Carrying vehicle, cargo carrying device and cargo taking module of cargo carrying device
By designing a linkage structure between the lever mechanism and the telescopic arm on the transport vehicle, the independent drive motor is eliminated, solving the problems of complex structure and high maintenance cost of existing transport vehicles, and achieving structural simplification and cost reduction.
Patent Information
- Application Number
- CN202411053227.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-02
- Publication Date
- 2026-02-03
AI Technical Summary
Existing transport vehicles have complex structures and high production and maintenance costs, mainly because the levers require independent drive motors.
The design employs a lever mechanism and a structure with first and second telescopic arms, enabling the lever to move in conjunction with the extension of the telescopic arms. This eliminates the need for a separate drive motor, and the rotation of the lever is achieved through the cooperation of a guide structure and a guide rail.
The structure and control methods of the handling vehicles and loading devices have been simplified, significantly reducing production and maintenance costs.
Smart Images
Figure CN121448744A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to a carrying mechanism, in particular to a carrying vehicle, a cargo carrying device and a cargo taking module thereof. BACKGROUND
[0002] When the existing carrying vehicle takes cargo in a warehouse, the telescopic arm is extended towards the cargo, and then the cargo is taken by the rotating lever arranged on the telescopic arm. However, the lever is independently driven by a driving motor and a linkage mechanism, which leads to a complex structure and control mode of the existing carrying vehicle and a high production and maintenance cost.
[0003] Therefore, the present inventor believes that the above-mentioned defects can be improved, and after careful research and application of scientific principles, finally proposes the present application which is reasonably designed and effectively improves the above-mentioned defects. SUMMARY
[0004] The embodiments of the present application provide a carrying vehicle, a cargo carrying device and a cargo taking module, which can effectively improve the defects of the existing carrying vehicle.
[0005] The embodiments of the present application disclose a carrying vehicle, which comprises a running device, a mast device installed on the running device, and a cargo carrying device installed on the mast device, and the cargo carrying device comprises a base installed on the mast device, two first telescopic arms installed on the base, and each first telescopic arm has a guide channel and a front guide rail located at the front side of the guide channel; wherein each first telescopic arm can move outward from a first initial position in the base to a first extended position along a running direction; two second telescopic arms are arranged corresponding to the two first telescopic arms; wherein each second telescopic arm can move outward from a second initial position in the base to a second extended position along the running direction; wherein the outer edges of the two second telescopic arms in the second extended position define a cargo taking opening; and two lever mechanisms are respectively installed between one first telescopic arm and the corresponding second telescopic arm to jointly define a cargo taking module; wherein in each cargo taking module, the lever mechanism comprises at least one bearing seat fixed to the second telescopic arm, and a lever comprising a lever body rotatably installed in the at least one bearing seat, a blocking arm fixed to the front end of the lever body, and a guide structure fixed to the rear end of the lever body; wherein the guide structure can move along the guide channel; wherein in each cargo taking module, when the first telescopic arm is in the first extended position and the second telescopic arm moves to a first intermediate position adjacent to the second extended position, the guide structure abuts against the front guide rail, the second telescopic arm can continuously move towards the second extended position, to drive the guide structure to move along the front guide rail, thereby driving the lever to rotate, so that the blocking arm blocks at least part of the cargo taking opening.
[0006] Optionally, in each of the pickup modules, the guide channel is recessed in the first telescopic arm and includes a return groove and a front turning groove connected to a front end of the return groove, the guide structure includes: an auxiliary rod connected to the rod body; and a front protrusion located between the front guide rail and the auxiliary rod; wherein, when the first telescopic arm is located at the first extended position and the second telescopic arm is moved to the first intermediate position, the front protrusion abuts against the front guide rail, the auxiliary rod is located at one side of the front turning groove, and the second telescopic arm can continuously move towards the second extended position to drive the front protrusion to move along the front guide rail, thereby driving the lever to rotate until the auxiliary rod passes through the front turning groove and abuts against an inner wall of the return groove.
[0007] Optionally, in each of the pickup modules, the first telescopic arm has a rear guide rail located at a rear side of the guide channel, the guide channel includes a rear turning groove connected to a rear end of the return groove, the guide structure includes a rear protrusion, and the auxiliary rod is located between the front protrusion and the rear protrusion; when the first telescopic arm is moved to the first initial position and the second telescopic arm is moved to a second intermediate position adjacent to the second initial position, the rear protrusion abuts against the rear guide rail, the auxiliary rod passes through the return groove and is adjacent to the rear turning groove, and the second telescopic arm can continuously move towards the second initial position to drive the rear protrusion to move along the rear guide rail, thereby driving the lever to rotate until the auxiliary rod passes through the rear turning groove and abuts against the inner wall of the return groove, so that the blocking arm leaves the pickup opening.
[0008] Optionally, in each of the pickup modules, the guide structure is a guide rod, the first telescopic arm is provided with a track piece on an inner side thereof, the track piece forms the guide channel and the front guide rail, and the guide channel includes: a forward groove; and a return groove, the front guide rail is located at a front side of the forward groove and the return groove; wherein, when the first telescopic arm is located at the first extended position and the second telescopic arm is moved to the first intermediate position, the guide rod abuts against the front guide rail along the forward groove, and the second telescopic arm can continuously move towards the second extended position to drive the guide rod to move along the front guide rail, thereby driving the lever to rotate until the guide rod enters the return groove.
[0009] Optionally, in each of the pickup modules, the track piece forms a rear guide rail located at a rear side of the forward groove and the return groove; when the first telescopic arm is moved to the first initial position and the second telescopic arm is moved to a second intermediate position adjacent to the second initial position, the guide rod abuts against the rear guide rail along the return groove, and the second telescopic arm can continuously move towards the second initial position to drive the guide rod to move along the rear guide rail, thereby driving the lever to rotate until the guide rod enters the forward groove, so that the blocking arm leaves the pickup opening.
[0010] Optionally, in each of the two pick-up modules, the first telescopic arm has a rear guide rail located at the rear side of the guide channel; when the first telescopic arm is moved to the first initial position and the second telescopic arm is moved to a second intermediate position adjacent to the second initial position, the guide structure abuts against the rear guide rail, and the second telescopic arm can continuously move towards the second initial position to drive the guide structure to move along the rear guide rail, thereby driving the lever to rotate to allow the blocking arm to leave the pick-up opening.
[0011] Optionally, in each of the two pick-up modules, the second telescopic arm has a magnet arranged at the end thereof; before the second telescopic arm is moved to the first intermediate position, the blocking arm is magnetically attracted to the magnet.
[0012] Optionally, the goods moving device comprises a driving mechanism mounted on the base, and the two first telescopic arms and the two second telescopic arms can be synchronously moved by the driving mechanism; the two pick-up modules are arranged in mirror symmetry with respect to each other.
[0013] The embodiment of the present application also discloses a goods moving device, which comprises: a base; two first telescopic arms mounted on the base, and each of the first telescopic arms has a guide channel and a front guide rail located at the front side of the guide channel; wherein each of the first telescopic arms can be moved outward along a running direction from a first initial position in the base to a first extended position; two second telescopic arms respectively corresponding to the two first telescopic arms; wherein each of the second telescopic arms can be moved outward along the running direction from a second initial position in the base to a second extended position; wherein the outer edges of the two second telescopic arms in the second extended position define a pick-up opening; and a lever mechanism mounted between one of the first telescopic arms and the corresponding second telescopic arm to jointly define a pick-up module; wherein in the pick-up module, the lever mechanism comprises: at least one bearing seat fixed to the second telescopic arm; and a lever comprising: a lever body rotatably penetratingly mounted in the at least one bearing seat; a blocking arm fixed to the front end of the lever body; and a guide structure fixed to the rear end of the lever body; wherein the guide structure can move along the guide channel; wherein in the pick-up module, when the first telescopic arm is located at the first extended position and the second telescopic arm is moved to a first intermediate position adjacent to the second extended position, the guide structure abuts against the front guide rail, and the second telescopic arm can continuously move towards the second extended position to drive the guide structure to move along the front guide rail, thereby driving the lever to rotate to allow the blocking arm to block at least part of the pick-up opening.
[0014] This invention also discloses a picking module for a handling device, comprising: a first telescopic arm having a guide channel and a front guide rail located at the front side of the guide channel; wherein the first telescopic arm can move outward from a first initial position along a running direction to a first extended position; a second telescopic arm corresponding to the first telescopic arm; wherein the second telescopic arm can move outward from a second initial position along a running direction to a second extended position; and a lever mechanism installed between the first telescopic arm and the second telescopic arm; wherein the lever mechanism includes at least one bearing. A seat is fixed to a second telescopic arm; and a lever includes: a rod body rotatably mounted on at least one bearing seat; a stop arm fixed to the front end of the rod body; and a guide structure fixed to the rear end of the rod body; wherein the guide structure is movable along a guide channel; wherein when the first telescopic arm is in a first extended position and the second telescopic arm moves to a first intermediate position adjacent to the second extended position, the guide structure abuts against a front guide rail, and the second telescopic arm can continuously move toward the second extended position to drive the guide structure to move along the front guide rail, thereby driving the lever to rotate.
[0015] In summary, the transport vehicle, the handling device, and the picking module disclosed in the embodiments of the present invention, through the structural design of the lever mechanism combined with the first telescopic arm and the second telescopic arm, enable the lever used to cover the picking port to be linked to the extension movement of the first telescopic arm and the second telescopic arm, thereby eliminating the need for a separate drive motor, effectively simplifying the structure and control method of the transport vehicle and the handling device, and significantly reducing their production and maintenance costs.
[0016] To further understand the features and technical content of this invention, please refer to the following detailed description and accompanying drawings. However, these descriptions and drawings are only for illustrating the invention and are not intended to limit the scope of protection of the invention in any way. Attached Figure Description
[0017] Figure 1 This is a three-dimensional schematic diagram of the transport vehicle according to Embodiment 1 of the present invention.
[0018] Figure 2 for Figure 1 A 3D schematic diagram of the pickup module.
[0019] Figure 3 This is a plan view of the picking module in Embodiment 1 of the present invention when the first telescopic arm is in the first initial position and the second telescopic arm is in the second initial position.
[0020] Figure 4 for Figure 3 A plan view of the picking module when the first telescopic arm moves to the first extended position and the second telescopic arm moves to the first intermediate position.
[0021] Figure 5 Figure 2 is a schematic view of the picking module of Figure 1 in a first extended position of the first telescopic arm and in a first intermediate position of the second telescopic arm. Figure 4 Figure 3 is a schematic view of the picking module of Figure 1 in a second extended position of the first telescopic arm and in a second intermediate position of the second telescopic arm.
[0022] Figure 6 Figure 4 is a schematic view of the picking module of Figure 1 in a first initial position of the first telescopic arm and in a second initial position of the second telescopic arm. Figure 4 Figure 5 is a schematic view of the picking module of Figure 1 in a first extended position of the first telescopic arm and in a first intermediate position of the second telescopic arm.
[0023] Figure 7 Figure 6 is a schematic view of the picking module of Figure 1 in a second extended position of the first telescopic arm and in a second intermediate position of the second telescopic arm. Figure 6 Figure 7 is a schematic view of the picking module of Figure 1 in a first initial position of the first telescopic arm and in a second intermediate position of the second telescopic arm.
[0024] Figure 8 Figure 8 is a schematic view of the picking module of Figure 1 in a first initial position of the first telescopic arm and in a second initial position of the second telescopic arm. Figure 6 Figure 9 is a schematic view of the picking module of Figure 1 in a first extended position of the first telescopic arm and in a first intermediate position of the second telescopic arm.
[0025] Figure 9 Figure 10 is a schematic view of the picking module of Figure 1 in a second extended position of the first telescopic arm and in a second intermediate position of the second telescopic arm. Figure 8 Figure 11 is a schematic view of the picking module of Figure 1 in a first initial position of the first telescopic arm and in a second intermediate position of the second telescopic arm.
[0026] Figure 10 Figure 12 is a schematic view of the picking module of Figure 1 in a first initial position of the first telescopic arm and in a second initial position of the second telescopic arm. Figure 9 Figure 13 is a schematic view of the picking module of Figure 1 in a first extended position of the first telescopic arm and in a first intermediate position of the second telescopic arm.
[0027] Figure 11 Figure 14 is a schematic view of the picking module of Figure 1 in a second extended position of the first telescopic arm and in a second intermediate position of the second telescopic arm.
[0028] Figure 12 Figure 15 is a schematic view of the picking module of Figure 1 in a first initial position of the first telescopic arm and in a second intermediate position of the second telescopic arm. Figure 11 Figure 16 is a schematic view of the picking module of Figure 1 in a first initial position of the first telescopic arm and in a second initial position of the second telescopic arm.
[0029] Figure 13 Figure 17 is a schematic view of the picking module of Figure 1 in a first extended position of the first telescopic arm and in a first intermediate position of the second telescopic arm. Figure 12 Figure 18 is a schematic view of the picking module of Figure 1 in a second extended position of the first telescopic arm and in a second intermediate position of the second telescopic arm.
[0030] Figure 14 Figure 19 is a schematic view of the picking module of Figure 1 in a first initial position of the first telescopic arm and in a second intermediate position of the second telescopic arm. Figure 13 Figure 20 is a schematic view of the picking module of Figure 1 in a first initial position of the first telescopic arm and in a second initial position of the second telescopic arm.
[0031] Figure 15 Figure 21 is a schematic view of the picking module of Figure 1 in a first extended position of the first telescopic arm and in a first intermediate position of the second telescopic arm. Figure 13 Figure 22 is a schematic view of the picking module of Figure 1 in a second extended position of the first telescopic arm and in a second intermediate position of the second telescopic arm.
[0032] Figure 16 Figure 23 is a schematic view of the picking module of Figure 1 in a first initial position of the first telescopic arm and in a second intermediate position of the second telescopic arm. Figure 15 Figure 24 is a schematic view of the picking module of Figure 1 in a first initial position of the first telescopic arm and in a second initial position of the second telescopic arm.
[0033] Figure 17 Figure 25 is a schematic view of the picking module of Figure 1 in a first extended position of the first telescopic arm and in a first intermediate position of the second telescopic arm.Figure 16 An enlarged schematic diagram of region XVII. Detailed Implementation
[0034] The following specific embodiments illustrate the implementation of the "transport vehicle, handling device, and picking module" disclosed in this invention. Those skilled in the art can understand the advantages and effects of this invention from the content disclosed in this specification. This invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of this invention. Furthermore, the accompanying drawings of this invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated in advance. The following embodiments will further describe the relevant technical content of this invention in detail, but the disclosed content is not intended to limit the scope of protection of this invention.
[0035] It should be understood that while terms such as "first," "second," and "third" may be used in this document to describe various components or features, these components or features should not be limited by these terms. These terms are primarily used to distinguish one component from another, or one feature from another. Furthermore, the term "or" as used in this document should, as appropriate, include any combination of one or more related listed items.
[0036] [Example 1]
[0037] Please see Figures 1 to 10 As shown, this is an embodiment of the present invention. Figure 1 and Figure 2 As shown, this embodiment discloses a transport vehicle 1000, which can be applied to an automated operating system. In this embodiment, the transport vehicle 1000 includes a walking device 200 capable of moving on the ground, a mast device 300 mounted on the walking device 200, and a cargo handling device 100 mounted on the mast device 300, but the invention is not limited thereto. For example, in other embodiments of the invention not shown, the mast device 300 of the transport vehicle 1000 may be omitted or replaced with other components according to actual needs; or, the cargo handling device 100 may be used alone (e.g., for sales) or in conjunction with other devices.
[0038] In this embodiment, the handling device 100 includes a base 1, two first telescopic arms 2 mounted on the base 1, two second telescopic arms 3 respectively disposed corresponding to the two first telescopic arms 2, two lever mechanisms 4, and a drive mechanism 5 disposed on the base 1. Each lever mechanism 4 is mounted between a first telescopic arm 2 and a corresponding second telescopic arm 3, collectively defining a picking module 10.
[0039] That is, the cargo moving device 100 is described in the present embodiment by employing two of the lever mechanisms 4, but the present application is not limited thereto. For example, in other embodiments not shown in the present application, the cargo moving device 100 can be provided with only one of the lever mechanisms 4 according to actual needs, which is installed between one of the first telescopic arms 2 and the corresponding second telescopic arm 3 to jointly define one of the cargo taking modules 10.
[0040] In the present embodiment, the base 1 is installed on the traveling device 200, and the base 1 comprises a bottom plate 11 and two side plates 12 vertically connected to the two side edges of the bottom plate 11 respectively. Among them, two of the first telescopic arms 2 are installed on the inner edges of the two side plates 12 respectively, and each of the first telescopic arms 2 and the corresponding second telescopic arm 3 can be connected by a linear slide rail (not marked in the figure) so that the two first telescopic arms 2 and the two second telescopic arms 3 can be moved synchronously by the driving mechanism 5.
[0041] It should be noted that the cargo moving device 100 in the present embodiment can optionally employ a single driving mechanism 5 to synchronously drive two of the cargo taking modules 10 to run, thereby achieving the effect of simplifying the overall structure and control mode. Among them, the driving mechanism 5 is described by comprising an electric motor 51 and a connecting rod 52 connected to the electric motor 51, and two of the cargo taking modules 10 can be synchronously run by the electric motor 51 and the connecting rod 52, but the present application is not limited thereto. For example, in other embodiments not shown in the present application, the cargo moving device 100 can be provided with two of the driving mechanisms 5 according to actual needs, thereby driving two of the cargo taking modules 10 respectively.
[0042] Further, as shown in Figures 3 to 10 , each of the first telescopic arms 2 can move outward from a first initial position (as shown in Figure 3 ) in the base 1 along a running direction D to a first extended position (as shown in Figure 4 and Figure 6 ). Each of the second telescopic arms 3 can move outward from a second initial position (as shown in Figure 3 ) in the base 1 along the running direction D to a second extended position (as shown in Figure 6 ). Among them, each of the first telescopic arms 2 can reciprocate between the first initial position and the first extended position (as shown in Figure 3 , Figure 4 , Figure 6 , Figure 8 , and Figure 9each of the second telescopic arms 3 is capable of reciprocating between the second initial position and the second extended position (as shown in Figure 3 , Figure 6 and Figure 9 two outer edges of the two second telescopic arms 3 in the second extended position defines a pickup opening 32.
[0043] In addition, since the two pickup modules 10 in the present embodiment are of substantially the same configuration and are arranged in mirror image with each other, for the sake of convenience, the following description will mainly introduce the configuration and connection relationship of one of the pickup modules 10, but the present application is not limited thereto. For example, in other embodiments of the present application not shown, the configurations of the two pickup modules 10 can also be slightly different or not arranged in mirror image; or, the pickup modules 10 can also be applied (such as vending) or used in combination with other configurations.
[0044] In the present embodiment, as shown in Figure 2 the first telescopic arm 2 has a guide channel 21, a front guide rail 22 located at the front side of the guide channel 21, and a rear guide rail 23 located at the rear side of the guide channel 21. Among them, the guide channel 21 is recessed in the first telescopic arm 2 and is in a through-penetration shape, the front guide rail 22 and the rear guide rail 23 are each a spiral guide block and are located on the inner side of the first telescopic arm 2, and the front guide rail 22 and the rear guide rail 23 have two surfaces facing each other along the running direction D, which are two spiral surfaces corresponding to each other in shape.
[0045] In more detail, the guide channel 21 in the present embodiment is generally U-shaped and includes a return groove 211, a front turning groove 212 connected to the front end of the return groove 211, and a rear turning groove 213 connected to the rear end of the return groove 211. Among them, the return groove 211 is in a long strip shape parallel to the running direction D, the front turning groove 212 is formed by extending downward from the front end of the return groove 211, and the rear turning groove 213 is formed by extending downward from the rear end of the return groove 211.
[0046] In addition, the second telescopic arm 3 has a magnet 31 arranged at the end thereof, so that the second telescopic arm 3 can be matched with the lever mechanism 4 through the magnet 31. Among them, the magnet 31 can be arranged on the outer side of the second telescopic arm 3 (that is, the magnet 31 does not block the pickup opening 32), but the present application is not limited thereto.
[0047] The lever mechanism 4 is located between the first telescopic arm 2 and the second telescopic arm 3, and comprises two bearing seats 41 fixed to the second telescopic arm 3, and a lever 42 installed on the two bearing seats 41. The two bearing seats 41 face each other along the running direction D, and the height positions of the two bearing seats 41 correspond to the return groove 211. One of the bearing seats 41 is adjacent to the end of the second telescopic arm 3 (or the magnet 31) and defines a front bearing seat 41a, and the other bearing seat 41 is located between the front guide rail 22 and the rear guide rail 23 and defines a rear bearing seat 41b.
[0048] Further, the lever 42 comprises a lever body 421, a blocking arm 422 fixed to the front end of the lever body 421, and a guide structure 423 fixed to the rear end of the lever body 421. The lever body 421 is parallel to the running direction D, and the lever body 421 is rotatably installed on the two bearing seats 41. In this embodiment, the front end and the rear end of the lever body 421 are respectively inserted into the two bearing seats 41, and the lever body 421 can move synchronously with the second telescopic arm 3 through the cooperation of the lever body 421 and the two bearing seats 41. That is, the lever body 421 cannot move relative to the second telescopic arm 3 along the running direction D in this embodiment.
[0049] The blocking arm 422 has a fixed end 4221 fixed to the lever body 421, and a free end 4222 away from the fixed end 4221. The blocking arm 422 can move and rotate synchronously with the lever body 421, and the magnet 31 is located on the rotation path of the free end 4222 of the blocking arm 422, so that the free end 4222 can be selectively magnetically attracted to the magnet 31.
[0050] Further, the position of the blocking arm 422 corresponds to the pickup opening 32; as shown in Figure 3 When the first telescopic arm 2 is located at the first initial position and the second telescopic arm 3 is located at the second initial position, the free end 4222 does not shield the pickup opening 32 along the running direction D. However, as shown in Figure 6 and Figure 7 When the first telescopic arm 2 is located at the first extended position and the second telescopic arm 3 is located at the second extended position, the free end 4222 shields at least part of the pickup opening 32 along the running direction D.
[0051] The guide structure 423 can move along the guide passage 21, and the guide structure 423 can be adjusted and changed according to the configuration of the guide passage 21. According to the guide passage 21 described above, one of the optional states of the guide structure 423 will be described below, but the present application is not limited thereto.
[0052] As shown in Figure 2 The guide structure 423 in this embodiment includes an auxiliary rod 4231, a front protrusion 4232 located in front of the auxiliary rod 4231, and a rear protrusion 4233 located behind the auxiliary rod 4231. The auxiliary rod 4231, the front protrusion 4232, and the rear protrusion 4233 are connected to the rod body 421, and the auxiliary rod 4231 is located between the front protrusion 4232 and the rear protrusion 4233.
[0053] In more detail, the auxiliary rod 4231 is connected perpendicularly to the rod body 421, and the auxiliary rod 4231 and the blocking arm 422 are located on opposite sides of the rod body 421 in this embodiment, but the present application is not limited thereto. The shape of the auxiliary rod 4231 corresponds to the front steering groove 212 and the rear steering groove 213, so that the auxiliary rod 4231 can pass through the front steering groove 212 and the rear steering groove 213.
[0054] The front protrusion 4232 and the rear protrusion 4233 are each generally spherical in this embodiment, and the components arranged at the rear end of the rod body 421 are arranged in the order of the front protrusion 4232, the rear bearing seat 41b, the auxiliary rod 4231, and the rear protrusion 4233 from front to rear along the running direction D between the front guide rail 22 and the rear guide rail 23. That is, the front protrusion 4232 is located between the front guide rail 22 and the auxiliary rod 4231 along the running direction D, and the rear protrusion 4233 is located between the auxiliary rod 4231 and the rear guide rail 23 along the running direction D.
[0055] As described above, when the first telescopic arm 2 is located at the first extended position, and the second telescopic arm 3 moves to a first intermediate position adjacent to the second extended position (as shown in Figure 4 and Figure 5When the second telescopic arm 3 is still not moved to the first intermediate position, the blocking arm 422 can be optionally magnetically positioned on the magnet 31, but the present application is not limited thereto. For example, in other embodiments of the present application not shown, the blocking arm 422 can also be positioned relative to the second telescopic arm 3 by means other than magnetic attraction, such as by means of gear meshing or by means of a linkage limiting position. Figure 6 and Figure 7 As shown, to allow the blocking arm 422 to shield at least part of the goods taking opening 32 (away from the magnet 31).
[0056] Thus, in the present embodiment, the goods taking module 10 can be designed by means of the first telescopic arm 2 and the second telescopic arm 3 in combination with the lever mechanism 4, so that the lever 42 used to shield the goods taking opening 32 can be connected to the extension movement of the first telescopic arm 2 and the second telescopic arm 3, thereby eliminating the need for an independent driving motor, effectively simplifying the structure and control mode of the transport vehicle 1000 and reducing its production and maintenance costs.
[0057] It should be additionally noted that when the second telescopic arm 3 has not yet moved to the first intermediate position, the blocking arm 422 can be optionally magnetically positioned on the magnet 31, but the present application is not limited thereto. For example, in other embodiments of the present application not shown, the blocking arm 422 can also be positioned relative to the second telescopic arm 3 by means other than magnetic attraction, such as by means of gear meshing or by means of a linkage limiting position.
[0058] In addition, the following describes the relevant operation of the goods taking module 10 after taking the goods, in which the goods taking module 10 is retracted to the base 1. When the first telescopic arm 2 is moved to the first initial position, and the second telescopic arm 3 is moved to a second intermediate position adjacent to the second initial position (as shown, the second telescopic arm 3 has not yet reached the second initial position), the guide structure 423 (such as the rear protrusion 4233) abuts against the rear guide rail 23, and the auxiliary rod 4231 is adjacent to the rear turning groove 213 through the return groove 211, the second telescopic arm 3 can continue to move towards the second initial position, to drive the guide structure 423 (such as the rear protrusion 4233) to move along the rear guide rail 23, thereby driving the lever 42 to rotate until the auxiliary rod 4231 abuts against the inner wall of the return groove 211 (such as the return groove 211) through the rear turning groove 213 (such as the rear turning groove 213), so as to allow the blocking arm 422 to shield at least part of the goods taking opening 32 (away from the magnet 31). Figure 8 Figure 9 and Figure 10 As shown), so that the stop arm 422 is removed from the loading port 32 (and attracted to the magnet 31).
[0059] [Example 2]
[0060] Please see Figures 11 to 17 As shown, this is Embodiment Two of the present invention. Since this embodiment is similar to Embodiment One described above, the similarities between the two embodiments will not be repeated. The main differences between this embodiment and Embodiment One are as follows:
[0061] In this embodiment, the two picking modules 10 also adopt a generally similar structure and are arranged in a mirror-symmetric configuration. Therefore, for ease of understanding, the following content mainly describes the structure and connection relationship of one of the picking modules 10 (e.g., the guide structure 423 of the picking module 10 and the first telescopic arm 2), but the present invention is not limited thereto.
[0062] like Figure 11 and Figure 12 As shown, the first telescopic arm 2 has a track component 20 on its inner side. In this embodiment, the track component 20 is a two-piece structure, forming the guide channel 21, the front guide rail 22, and the rear guide rail 23. The track component 20 also has a hollowed-out area for the rear bearing seat 41b to move, but the present invention is not limited to this. For example, in other embodiments of the present invention not shown, the track component 20 may also be a single-piece structure.
[0063] More specifically, in this embodiment, the guide channel 21 includes a going groove 214 and a returning groove 215, and the going groove 214 and the returning groove 215 are parallel to the running direction D, but are staggered from each other (e.g., the returning groove 215 is closer to the second telescopic arm 3 than the going groove 214).
[0064] Furthermore, the front guide rail 22 is located in front of the outgoing groove 214 and the return groove 215, while the rear guide rail 23 is located behind the outgoing groove 214 and the return groove 215. In this embodiment, the front guide rail 22 and the rear guide rail 23 are each an inclined edge, and the front guide rail 22 is located on the extension path of the outgoing groove 214 and continues the return groove 215, while the rear guide rail 23 is located on the extension path of the return groove 215 and continues the outgoing groove 214.
[0065] The guiding structure 423 is a guide rod 4234, which is vertically connected to the rod body 421. In other words, the guiding structure 423 in this embodiment does not include the front protrusion 4232 and the rear protrusion 4233 described in Embodiment 1 (e.g.,Figure 2 As shown), the guide rod 4234 has a similar structure to the auxiliary rod 4231 in Embodiment 1 (e.g.: Figure 2 (As shown) but with different functions. Furthermore, the first telescopic arm 2 has a through hole 24 corresponding to the outgoing groove 214 to facilitate the movement of the guide rod 4234 within the outgoing groove 214 and the through hole 24, but is not limited thereto. For example, in other embodiments of the invention not shown, the length of the guide rod 4234 can be shortened to allow movement within the outgoing groove 214 without touching the first telescopic arm 2, so that the first telescopic arm 2 does not need to form the through hole 24.
[0066] As described above, when the first telescopic arm 2 is located at the first extended position, and the second telescopic arm 3 moves to the first intermediate position adjacent to the second extended position (e.g., ... Figure 12 When the second extension position has not yet been reached, the guide rod 4234 moves along the outgoing groove 214 and abuts against the front guide rail 22, so that the second telescopic arm 3 can continuously move towards the second extension position, thereby driving the guide rod 4234 to move along the front guide rail 22, and then driving the lever 42 to rotate, until the guide rod 4234 enters the return groove 215 (e.g., before reaching the second extension position). Figure 13 and Figure 14 As shown), the blocking arm 422 (away from the magnet 31) blocks at least part of the retrieval port 32, thereby facilitating the completion of subsequent retrieval operations.
[0067] Furthermore, the following describes the operation of the pickup module 10 retracting to the base 1 after acquiring the goods. When the first telescopic arm 2 moves to the first initial position and the second telescopic arm 3 moves to the second intermediate position adjacent to the second initial position (e.g., ... Figure 15 When the second telescopic arm 3 has not yet reached the second initial position, the guide rod 4234 moves along the return groove 215 and abuts against the rear guide rail 23, so that the second telescopic arm 3 can continuously move towards the second initial position, thereby driving the guide rod 4234 to move along the rear guide rail 23, and then driving the lever 42 to rotate, until the guide rod 4234 enters the outgoing groove 214 (e.g., before reaching the second initial position). Figure 16 and Figure 17 As shown), so that the stop arm 422 is removed from the loading port 32 (and attracted to the magnet 31).
[0068] [Technical Effects of the Embodiments of the Invention]
[0069] In summary, the trolley, the goods carrying device and the goods taking module disclosed by the embodiments of the present application are capable of achieving the following effects: the structure of the first telescopic arm and the second telescopic arm is matched with the structure of the lever mechanism, so that the lever used for shielding the goods taking opening can be connected with the extension movement of the first telescopic arm and the second telescopic arm, and thus it is not necessary to use a separate driving motor, and the structure and the control mode of the trolley and the goods carrying device are effectively simplified, and the production and maintenance costs are greatly reduced.
[0070] The above disclosed content is only optional and feasible embodiments of the present application, and does not limit the patent scope of the present application, so that any equivalent technical changes made by applying the content of the specification and drawings of the present application are included in the patent scope of the present application.
Claims
1. A transport vehicle, characterized in that, The transport vehicle includes: a traveling device; A mast assembly, which is mounted on the traveling device; and A cargo handling device is mounted on the mast assembly, and the cargo handling device includes: a base mounted on the mast assembly; Two first telescopic arms are mounted on the base, and each first telescopic arm has a guide channel and a front guide rail located in front of the guide channel; wherein each first telescopic arm can move outward from a first initial position located in the base along a running direction to a first extended position; Two second telescopic arms are respectively provided corresponding to two first telescopic arms; wherein... Each of the second telescopic arms can move outward from a second initial position within the base along the operating direction to a second extended position; wherein a loading port is defined between the outer edges of the two second telescopic arms located at the second extended position; and Two lever mechanisms, each installed between a first telescopic arm and a corresponding second telescopic arm, are collectively defined as a pickup module; wherein, in each pickup module, the lever mechanism includes: At least one bearing housing is fixed to the second telescopic arm; and One lever, including: A rod body, rotatably mounted on at least one of the bearing seats; A stop arm, fixed to the front end of the rod; and A guide structure is fixed to the rear end of the rod; wherein the guide structure is movable along the guide channel; In each of the picking modules, when the first telescopic arm is in the first extended position and the second telescopic arm moves to a first intermediate position adjacent to the second extended position, the guide structure abuts against the front guide rail, and the second telescopic arm can continuously move toward the second extended position to drive the guide structure to move along the front guide rail, thereby driving the lever to rotate so that the stop arm blocks at least part of the picking port.
2. The transport vehicle according to claim 1, characterized in that, In each of the aforementioned pickup modules, the guide channel is recessed in the first telescopic arm and includes a return groove and a front steering groove communicating with the front end of the return groove. The guide structure includes: An auxiliary rod is connected to the rod body; and A front protrusion is located between the front guide rail and the auxiliary rod; When the first telescopic arm is in the first extended position and the second telescopic arm moves to the first intermediate position, the front protrusion abuts against the front guide rail, the auxiliary rod is located on one side of the front steering groove, and the second telescopic arm can continuously move toward the second extended position to drive the front protrusion to move along the front guide rail, thereby driving the lever to rotate until the auxiliary rod passes through the front steering groove and abuts against the inner wall of the return groove.
3. The transport vehicle according to claim 2, characterized in that, In each of the picking modules, the first telescopic arm has a rear guide rail located behind the guide channel, the guide channel including a rear steering groove communicating with the rear end of the return groove, the guide structure including a rear protrusion, and the auxiliary rod located between the front protrusion and the rear protrusion; when the first telescopic arm moves to the first initial position and the second telescopic arm moves to a second intermediate position adjacent to the second initial position, the rear protrusion abuts against the rear guide rail, the auxiliary rod passes through the return groove and is adjacent to the rear steering groove, the second telescopic arm can continuously move toward the second initial position to drive the rear protrusion to move along the rear guide rail, thereby driving the lever to rotate until the auxiliary rod passes through the rear steering groove and abuts against the inner wall of the return groove, so that the stop arm leaves the picking port.
4. The transport vehicle according to claim 1, characterized in that, In each of the aforementioned picking modules, the guiding structure is a guide rod, and the first telescopic arm has a track component on its inner side, forming the guiding channel and the front guide rail, and the guiding channel includes: One-way ditch; and A return groove, wherein the front guide rail is located in front of the outgoing groove and the return groove; When the first telescopic arm is in the first extended position and the second telescopic arm moves to the first intermediate position, the guide rod abuts against the front guide rail along the outgoing groove. The second telescopic arm can continuously move toward the second extended position to drive the guide rod to move along the front guide rail, thereby driving the lever to rotate until the guide rod enters the return groove.
5. The transport vehicle according to claim 4, characterized in that, In each of the picking modules, the track member forms a rear guide rail located behind the outbound groove and the return groove; when the first telescopic arm moves to the first initial position and the second telescopic arm moves to a second intermediate position adjacent to the second initial position, the guide rod abuts against the rear guide rail along the return groove, and the second telescopic arm can continuously move toward the second initial position to drive the guide rod to move along the rear guide rail, thereby driving the lever to rotate until the guide rod enters the outbound groove, so that the stop arm leaves the picking port.
6. The transport vehicle according to claim 1, characterized in that, In each of the picking modules, the first telescopic arm has a rear guide rail located behind the guide channel; when the first telescopic arm moves to the first initial position and the second telescopic arm moves to a second intermediate position adjacent to the second initial position, the guide structure abuts against the rear guide rail, and the second telescopic arm can continuously move toward the second initial position to drive the guide structure to move along the rear guide rail, thereby driving the lever to rotate so that the stop arm leaves the picking port.
7. The transport vehicle according to claim 1, characterized in that, In each of the picking modules, the second telescopic arm has a magnet disposed at its end; before the second telescopic arm has moved to the first intermediate position, the stop arm is magnetically positioned against the magnet.
8. The transport vehicle according to claim 1, characterized in that, The handling device includes a drive mechanism mounted on the base, and the two first telescopic arms and the two second telescopic arms can move synchronously through the drive mechanism; the two picking modules are arranged in a mirror-symmetric configuration.
9. A cargo handling device, characterized in that, The cargo handling device includes: A base; Two first telescopic arms are mounted on the base, and each first telescopic arm has a guide channel and a front guide rail located in front of the guide channel; wherein each first telescopic arm can move outward from a first initial position located in the base along a running direction to a first extended position; Two second telescopic arms are respectively disposed corresponding to two first telescopic arms; wherein each second telescopic arm is movable outward from a second initial position located within the base along the operating direction to a second extended position; wherein a loading port is defined between the outer edges of the two second telescopic arms located at the second extended position; and A lever mechanism is installed between a first telescopic arm and a corresponding second telescopic arm, collectively defined as a pickup module; wherein, within the pickup module, the lever mechanism includes: At least one bearing housing is fixed to the second telescopic arm; and One lever, including: A rod body, rotatably mounted on at least one of the bearing seats; A stop arm, fixed to the front end of the rod; and A guide structure is fixed to the rear end of the rod; wherein the guide structure is movable along the guide channel; In the retrieval module, when the first telescopic arm is located at the first extended position and the second telescopic arm moves to a first intermediate position adjacent to the second extended position, the guide structure abuts against the front guide rail, and the second telescopic arm can continuously move toward the second extended position to drive the guide structure to move along the front guide rail, thereby driving the lever to rotate so that the stop arm blocks at least part of the retrieval port.
10. A picking module of a handling device, characterized in that, The goods handling device includes a goods retrieval module: A first telescopic arm has a guide channel and a front guide rail located in front of the guide channel; wherein the first telescopic arm can move outward from a first initial position along a running direction to a first extended position; A second telescopic arm is provided corresponding to the first telescopic arm; wherein the second telescopic arm is movable outward from a second initial position along the operating direction to a second extended position; and A lever mechanism is installed between the first telescopic arm and the second telescopic arm; wherein, the lever mechanism includes: At least one bearing housing is fixed to the second telescopic arm; and One lever, including: A rod body, rotatably mounted on at least one of the bearing seats; A stop arm, fixed to the front end of the rod; and A guide structure is fixed to the rear end of the rod; wherein the guide structure is movable along the guide channel; When the first telescopic arm is located at the first extended position and the second telescopic arm moves to a first intermediate position adjacent to the second extended position, the guide structure abuts against the front guide rail, and the second telescopic arm can continuously move toward the second extended position to drive the guide structure to move along the front guide rail, thereby driving the lever to rotate.