Carrying device

Abstract

A carrying device comprises a supporting body which comprises a pair of vertical supporting frames oppositely arranged in the first direction and a horizontal supporting frame connected to the top ends of the vertical supporting frames; the pair of carrying vehicles correspond to the pair of vertical supporting frames one to one, the bottom end of each vertical supporting frame is supported on the corresponding carrying vehicle, and the pair of carrying vehicles synchronously move to drive the whole supporting main body to move; and the clamping device is movably connected to the supporting main body, and the clamping device is used for clamping or releasing a carried object. By the adoption of the technical scheme, the carrying device can have the bearing performance and flexibility at the same time.

Description

Technical Field

[0001] The present invention relates to the field of transport devices, and in particular to a transport device. Background Art

[0002] In fields like industrial production and logistics, handling is crucial for efficient process operation. Fixed load-bearing handling devices are widely used today. These devices, with their robust structure and reliable mounting methods, can carry heavy loads. In large factories, fixed load-bearing devices, such as those used to handle heavy machinery parts, ensure safe and stable handling, providing a solid foundation for production operations.

[0003] However, fixed-mount devices also have significant limitations. Their fixed position prevents them from flexibly adapting to changing production needs, limiting their application scenarios. Existing mobile handling solutions often use simple wheel structures. While this improves handling flexibility, their load-bearing capacity is poor. Simple wheel structures lack sufficient support and stability, and wheels are prone to deformation and damage when carrying heavy objects, posing safety risks and making it difficult to meet diverse handling needs. Summary of the Invention

[0004] The technical problem solved by the present invention is to provide an improved transport device.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a transport device, including: a support body, including a pair of vertical support frames arranged relatively to each other along a first direction and a horizontal support frame connected to the top ends of the pair of vertical support frames; a pair of transport carts, corresponding one-to-one to the pair of vertical support frames, the bottom end of each of the vertical support frames is supported by the corresponding transport cart, and the pair of transport carts move synchronously to drive the support body to move as a whole; a clamping device, movably connected to the support body, and the clamping device is used to clamp or release the transport object.

[0006] Optionally, the transport device further includes: a motion information acquisition module for acquiring motion information of the pair of transport vehicles; a control module that communicates with the motion information acquisition module, and the control module is used to receive the motion information and control the synchronous movement of the pair of transport vehicles according to the motion information.

[0007] Optionally, the motion information acquisition module includes: a distance measurement module for acquiring distance information between the pair of transport vehicles; and the control module for receiving the distance information and controlling the motion state of at least one of the pair of transport vehicles according to the distance information.

[0008] Optionally, in response to the deviation between the acquired distance information and the preset distance value being greater than a preset threshold, the control module controls at least one of the pair of transport vehicles to stop moving, or the control module controls at least one of the pair of transport vehicles to change its motion state so that the deviation between the actual distance of the pair of transport vehicles and the preset distance value is less than or equal to the preset threshold.

[0009] Optionally, the ranging module is selected from a combination of one or more of a laser ranging module, an ultrasonic ranging module, and a visual ranging module.

[0010] Optionally, the pair of transport vehicles include a main transport vehicle and a slave transport vehicle, and the motion information acquisition module includes: a speed measurement module for acquiring speed information of the main transport vehicle, and the control module controls the motion state of the slave transport vehicle according to the speed information, wherein the speed information includes at least the value and direction of the speed.

[0011] Optionally, the pair of transport vehicles includes a master transport vehicle and a slave transport vehicle, the master transport vehicle moves according to a motion instruction, and the slave transport vehicle moves according to motion state information of the master transport vehicle.

[0012] Optionally, each transport vehicle in the pair of transport vehicles includes: a body for carrying the corresponding vertical support frame; and a wheel assembly provided on a side of the body facing away from the vertical support frame.

[0013] Optionally, the wheel assembly includes: a front wheel assembly, including a swing bridge and a front wheat wheel, the swing bridge is fixedly connected to the main body, a front power motor is installed on the swing bridge, and the driving end of the front power motor is transmission-connected to the front wheat wheel; a rear wheel assembly, including a rear wheat wheel and a rear power motor, the rear power motor is installed on the main body, and the driving end of the rear power motor is transmission-connected to the rear wheat wheel.

[0014] Optionally, the horizontal support frame includes a pair of cross beams spaced apart along the second direction, and the transport device also includes a pair of connecting beams spaced apart along the first direction, the pair of connecting beams are arranged between the pair of cross beams, and the pair of connecting beams reciprocate along the first direction under the guidance of the pair of cross beams, and the clamping device is directly or indirectly connected to the pair of connecting beams and reciprocates along the first direction with the connecting beams.

[0015] Optionally, the transport device further includes: a lifting mechanism for driving the clamping device to reciprocate along the direction of gravity.

[0016] Optionally, the lifting mechanism includes: a bracket, movably connected to the pair of connecting beams, and the bracket can reciprocate along the second direction under the guidance of the pair of connecting beams; an extension rod, movably connected to the bracket, and the extension rod can move relative to the bracket along the direction of gravity, and the clamping device is connected to one end of the extension rod facing the direction of gravity.

[0017] Optionally, the clamping device includes: a clamping body having a pair of clamping jaws, which can move towards or away from each other; a rotating connecting member, through which the clamping body is connected to the supporting body, and the clamping body can rotate in a first plane under the action of the rotating connecting member, and the first plane is perpendicular to the direction of gravity.

[0018] Compared with the prior art, the technical solution of the embodiment of the present invention has the following beneficial effects:

[0019] The technical solution of this application combines the supporting structure of the transport device (including the vertical support frame and the horizontal support frame) with an independent transport vehicle, maintaining the stability of the fixed load-bearing device (the vertical support frame provides vertical rigid support, and the horizontal support frame distributes the load) while achieving mobility through the transport vehicle. This split design overcomes the positional limitations of traditional fixed devices while avoiding the insufficient load-bearing capacity of simple wheeled structures, achieving a unified combination of heavy-load handling and flexible mobility.

[0020] Furthermore, the transport device also includes a motion information acquisition module and a control module, which together form a closed-loop control system that monitors and adjusts the motion of the two transport vehicles in real time. This effectively solves the synchronization problem of the two vehicles' coordinated motion, avoids distortion of the supporting structure caused by speed differences, ensures structural stability during heavy-load transport, and significantly reduces the risk of overturning.

[0021] Furthermore, the distance between a pair of transport vehicles is monitored in real time through the distance measurement module. When the deviation exceeds the threshold, it is automatically corrected to prevent unexpected vehicle distance anomalies and avoid additional stress on the supporting body, thus ensuring transportation safety and extending the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of a transport device according to an embodiment of the present invention;

[0023] Figure 2 yes Figure 1 Schematic diagram of the medium transport vehicle;

[0024] Figure 3 yes Figure 2 a schematic diagram of another perspective of the structure shown;

[0025] Figure 4 yes Figure 1 Schematic diagram of the lifting mechanism;

[0026] Figure 5 yes Figure 4 Cross-sectional view along AA direction;

[0027] Figure 6 yes Figure 4 A partial enlarged view of the middle area B;

[0028] Figure 7 yes Figure 1 Schematic diagram of the clamping device. DETAILED DESCRIPTION

[0029] As mentioned in the background art, existing transport devices cannot achieve both load-bearing capacity and flexibility.

[0030] In order to solve the above technical problems, an embodiment of the present invention provides a transport device, including: a support body, including a pair of vertical support frames arranged relatively to each other along a first direction and a horizontal support frame connected to the top ends of the pair of vertical support frames; a pair of transport carts, corresponding one-to-one to the pair of vertical support frames, the bottom end of each of the vertical support frames is supported by the corresponding transport cart, and the pair of transport carts move synchronously to drive the support body to move as a whole; a clamping device, movably connected to the support body, and the clamping device is used to clamp or release the transport object.

[0031] The technical solution of this application combines the supporting structure of the transport device (vertical support frame + horizontal support frame) with an independent transport vehicle, maintaining the stability of the fixed load-bearing device (the vertical support frame provides vertical rigid support, and the horizontal support frame distributes the load) while achieving mobility through the transport vehicle. This split design overcomes the positional limitations of traditional fixed devices while avoiding the insufficient load-bearing capacity of simple wheeled structures, achieving a unified combination of heavy-load handling and flexible mobility.

[0032] In order to make the above-mentioned objects, features and beneficial effects of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0033] Figure 1 FIG. 1 is a schematic diagram of a transport device 100 according to an embodiment of the present invention.

[0034] refer to Figure 1The transport device 100 may include: a supporting body 1, including a pair of vertical support frames 11 arranged relatively along a first direction D1 and a horizontal support frame 12 connected to the top ends of the pair of vertical support frames 11; a pair of transport carts 2, corresponding one to one with the pair of vertical support frames 11, and the bottom end of each of the vertical support frames 11 is supported on the corresponding transport cart 2, and the pair of transport carts 2 move synchronously to drive the supporting body 1 to move as a whole; a clamping device 3, movably connected to the supporting body 1, and the clamping device 3 is used to clamp or release the transport object.

[0035] Specifically, the transport device 100 can be applied to a variety of scenarios where large and heavy objects need to be transported, especially in the fields of battery production, logistics warehousing, and new energy vehicles.

[0036] Taking large batteries as an example, the transport device 100 can play an important role. In a battery production plant, the transport device 100 can efficiently and accurately complete the task of transporting battery modules and components. In the production process of battery packs (also known as battery packs), battery modules and components need to be transported from one process to another. The rigid support body of the transport device 100 and the transport vehicle are combined in design to ensure the stability of heavy-load transportation while providing flexibility, which can meet the transportation requirements between different processes. In addition, the transport device 100 is also responsible for installing the battery pack into a vehicle or other equipment to ensure the accuracy and safety of the installation process. During the maintenance and replacement of the battery pack, the transport device 100 can quickly and accurately remove the battery pack from the cabinet or other equipment, providing convenience for maintenance personnel.

[0037] Continue to refer Figure 1 The transport device 100 includes a support body 1, a pair of transport carts 2, and a clamping device 3. The support body 1 can be composed of a pair of vertical support frames 11 and a horizontal support frame 12. The pair of vertical support frames 11 are arranged opposite each other along a first direction D1, and the horizontal support frame 12 is laterally connected to the top of the pair of vertical support frames 11 to form a stable frame structure. As a result, the support body 1 can provide reliable rigid support, ensuring stability when transporting heavy objects, especially for objects such as large batteries that are heavy and require extremely high stability.

[0038] Furthermore, the transport device 100 includes a pair of transport carts 2. The bottom end of each vertical support frame 11 (e.g., the end facing the direction of gravity G) is securely supported on a corresponding transport cart 2. The pair of transport carts 2 are capable of synchronous movement, thereby driving the entire support body 1 to move smoothly. As a result, the design of the transport carts 2 effectively enhances the flexibility of the transport device 100, enabling it to easily adapt to various work scenarios and location requirements. Furthermore, by precisely controlling the synchronous movement of the transport carts 2, the support body 1 can be ensured to maintain balance during movement, preventing tilting or shaking, further ensuring safety during the transport process.

[0039] Furthermore, the clamping device 3 is movably connected to the support body 1. The clamping device 3 can clamp or release the object being transported according to actual work needs. Thus, the clamping device 3 enables the transport device 100 to easily grasp and place objects of various shapes and sizes, particularly items that require precise handling, such as large batteries. Furthermore, the clamping device 3 has a certain degree of motion, allowing it to adjust the position or orientation of the object during transport to meet different work requirements.

[0040] As described above, the transport device 100 achieves a combination of stability and flexibility through the coordinated operation of the support body 1, transport vehicle 2, and clamping device 3. Specifically, the transport device 100 can provide strong support like traditional fixed load-bearing equipment, ensuring the safety of heavy objects (such as batteries or battery packs) during transportation; and it can also flexibly move between different work scenarios like mobile transport equipment to meet diverse transportation needs.

[0041] In some embodiments, the transport device 100 may also include a motion information acquisition module 4 for acquiring motion information of the pair of transport vehicles 2; a control module 5 that communicates with the motion information acquisition module 4, and the control module 5 is used to receive the motion information and control the synchronous movement of the pair of transport vehicles 2 according to the motion information.

[0042] Specifically, the motion information acquisition module 4 and the control module 5 are core components to ensure the synchronous movement of the dual transport vehicles 2 and achieve stable transportation. The motion information acquisition module 4 can collect the motion information of each transport vehicle 2 in the pair of transport vehicles 2 in real time.

[0043] In some embodiments, the motion information may include, for example, speed, direction, position, and the distance between two vehicles.

[0044] In some embodiments, the control module 5 can receive information from the motion information acquisition module 4, process and analyze it through the algorithm built into the control module 5, and then send precise control instructions to the transport vehicle 2. The instructions can adjust the motion state of the transport vehicle 2, such as speed and direction, to ensure that the two transport vehicles 2 always maintain synchronous movement.

[0045] In actual applications, the motion information acquisition module 4 and the control module 5 work together to form a closed-loop control system. The motion information acquisition module 4 monitors the distance between the two vehicles and the speed difference in real time. If the deviation exceeds a preset threshold, the control module 5 immediately intervenes and adjusts the motion state of one or both transport vehicles 2 until the deviation returns to a safe range. This closed-loop control mechanism ensures that the pair of transport vehicles 2 always move at the same speed and direction, maintaining the stability of the support body 1. Even when carrying heavy objects, flexible and safe movement is achieved.

[0046] In some embodiments, the motion information acquisition module 4 may include: a ranging module 41 for acquiring the distance information between the pair of transport vehicles 2; the control module 5 for receiving the distance information and controlling the motion state of at least one of the pair of transport vehicles 2 according to the distance information.

[0047] In a specific embodiment, the distance measurement module 41 can obtain the distance information between a pair of transport vehicles 2 in real time and accurately, providing a decision basis for the control module 5 .

[0048] Furthermore, after receiving the distance information provided by the distance measurement module 41, the control module 5 will immediately perform analysis and processing. For example, the control module 5 can determine whether the two transport vehicles 2 maintain synchronous motion, that is, whether the distance between the pair of transport vehicles 2 is within a preset safety range. If the distance deviation is detected to exceed a preset threshold, the control module 5 will quickly take measures to adjust the motion state of at least one transport vehicle 2, such as speed and direction, to restore synchronization between the two vehicles. Thus, the real-time feedback control mechanism based on the distance measurement module 41 can help maintain the stability of the support body 1. For example, when transporting large and heavy objects, the synchronization of the movement of the pair of transport vehicles directly affects the stability and safety of the heavy objects. If the two vehicles move out of sync, the support body 1 may be twisted and deformed, or even cause serious consequences such as the heavy object overturning or equipment damage. The coordinated work of the distance measurement module 41 and the control module 5 can effectively prevent this from happening, ensuring a smooth and safe handling process.

[0049] In some embodiments, in response to the deviation between the acquired distance information and the preset distance value being greater than a preset threshold, the control module 5 controls at least one of the pair of transport vehicles 2 to stop moving, or the control module 5 controls at least one of the pair of transport vehicles 2 to change its motion state so that the deviation between the actual distance of the pair of transport vehicles 2 and the preset distance value is less than or equal to the preset threshold.

[0050] Specifically, when the actual distance information between a pair of transport vehicles 2 obtained by the ranging module 41 deviates from the preset distance value, and the deviation exceeds the preset threshold, the control module 5 can have two control strategies: one is to stop the movement of at least one transport vehicle 2, thereby immediately blocking the further expansion of the deviation; the other is to control at least one transport vehicle 2 to change its motion state, such as adjusting its speed or direction, to actively correct the deviation, so that the deviation between the actual distance of a pair of transport vehicles 2 and the preset distance value is again less than or equal to the preset threshold.

[0051] In some embodiments, the preset threshold may be, for example, 5 mm.

[0052] Thus, through real-time monitoring and automatic deviation correction, the control module 5 can effectively prevent the overturning of heavy objects or damage to equipment caused by the asynchronous movement of the pair of transport vehicles 2, thereby ensuring the safety of personnel and equipment. Secondly, by maintaining the distance between the pair of transport vehicles 2 at all times below a preset threshold, the support body 1 can maintain its rigid structure, ensuring that the transported objects remain stable during movement. In addition, the coordination between the distance measurement module 41 and the control module 5 realizes the automatic positioning function, effectively reducing manual intervention and adjustment time, and the transport device 100 can achieve more continuous and efficient transport operations.

[0053] In some embodiments, the ranging module 41 is selected from a combination of one or more of a laser ranging module, an ultrasonic ranging module, and a visual ranging module.

[0054] In practical applications, by selecting or combining different ranging technologies, the handling device 100 can adapt to a wider range of working environments and improve ranging accuracy and reliability. For example, in environments with ample light and good reflective surfaces, a laser ranging module can be used to achieve higher ranging accuracy. In environments with large light variations or poor reflective surfaces, an ultrasonic ranging module or a visual ranging module can be used as a supplement or alternative. Furthermore, combining multiple ranging technologies can achieve redundancy and complementarity in ranging information, further improving the reliability and stability of ranging.

[0055] In some embodiments, the pair of transport vehicles 2 includes a main transport vehicle and a slave transport vehicle, and the motion information acquisition module 4 includes: a speed measurement module 42, used to obtain the speed information of the main transport vehicle, and the control module 5 controls the motion state of the slave transport vehicle according to the speed information, wherein the speed information at least includes the value and direction of the speed.

[0056] Specifically, the pair of transport vehicles 2 are clearly distinguished as a master transport vehicle and a slave transport vehicle. The master transport vehicle can serve as a motion reference. In practical applications, the motion state of the master transport vehicle can be directly controlled by manual operation or an automatic navigation system.

[0057] Furthermore, the speed measurement module 42 can acquire the speed information of the master truck in real time and transmit this speed information to the control module 5. This speed information can include both the speed value and the direction. Furthermore, the control module 5 can send movement instructions to the slave truck based on the speed information of the master truck, ensuring that the slave truck always maintains the same movement state as the master truck.

[0058] In some embodiments, the master transport vehicle moves according to a motion instruction, and the slave transport vehicle moves according to motion state information of the master transport vehicle.

[0059] In some embodiments, combined Figure 2 and Figure 3 Each transport vehicle 2 in the pair of transport vehicles 2 may include: a body 21 for carrying the corresponding vertical support frame 11; and a wheel assembly 22, arranged on a side of the body 21 away from the vertical support frame 11 (i.e., a side facing the gravity direction G).

[0060] Specifically, the body 21 is the main structure of the transport vehicle 2 and is used to carry the vertical support frame 11. Figure 1 The bottom end of the vertical support frame 11 is fixed to the body 21 of the corresponding transport vehicle 2.

[0061] In some embodiments, the body 21 can be made of a material with high strength and rigidity to bear the weight of the vertical support frame 11 and the transport object loaded by the clamping device 3, such as large batteries and other heavy objects, thereby ensuring the safety of the transport process.

[0062] Furthermore, the wheel assembly 22 is arranged on the side of the main body 21 away from the vertical support frame 11, that is, the bottom of the transport vehicle 2. Thus, the coordinated work of the main body 21 and the wheel assembly 22 of the transport vehicle 2 provides a stable and reliable mobile platform for the transport device 100. The rigid support of the main body 21 ensures the stability of the vertical support frame 11 and the transported object, while the flexible movement of the wheel assembly 22 improves the flexibility of the transport device 100 in the working space, which not only improves the operating efficiency of the transport device 100, but also enhances the adaptability of the transport device 100 in complex industrial environments. For example, the transport device 100 can be used in battery production plants, logistics storage centers, and other occasions where large and heavy objects need to be transported.

[0063] In a specific embodiment, reference Figure 3 The wheel assembly 22 may include: a front wheel assembly 221, including a swing bridge 2211 and a front Mecanum wheel 2212. The swing bridge 2211 is fixedly connected to the body 21 and is equipped with a front power motor 2213. The drive end of the front power motor 2213 is in transmission connection with the front Mecanum wheel 2212. A rear wheel assembly 222, including a rear Mecanum wheel 2221 and a rear power motor 2222. The rear power motor is mounted on the body 21. The drive end of the rear power motor 2222 is in transmission connection with the rear Mecanum wheel 2221. The Mecanum wheels (including the front Mecanum wheel 2212 and the rear Mecanum wheel 2221) are Mecanum wheels.

[0064] In practical applications, different types of wheels may be selected as needed to form the front wheel assembly 221 and / or the rear wheel assembly 222 .

[0065] The front wheel assembly 221 may include a swing bridge 2211 and a front wheel 2212. The swing bridge 2211 is fixedly connected to the transport vehicle body 21 and serves as a mounting base for the front wheel 2212, allowing the front wheel 2212 to swing up and down within a certain angle range along the direction of gravity G and its opposite direction. In this way, the front wheel assembly 221 can actively adapt to the undulations of the ground. For example, in common working environments such as warehouses or factories, such as ground joints, slight slopes, or potholes, the front wheel 2212 can automatically adjust the contact angle between the wheel and the ground through the swing of the swing bridge 2211 to ensure that the maximum contact area is always maintained, thereby significantly enhancing the transportability and stability of the transport vehicle 2, reducing vibrations and bumps caused by uneven ground, and ensuring the safety of the transported objects.

[0066] Furthermore, the front wheel 2212 itself is an omnidirectional wheel, with multiple small rollers arranged on its rim. The axes of these rollers form a certain angle (typically 45 degrees) with the axis of the front wheel 2212. This structure enables the front wheel 2212 to not only roll axially like a conventional wheel, but also generate a lateral force component perpendicular to the axis, thereby achieving lateral movement. Combined with the drive of the front power motor 2213, the front wheel assembly 221 is capable of 360-degree omnidirectional movement, including forward and backward movement, left and right translation, and rotation on the spot, making the transport vehicle 2 more maneuverable and flexible.

[0067] Furthermore, the rear wheel assembly 222 may include a rear wheel 2221 and a rear power motor 2222. The rear wheel 2221 is also an omnidirectional wheel, and works in conjunction with the front wheel 2212 to further enhance the omnidirectional mobility of the transport vehicle 2.

[0068] In some embodiments, the rear power motor 2222 can be directly mounted on the body 21 to drive the rear wheel 2221 to rotate. Similar to the front wheel assembly 221, the rear wheel assembly 222 also has omnidirectional movement capabilities.

[0069] From the above, through the coordinated work of the front wheel assembly 221 and the rear wheel assembly 222. The front power motor 2213 and the rear power motor 2222 can independently control the rotation speed and direction of the front wheel 2212 and the rear wheel 2221 to achieve precise differential steering. By adjusting the speed difference between the front wheel 2212 and the rear wheel 2221, the transport vehicle 2 can easily turn or even rotate on the spot, further increasing the applicable scenarios of the transport device 100. In addition, the special structure of the wheel provides a larger contact area, disperses the pressure of heavy objects, reduces the pressure on the ground, and makes the transport vehicle 2 more stable when carrying heavy objects such as large batteries, reducing the risk of ground collapse or wheel sinking.

[0070] In some embodiments, combined Figures 4 to 6 The horizontal support frame 12 includes a pair of cross beams 121 spaced apart along the second direction D2, and the transport device 100 also includes a pair of connecting beams 122 spaced apart along the first direction D1. The pair of connecting beams 122 are arranged between the pair of cross beams 121. The pair of connecting beams 122 reciprocate along the first direction D1 under the guidance of the pair of cross beams 121. The clamping device 3 is directly or indirectly connected to the pair of connecting beams 122 and reciprocates along the first direction D1 with the connecting beams 122.

[0071] In some embodiments, the first direction D1 , the second direction D2 , and the gravity direction G are perpendicular to each other.

[0072] In some embodiments, each of the pair of beams 121 may include a rail portion 125. The rail portion 125 is disposed on side walls of the pair of beams 121 facing each other. The rail portion 125 extends along the first direction D1.

[0073] Furthermore, the pair of connecting beams 122 are provided with sliding portions 124 at both ends along the second direction D2 . The sliding portions 124 can cooperate with adjacent rail portions 125 and can reciprocate along the first direction D1 under the guidance of the rail portions 125 .

[0074] In some embodiments, a horizontal motor 123 may be further provided on the pair of connecting beams 122 , and the horizontal motor 123 is used to drive the pair of connecting beams 122 to reciprocate along the first direction D1 .

[0075] In some embodiments, a horizontal motor 123 may be further provided on the connecting beam 122. The first output end 1231 of the horizontal motor 123 may have a tooth structure that cooperates with the first tooth plate 126. When the horizontal motor 123 is in operation, the tooth structure of the first output end 1231 engages with the first tooth plate 126 to enable the connecting beam 122 to move relative to the crossbeam 121.

[0076] Furthermore, the transport device 100 may further include a lifting mechanism 6 for driving the clamping device 3 to reciprocate along the gravity direction G. Thus, the clamping device 3 can be more flexibly moved to the target position to complete the transport work.

[0077] In some embodiments, combined Figure 4 and Figure 5 The lifting mechanism 6 may include: a bracket 61, movably connected to the pair of connecting beams 122, and the bracket 61 can reciprocate along the second direction D2 under the guidance of the pair of connecting beams 122; an extension rod 62, movably connected to the bracket 61, and the extension rod 62 can move relative to the bracket 61 along the gravity direction G, and the clamping device 3 is connected to one end of the extension rod 62 facing the gravity direction G.

[0078] Furthermore, the interior of the bracket 61 is hollow to form a channel for the extension rod 62 to move.

[0079] In some embodiments, at least one strip-shaped protrusion 622 extending along the gravity direction GG may be provided on the outer circumferential surface of the extension rod 62 , and a matching portion 64 adapted to the protrusion 622 may be provided on the bracket 61 .

[0080] Furthermore, the matching portion 64 may include a groove for receiving the corresponding protrusion 622 , and the protrusion 622 can reciprocate in the gravity direction G inside the corresponding groove.

[0081] In some embodiments, the lifting mechanism 6 may further include a lifting motor 63 for driving the extension rod 62 to move.

[0082] In one embodiment, the lifting motor 63 can be fixedly connected to the bracket 61 and have a second output end 631 including a tooth structure. A second tooth plate 621 can be provided on the side of the extension rod 62 facing the lifting motor 63. The second output end 631 can cooperate with the second tooth plate 621 to drive the extension rod 62 to rise and fall in the direction of gravity G.

[0083] In some embodiments, combined Figure 1 and Figure 7 The clamping device 3 includes: a clamping body 31, having a pair of clamping jaws 311, and the pair of clamping jaws 311 can move in the direction of approaching or moving away from each other; a rotating connecting member 32, and the clamping body 31 is connected to the supporting body 1 through the rotating connecting member 32. The clamping body 31 can rotate in a first plane under the action of the rotating connecting member 32, and the first plane is perpendicular to the gravity direction G.

[0084] In some embodiments, the pair of clamping jaws 311 can achieve relative motion via a linear drive mechanism (such as a hydraulic cylinder, a lead screw, or a gear rack).

[0085] In a variation, a pressure sensor array may be integrated into the inner surface of the clamping jaw 311 to provide real-time feedback on the contact force distribution, and to cooperate with a control algorithm to achieve flexible clamping to avoid damage to the object being handled due to excessive clamping force.

[0086] In some embodiments, the rotating connector 32 can rotate the clamping body 31 in a first plane (horizontal plane) to adjust the direction of the transported object.

[0087] As described above, the technical solution of this application combines the support body 1 (including the vertical support frame 11 and the horizontal support frame 12) of the transport device 100 with an independent transport vehicle 2. This not only maintains the stability of the fixed load-bearing device (the vertical support frame 11 provides vertical rigid support, and the horizontal support frame 12 distributes the load), but also achieves mobility through the transport vehicle 2. This split design overcomes the positional limitations of traditional fixed devices while avoiding the insufficient load-bearing capacity of simple wheeled structures, achieving a unified combination of heavy-load handling and flexible mobility.

[0088] Furthermore, the transport device 100 also includes a motion information acquisition module 4 and a control module 5. This module (including a distance measurement module 41 and a speed measurement module 42) forms a closed-loop control system that monitors and adjusts the motion of the two transport vehicles 2 in real time. This effectively solves the synchronization problem during the coordinated movement of the two vehicles, avoids distortion of the support body 1 caused by speed differences, ensures structural stability during heavy-load transport, and significantly reduces the risk of overturning.

[0089] Furthermore, the distance between a pair of transport vehicles 2 is monitored in real time by the distance measurement module 41. When the deviation exceeds the threshold, the deviation is automatically corrected, which can prevent unexpected vehicle distance anomalies and avoid additional stress on the support body 1, thereby ensuring transportation safety and extending the service life of the equipment.

[0090] It should be understood that the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " herein indicates that the objects associated before and after are in an "or" relationship. As used herein, unless otherwise expressly stated, the term "or" covers all possible combinations unless not feasible. For example, if a component is stated to include A or B, then unless otherwise expressly stated or not feasible, the component may include A, or B, or A and B. As a second example, if a component is stated to include A, B, or C, then unless otherwise expressly stated or not feasible, the component may include A, or B, or C, or A and B, or A and C, or B and C, or A and B and C.

[0091] The term "plurality" used in the present disclosure refers to two or more than two.

[0092] The relational terms appearing in the embodiments of the present disclosure, such as first, second, etc., are only used to distinguish an entity or operation from another entity or operation, and do not require or imply any actual relationship or order between these entities or operations. In addition, the words "include", "have" and "comprise" and other similar forms are intended to be equivalent in meaning and are open-ended, and one or more items following any of these words are not meant to be an exhaustive list of such one or more items, or to be limited to the one or more items listed. In the drawings and description, exemplary embodiments have been disclosed. However, many variations and modifications may be made to these embodiments. Therefore, although specific terms are employed, they are used only in a general and descriptive sense, and not for the purpose of limitation.

[0093] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be based on the scope defined by the claims.

Claims

1. A transport device, characterized in that: include: The support body includes a pair of vertical support frames arranged opposite to each other along a first direction and a horizontal support frame connected to the top ends of the pair of vertical support frames; A pair of transport carts corresponding to the pair of vertical support frames one by one, the bottom end of each vertical support frame is supported by the corresponding transport cart, and the pair of transport carts move synchronously to drive the support body to move as a whole; A clamping device is movably connected to the supporting body, and the clamping device is used to clamp or release the transport object.

2. The transport device according to claim 1, wherein: Also includes: a motion information acquisition module, configured to acquire motion information of the pair of transport vehicles; A control module is in communication with the motion information acquisition module, and is used to receive the motion information and control the pair of transport vehicles to move synchronously according to the motion information.

3. The transport device according to claim 2, wherein: The motion information acquisition module includes: a distance measurement module, configured to obtain distance information between the pair of transport vehicles; The control module is used to receive the distance information and control the motion state of at least one of the pair of transport vehicles according to the distance information.

4. The transport device according to claim 3, wherein: In response to a deviation between the acquired distance information and a preset distance value being greater than a preset threshold, the control module controls at least one of the pair of transport vehicles to stop moving, or the control module controls at least one of the pair of transport vehicles to change its motion state so that the deviation between the actual distance of the pair of transport vehicles and the preset distance value is less than or equal to the preset threshold.

5. The transport device according to claim 3, wherein: The distance measurement module is selected from a combination of one or more of a laser distance measurement module, an ultrasonic distance measurement module, and a visual distance measurement module.

6. The transport device according to claim 2, wherein: The pair of transport vehicles include a master transport vehicle and a slave transport vehicle, and the motion information acquisition module includes: a speed measurement module for acquiring speed information of the master transport vehicle, and the control module controls the motion state of the slave transport vehicle according to the speed information, wherein the speed information at least includes the value and direction of the speed.

7. The transport device according to claim 1, wherein: The pair of transport vehicles includes a master transport vehicle and a slave transport vehicle. The master transport vehicle moves according to a motion instruction, and the slave transport vehicle moves according to motion state information of the master transport vehicle.

8. The transport device according to claim 1, wherein: Each of the pair of transport vehicles comprises: A main body, used to carry the corresponding vertical support frame; The wheel assembly is arranged on a side of the body facing away from the vertical support frame.

9. The transport device according to claim 8, characterized in that The wheel assembly comprises: The front wheel assembly includes a swing bridge and a front wheel. The swing bridge is fixedly connected to the body. A front power motor is installed on the swing bridge. The driving end of the front power motor is drivingly connected to the front wheel. The rear wheel assembly comprises a rear wheat wheel and a rear power motor. The rear power motor is mounted on the body, and the driving end of the rear power motor is transmission-connected to the rear wheat wheel.

10. The transport device according to claim 1, wherein: The horizontal support frame includes a pair of cross beams arranged at intervals along the second direction, and the transport device also includes a pair of connecting beams arranged at intervals along the first direction, the pair of connecting beams are arranged between the pair of cross beams, and the pair of connecting beams reciprocate along the first direction under the guidance of the pair of cross beams, and the clamping device is directly or indirectly connected to the pair of connecting beams and reciprocates along the first direction with the connecting beams.

11. The transport device according to claim 10, wherein: Also includes: The lifting mechanism is used to drive the clamping device to reciprocate along the direction of gravity.

12. The transport device according to claim 11, wherein: The lifting mechanism comprises: a bracket movably connected to the pair of connecting beams, wherein the bracket is capable of reciprocating along the second direction under the guidance of the pair of connecting beams; An extension rod is movably connected to the bracket, and the extension rod can move relative to the bracket along the direction of gravity. The clamping device is connected to one end of the extension rod facing the direction of gravity.

13. The transport device according to claim 1, characterized in that: The clamping device comprises: A clamping body having a pair of clamping jaws, wherein the pair of clamping jaws can move toward or away from each other; A rotating connector, through which the clamping body is connected to the supporting body, and the clamping body can rotate in a first plane under the action of the rotating connector, wherein the first plane is perpendicular to the direction of gravity.

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