is provided on the power output end of the support frame motor (273); the support frame motor bearing kit (274) is rotatably connected to the telescopic rod (28); the support frame motor (273) is also rotatably connected to the intersection of the scissor-type support frame (270); the support frame motor (273); the chain motor (21) of the loading and unloading mechanism (2) is installed on the slider (151) of the linear guide assembly (15); the guide rail (150) of the linear guide assembly (15) is installed on the bottom of the load-bearing plate (10); the ball bearing (24) is eliminated from the bottom of the load-bearing plate (10).

9. The transport device capable of autonomously loading and unloading goods and climbing over obstacles according to claim 1, characterized in that: The loading and unloading mechanism (2) is a mechanical arm (29) equipped with a suction cup, a clamp or a bracket; the base of the mechanical arm (29) is fixedly connected to the slider (151) of the linear guide assembly (15); the guide rail (150) of the linear guide assembly (15) is installed on the top of the storage cavity (11) and is fixedly connected to the load-bearing plate (10); the linear guide assembly (15) also includes a guide rail steering mechanism (154); the guide rail steering mechanism (154) is installed at the two rear corners of the top of the storage cavity (11) and is fixedly connected to the load-bearing plate (10); the laser radar (41) is installed on the base of the mechanical arm (29); the ball bearing (24) is eliminated at the bottom of the load-bearing plate (10); and the support mechanism (3) is a repeatedly arranged moving mechanism (12).

10. The transport device capable of autonomously loading and unloading goods and climbing over obstacles according to claim 1, characterized in that: The vertical telescopic mechanism (31) of the support mechanism (3) is installed at the four corners of the storage cavity (11), close to the position of the moving mechanism (12); the vertical telescopic mechanism (31) is also fixedly connected to the load-bearing plate (10); the horizontal telescopic mechanism (30) of the support mechanism (3) is replaced with a linear guide assembly (15); the slider of the linear guide assembly (15) is fixedly connected to the top end of the lifting mechanism (122) of the moving mechanism (12); the guide rail of the linear guide assembly (15) is installed in the storage cavity (11) and is fixedly connected to the load-bearing plate (10).

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