Transportation device and transportation system

Abstract

This application relates to the field of clean technology, providing a transportation device and a transportation system. The transportation device includes a transportation compartment, a walking device, and an obstacle-crossing device. The transportation compartment is provided with a receiving section for carrying goods and an entrance / exit for goods to enter and exit the receiving section. The walking device is installed on the transportation compartment and includes a walking mechanism and a walking drive mechanism, which are drivenly connected to the walking mechanism. The obstacle-crossing device is installed on the walking device and includes a swing arm mechanism and a swing arm drive mechanism, which are drivenly connected to the swing arm mechanism so that the swing arm mechanism can rotate relative to the transportation compartment. In the transportation device and transportation system provided in this application, the obstacle-crossing device is installed on the walking device, and when the walking device moves, the obstacle-crossing device can move along with the walking device. Obstacle crossing is achieved by rotating the swing arm mechanism relative to the transportation compartment, and the walking device, in coordination with the obstacle-crossing device, can cross steps, enabling the transportation device to quickly cross steps and climb stairs.

Description

Technical Field

[0001] This application relates to the field of clean technology, and more particularly to a transportation device and transportation system. Background Technology

[0002] In related technologies, cleaning equipment typically operates only on a single floor and cannot work across floors or stairs. Even if some cleaning equipment can cross floors, its adaptability to staircases is poor, making it unable to quickly traverse floors. Summary of the Invention

[0003] In view of this, embodiments of this application aim to provide a transportation device and transportation system that can quickly realize cross-floor transportation operations.

[0004] A first aspect of this application provides a transportation device, including:

[0005] The transport compartment is provided with a receiving section for carrying goods and an entrance / exit for goods to enter and exit the receiving section;

[0006] A walking device is installed in the transport compartment. The walking device includes a walking mechanism and a walking drive mechanism, and the walking drive mechanism is drivenly connected to the walking mechanism.

[0007] An obstacle-crossing device is installed in the transport compartment or the walking device. The obstacle-crossing device includes a swing arm mechanism and a swing arm drive mechanism. The swing arm drive mechanism is drivenly connected to the swing arm mechanism so that the swing arm mechanism can rotate relative to the transport compartment.

[0008] In some embodiments, the swing arm mechanism includes:

[0009] Swing arm wheel;

[0010] Tensioner wheel;

[0011] A swing arm body, wherein the swing arm wheel is mounted at one end of the swing arm body, and the tension wheel is adjustablely mounted at the other end of the swing arm body;

[0012] The swing arm track engages with the swing arm wheel and the tension wheel.

[0013] In some embodiments, the swing arm drive mechanism includes:

[0014] The swing arm transmission assembly is connected to the main body of the swing arm;

[0015] A swing arm drive component is disposed on the traveling mechanism and is drivenly connected to the swing arm transmission assembly to drive the swing arm mechanism to rotate relative to the transport compartment.

[0016] In some embodiments, the swing arm drive assembly includes:

[0017] The first transmission wheel is driven by the swing arm drive component.

[0018] The second transmission wheel is fixedly connected to the main body of the swing arm;

[0019] The intermediate transmission component is connected to the first transmission wheel and the second transmission wheel respectively.

[0020] In some embodiments, the first transmission wheel, the intermediate transmission member, and the second transmission wheel are all meshing gears; or,

[0021] The intermediate transmission component is a transmission belt, which is sleeved on the first transmission wheel and the second transmission wheel.

[0022] In some embodiments, the walking mechanism includes a track support with protruding studs, and the swing arm drive mechanism further includes:

[0023] The first bearing is disposed between the second transmission wheel and the protrusion.

[0024] In some embodiments, the walking mechanism is connected to the swing arm wheel via a drive, so that the walking mechanism can drive the swing arm wheel to rotate.

[0025] In some embodiments, the swing arm body includes:

[0026] An adjusting seat is used to mount the tensioning wheel and can adjust the position of the tensioning wheel;

[0027] A swing arm bracket, wherein the swing arm wheel is mounted on one end of the swing arm bracket and the adjusting seat is mounted on the other end of the swing arm bracket;

[0028] The housing base and the side cover are provided, wherein the housing base is fixed to the swing arm bracket and the side cover is mounted on the housing base.

[0029] In some embodiments, the adjustment seat includes:

[0030] The tension wheel seat is disposed on the swing arm bracket;

[0031] Tensioner frame, wherein the tensioner is mounted on the tensioner frame;

[0032] The tensioning assembly connects the tensioning wheel seat and the tensioning wheel frame to achieve adaptive tensioning of the swing arm track.

[0033] In some embodiments, the transport equipment further includes a collision avoidance sensor, the collision avoidance sensor comprising:

[0034] A first anti-collision sensing device is disposed on the tension wheel seat, the tensioning assembly, or the tension wheel frame, for detecting the position of the tensioning assembly to identify obstacles in front of the swing arm mechanism.

[0035] In some embodiments, the swing arm body further includes:

[0036] A fixed frame is fixedly installed on the swing arm bracket and can support the swing arm track on one side along the vertical direction of the swing arm bracket;

[0037] A movable frame is movably mounted on the swing arm bracket and can support the swing arm track on the other side along the vertical direction of the swing arm bracket.

[0038] The transport equipment also includes a collision avoidance sensor, which comprises:

[0039] A second anti-collision sensor is installed on the fixed frame or the movable frame to detect the position of the movable frame in order to identify obstacles at the bottom of the swing arm mechanism.

[0040] In some embodiments, the swing arm body further includes:

[0041] An idler wheel, located on the movable frame, can be connected to the track drive of the swing arm.

[0042] In some embodiments, the side cover is movably mounted on the housing base so that the side cover can move toward the inside of the side cover; the transport equipment further includes an anti-collision sensing device, the anti-collision sensing device comprising:

[0043] A third anti-collision sensor is installed on the side cover or the swing arm bracket to detect the position of the side cover in order to identify obstacles on the outer side of the swing arm mechanism.

[0044] In some embodiments, the anti-collision sensing device includes a micro switch, a switch base, and a first spring. The first spring and the micro switch are disposed in the switch base. The first spring is used to trigger the micro switch to identify the touch action of the swing arm mechanism.

[0045] In some embodiments, the obstacle-crossing device further includes:

[0046] An obstacle-crossing drive mechanism is connected to the swing arm wheel drive to drive the swing arm track to rotate.

[0047] In some embodiments, the transport equipment further includes:

[0048] A collision avoidance sensor is disposed on the swing arm mechanism to identify obstacles at least at the front, bottom, or outer part of the swing arm mechanism.

[0049] In some embodiments, the anti-collision sensing device includes at least one of a microswitch, an elastic member, a camera, radar, infrared, and lidar.

[0050] In some embodiments, the walking mechanism includes:

[0051] Wheels;

[0052] Track support;

[0053] The first drive shaft and the second bearing are respectively provided at both ends of the track bracket through the second bearing. The walking wheel is fixedly provided on the first drive shaft. The first drive shaft is connected to the swing arm mechanism.

[0054] The walking track engages with the walking wheels at both ends of the track support. The walking drive mechanism is driven by one of the walking wheels to drive the walking track to rotate.

[0055] In some embodiments, the walking drive mechanism includes:

[0056] Walking drive components;

[0057] The coupling is used to drive the walking drive component, and the corresponding first transmission shaft is fixed to the coupling.

[0058] In some embodiments, the first drive shaft has a circumferentially formed convex ring, which is located between the second bearing and the traveling wheel.

[0059] In some embodiments, the transport compartment comprises:

[0060] The housing has the receiving portion and the opening / closing portion that can be opened or closed;

[0061] A door opening mechanism for opening or closing the housing;

[0062] A limiting mechanism is used to limit the movement of an item contained within the receiving section.

[0063] In some embodiments, the housing includes:

[0064] First shell;

[0065] A second shell, on which the first shell covers, to form the receiving portion having an inlet and outlet;

[0066] A cover plate, connected to the first or second housing, is rotatable under the drive of the opening mechanism to open or close the entrance / exit.

[0067] In some embodiments, the cover plate is connected to the second housing, and the door opening mechanism includes:

[0068] A door opening drive assembly is installed in the first housing or the second housing;

[0069] A door opening drive assembly is connected to the cover plate, and a door opening drive assembly is driven to connect to the door opening drive assembly so that the cover plate can rotate around the second shell.

[0070] In some embodiments, the inner side of the cover plate has a ramp so that when the cover plate is opened, the ramp can smoothly connect the ground to the bottom upper surface of the second shell.

[0071] In some embodiments, the door opening drive assembly is mounted on the first housing, and the door opening transmission assembly includes:

[0072] The second drive shaft is connected to the door opening drive assembly in a driving connection.

[0073] The first link, the first end of the first link being fixedly connected to the second drive shaft;

[0074] The second link has its first end hinged to the second end of the first link, and its second end hinged to the cover plate.

[0075] In some embodiments, the limiting mechanism includes a first limiting mechanism, which is a first pressure plate fixedly connected to the second drive shaft, so that when the cover is closed, it can abut against the item in the receiving part in the vertical direction, and when the cover is open, it can move away from the item in the receiving part.

[0076] In some embodiments, the limiting mechanism includes a first limiting mechanism, which comprises:

[0077] The pressure plate bracket is disposed in the first housing;

[0078] The third drive shaft is rotatably mounted on the pressure plate bracket;

[0079] The third link and the fourth link, one end of the third link is hinged to the first link, the other end of the third link is hinged to one end of the fourth link, and the other end of the fourth link is fixedly connected to the third drive shaft;

[0080] The second pressure plate is fixedly connected to the third drive shaft so that it can abut against the item in the receiving part in the vertical direction when the cover is closed, and can move away from the item in the receiving part when the cover is open.

[0081] In some embodiments, the first link has an extension arm, and the limiting mechanism includes a second limiting mechanism, the second limiting mechanism including a sliding arm having a bent portion at one end and a stop portion at the other end;

[0082] When the cover is closed, the extension arm can abut against the bend and drive the sliding arm to rise, so that the stop part can limit the item in the receiving part in the horizontal direction;

[0083] When the cover is opened, the extension arm can move away from the bend, and the sliding arm can descend so that the stop portion can release the restriction on the item in the receiving portion in the horizontal direction.

[0084] In some embodiments, the second limiting mechanism further includes a reset member for driving the sliding arm to move downward when the extended arm moves away from the bent portion.

[0085] In some embodiments, the second limiting mechanism further includes a sliding seat disposed on the housing, the sliding arm having a groove, and the sliding seat passing through the groove to guide the sliding arm to slide up and down.

[0086] In some embodiments, the second limiting mechanism further includes a pressure cap disposed on the second housing, the pressure cap having a stop hole;

[0087] When the cover is closed, the stop portion can pass through the stop hole and protrude from the stop hole to limit the item inside the receiving part;

[0088] When the cover is opened, the stop portion can retract from the stop hole to release the restriction on the item inside the receiving portion.

[0089] In some embodiments, the limiting mechanism includes a second limiting mechanism disposed on the first shell or the second shell for limiting the item within the receiving portion in the horizontal direction.

[0090] In some embodiments, the second limiting mechanism includes:

[0091] Limiting components;

[0092] A limit drive assembly is used to drive the limit assembly to move in the vertical direction so as to lock or unlock the item in the receiving part in the horizontal direction.

[0093] In some embodiments, the limiting component includes a first slider having a first inclined surface and a first elastic member connected to the first slider;

[0094] The limit drive assembly includes a second slider with a second inclined surface and a stop mechanism drivenly connected to the second slider.

[0095] The stop mechanism drives the second slider to move toward the first slider, and the second inclined surface cooperates with the first inclined surface to make the first slider move downward and compress the first elastic element, thereby unlocking the item in the receiving part;

[0096] The stop mechanism drives the second slider to move away from the first slider, and the first slider moves upward under the force of the first elastic member, thereby locking the item in the receiving part.

[0097] In some embodiments, the second slider has an internal thread, and the stop mechanism includes:

[0098] A transmission rod with external threads is threadedly connected to the second slider.

[0099] A stop driver is disposed in the housing and is drivenly connected to the transmission rod;

[0100] A stop plate is provided over the stop driver and the second slider so that the second slider can move along the stop plate.

[0101] In some embodiments, the limiting component includes a limiting block, and the limiting drive component is driven to the limiting block to drive the limiting block to move in the up-down direction.

[0102] In some embodiments, the item to be transported has a self-propelled mechanism, and the transport compartment further includes:

[0103] A guiding mechanism is used to guide the item to be transported to a preset position within the receiving section.

[0104] In some embodiments, the guiding mechanism includes:

[0105] A guide channel is disposed in the second housing, one end of which extends to the inlet / outlet;

[0106] A positioning block is disposed on the second shell and spaced apart from the other end of the guide channel to form a limiting space, which is used to hold the item to be transported in a preset position.

[0107] In some embodiments, the walking devices are respectively arranged on both sides of the transport compartment, and the obstacle-crossing devices are arranged in front of and behind each walking device. Each walking drive mechanism is drivenly connected to the corresponding obstacle-crossing device.

[0108] In some embodiments, the walking devices are respectively installed on the outer sides of the transport cabin, and the obstacle-crossing devices are installed on the front and rear outer sides of each walking device, with the entrance and exit located between the walking devices on both sides.

[0109] The transportation equipment provided in this application embodiment has an obstacle-crossing device installed on a walking device. When the walking device moves, the obstacle-crossing device can move along with it. The swing arm mechanism can rotate relative to the transportation compartment to adapt to changes in step height, thereby achieving obstacle crossing. The walking device, in conjunction with the swing arm mechanism, can cross steps, enabling the transportation equipment to quickly cross steps and climb stairs to transport cleaning equipment to various floors for cleaning.

[0110] A second aspect of this application provides a transportation system including an item to be transported and a transportation device as described in any of the preceding claims, the transportation device being used to transport the item to be transported.

[0111] In some embodiments, the item to be transported is cleaning equipment.

[0112] In some embodiments, the cleaning equipment is a sweeper, a floor scrubber, or a combined sweeper and scrubber.

[0113] The transportation system provided in this application has the same beneficial effects as the transportation equipment described above. Attached Figure Description

[0114] Figure 1 This is a schematic diagram of the structure of a transportation device in one embodiment of this application;

[0115] Figure 2 for Figure 1 A partial structural schematic diagram of the transportation equipment shown.

[0116] Figure 3 for Figure 2 Enlarged view of point A;

[0117] Figure 4 for Figure 2 Enlarged view of point B;

[0118] Figure 5 for Figure 2 Enlarged view of point C;

[0119] Figure 6 for Figure 2 A structural schematic diagram of the transportation equipment shown from a second perspective;

[0120] Figure 7 for Figure 6 Enlarged diagram of point D;

[0121] Figure 8 for Figure 7 Enlarged view of point E;

[0122] Figure 9 for Figure 7 Enlarged schematic diagram at point F;

[0123] Figure 10 for Figure 2 A structural schematic diagram of the transportation equipment shown from a third perspective;

[0124] Figure 11 for Figure 10 Enlarged schematic diagram at point G;

[0125] Figure 12 This is a schematic diagram of the structure of the transportation equipment and the cleaning equipment in one embodiment of this application;

[0126] Figure 13 This is a schematic diagram of the transport compartment in one embodiment of this application;

[0127] Figure 14 for Figure 13 A partial structural schematic diagram of the transport compartment shown;

[0128] Figure 15 This is a schematic diagram of the transportation and cleaning equipment in another embodiment of this application (with the entrance and exit open);

[0129] Figure 16 for Figure 15 A second-view structural diagram of the transport and cleaning equipment shown (with entrances and exits closed);

[0130] Figure 17 for Figure 15 A schematic diagram of the transportation equipment shown (entrance and exit closed);

[0131] Figure 18 for Figure 15 Another structural diagram of the transportation equipment shown (with entrance and exit open);

[0132] Figure 19 for Figure 18 Enlarged view of point H;

[0133] Figure 20 This is a schematic diagram of the sliding arm in one embodiment of this application;

[0134] Figure 21 for Figure 15 A structural schematic diagram of the transportation and cleaning equipment from a third perspective (showing the second limiting mechanism);

[0135] Figure 22 for Figure 15 A structural schematic diagram of the transportation and cleaning equipment from a fourth perspective (showing the second limiting mechanism);

[0136] Figure 23 for Figure 22 Enlarged schematic diagram at point I;

[0137] Figure 24 for Figure 13 Another partial structural diagram of the transport compartment shown;

[0138] Figure 25 for Figure 24 Enlarged schematic diagram at point J;

[0139] Figure 26 for Figure 24 A structural schematic diagram of the transport compartment from a second perspective;

[0140] Figure 27 for Figure 26 Enlarged schematic diagram at point K.

[0141] Explanation of reference numerals in the attached figures

[0142] Transportation equipment 100; Cleaning equipment 200;

[0143] Transport compartment 10; hull 11; first shell 111; second shell 112; cover plate 113; ramp 1131; receiving section 11a; entrance / exit 11b; door opening mechanism 12; door opening drive assembly 121; door opening transmission assembly 122; second drive shaft 1221; first link 1222; extension arm 12221; second link 1223; limiting mechanism 13; first limiting mechanism 131; first pressure plate 1311; pressure plate bracket 1312; third drive shaft 1313; third link 1314; fourth link 1315; second pressure plate 1316; second limiting mechanism 132; Limiting component 1321; First slider 13211; First inclined surface 132111; Limiting block 13212; Limiting drive component 1322; Second slider 13221; Second inclined surface 132211; Stopping mechanism 13222; Transmission rod 132221; Stopping driver 132222; Stopping pressure plate 132223; Sliding arm 1323; Slide groove 1323a; Bending part 13231; Stopping part 13232; Sliding arm body 13233; Reset part 1324; Sliding seat 1325; Pressure cap 1326; Stopping hole 1326a;

[0144] Walking device 20; walking mechanism 21; track support 213211; protruding column 2111; walking wheel 212; first receiving column 2121; track support 213211; first drive shaft 214; protruding ring 2141; second bearing 215; walking track 216; walking drive mechanism 22; walking drive component 221; coupling 222;

[0145] Obstacle-crossing device 30; swing arm mechanism 31; swing arm wheel 311; second receiving column 3111; tension wheel 312; swing arm body 313; adjusting seat 3131; tension wheel seat 31311; tension wheel frame 31312; wheel frame body 313121; support plate 313122; tensioning assembly 31313; swing arm bracket 3132; outer shell seat 3133; side cover 3134; fixed frame 3135; movable frame 3136; idler wheel groove 3136a; idler wheel shaft 31361; idler wheel 3137; swing arm track 314; swing arm drive mechanism 32; swing arm transmission assembly 321; first transmission wheel 3211; second transmission wheel 3212; intermediate transmission component 3213; swing arm drive component 322; first bearing 323; obstacle-crossing drive mechanism 33;

[0146] Anti-collision sensor 40; first anti-collision sensor 4140; second anti-collision sensor 4240; third anti-collision sensor 4340; first micro switch 411; first switch base 412; first spring 413; second micro switch 421; second switch base 422; second spring 423;

[0147] Guiding mechanism 50; guide channel 51; positioning block 52. Detailed Implementation

[0148] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0149] It should be noted that in the embodiments of this application, the orientations or positional relationships such as "upper," "lower," "front," and "rear" are based on the orientations or positional relationships shown in the accompanying drawings. It should be understood that these orientational terms are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0150] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" and the like should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0151] In the embodiments of this application, unless otherwise expressly specified and limited, the first feature being "on" or "under" the second feature can mean that the first feature and the second feature are in direct contact, or that the first feature and the second feature are in indirect contact through an intermediate medium.

[0152] In the description of this specification, references to terms such as "some embodiments," "exemplary," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine the different embodiments or examples described in this application, as well as the features of those different embodiments or examples.

[0153] In this specification, "X includes at least one of A, B, and C" means that X includes at least A, or X includes at least B, or X includes at least C. That is, X can include only one of A, B, and C, or any combination of A, B, and C, or other possible content / elements. The arbitrary combination of A, B, and C can be A, B, C, AB, AC, BC, or ABC.

[0154] In related technologies, cleaning equipment typically operates only on a single floor and cannot work across floors or stairs. Even if some cleaning equipment can cross floors or stairs, their complex structures and poor adaptability to complex environments make them unsuitable for cleaning work in such conditions. For example, after cleaning, the equipment needs to return to its associated base station for further cleaning or to remove temporarily stored debris. In multi-story buildings, this requires multiple moves of the equipment / base station, necessitating manual labor and significant time consumption, thus impacting cleaning efficiency.

[0155] In view of this, a first aspect of the present application provides a transport device 100 capable of transporting items to be transported, such as cleaning equipment. It has good obstacle-crossing performance, can perform transport operations across floors, and improves cleaning efficiency. Please refer to... Figures 1-5 The transport equipment 100 includes a transport compartment 10, a walking device 20, and an obstacle-crossing device 30. The transport compartment 10 is provided with a receiving section 11a for carrying goods (please refer to [reference needed]). Figure 13 ) and entrance / exit 11b for items to enter and exit the storage section 11a (please refer to the relevant documentation) Figure 13The walking device 20 is installed in the transport compartment 10. The walking device 20 includes a walking mechanism 21 and a walking drive mechanism 22, which are drivenly connected to the walking mechanism 21. The obstacle crossing device 30 is installed in the transport compartment 10 or the walking device 20. The obstacle crossing device 30 includes a swing arm mechanism 31 and a swing arm drive mechanism 32, which are drivenly connected to the swing arm mechanism 31 so that the swing arm mechanism 31 can rotate relative to the transport compartment 10.

[0156] The transport compartment 10 is used to install the walking device 20 and the obstacle crossing device 30, as well as to provide space for the items to be transported.

[0157] The shape of the transport compartment 10 is not limited, as long as it can provide space for the goods to be transported. For example, the projection of the outer contour of the transport compartment 10 onto the ground can be circular, square, elliptical, or trapezoidal, etc. The transport compartment 10 can be closed or open in the transport state, and this application does not impose any special restrictions.

[0158] The number of walking devices 20 can be multiple, for example, two, three, four or more. For example, walking devices 20 are respectively arranged on both sides of the transport compartment 10, and obstacle-crossing devices 30 are arranged in front of and behind each walking device 20. Each walking drive mechanism 22 is drivenly connected to the corresponding obstacle-crossing device 30. Alternatively, the transport equipment 100 includes three walking devices 20, one walking device 20 located at the front of the transport equipment 100 in the forward direction, and the other two walking devices 20 located at the rear of the forward direction; or the transport equipment 100 includes four walking devices 20, two walking devices 20 located at the front of the transport equipment 100 in the forward direction, and the other two walking devices 20 located at the rear of the forward direction.

[0159] For example, walking devices 20 are respectively provided on the outer sides of the transport compartment 10, and obstacle-crossing devices 30 are provided on the front and rear outer sides of each walking device 20. The entrance 11b is located between the two walking devices 20. The walking devices 20 are located on the outer sides of the transport compartment 10 and do not occupy the space of the transport compartment 10, so that the space of the receiving part 11a is larger, which facilitates the setting of the door opening mechanism of the transport compartment 10 and the accommodation of more or larger items.

[0160] The obstacle-crossing device 30 can be directly installed on the transport compartment 10; or it can be indirectly installed on the transport compartment 10 by being installed on the walking device 20.

[0161] The walking device 20 can move the transport compartment 10 and the obstacle crossing device 30 together. The way the walking device 20 moves is not limited. For example, the walking device 20 can be a wheeled walking device, which moves by walking wheels; the walking device 20 can also be a tracked walking device, which moves by tracks; the walking device 20 can also be a wheel-track hybrid walking device, which moves by combining walking wheels and tracks.

[0162] In the transport equipment 100, each traveling mechanism 21 can share a single traveling drive mechanism 22 or have its own corresponding traveling drive mechanism 22. For example, the transport equipment has two traveling devices 20, each with two traveling mechanisms 21 and one traveling drive mechanism 22, with the traveling drive mechanism 22 drivingly connected to both traveling mechanisms 21. Alternatively, the transport equipment may have two traveling devices 20, each with one traveling mechanism 21 and one traveling drive mechanism 22, with the two traveling drive mechanisms 22 drivingly connected to the two traveling mechanisms 21 respectively. For example, each traveling mechanism 21 has two traveling wheels 212, one traveling wheel 212 located at the front of the traveling direction and the other traveling wheel 212 located at the rear of the traveling direction. The two traveling drive mechanisms 22 are drivingly connected to either the two traveling wheels 212 located at the front or rear of the transport equipment 100.

[0163] The method of powering the walking drive mechanism 22 is not limited. The walking drive mechanism 22 has both driving and transmission functions. For example, a drive motor, such as an AC motor or a DC motor, can be used for driving. For example, gear transmission, belt transmission, chain transmission, or electric cylinder can be used for transmission.

[0164] The number of obstacle-crossing devices 30 can be multiple, for example, two, three, four or more. For example, the transport equipment 100 is provided with two obstacle-crossing devices 30, which are located on the front or rear side of the travel direction, respectively on the left and right sides of the transport compartment 10; or the transport equipment 100 is provided with four obstacle-crossing devices 30, with two obstacle-crossing devices 30 located on the front side of the transport equipment 100 in the travel direction and the other two obstacle-crossing devices 30 located on the rear side in the travel direction.

[0165] In the transport equipment 100, each swing arm mechanism 31 can share a single swing arm drive mechanism 32 or have its own corresponding swing arm drive mechanism 32. For example, the transport equipment 100 includes two obstacle-crossing devices 30, located at the front of the travel direction on the left and right sides of the transport compartment 10, respectively. Each obstacle-crossing device 30 has one swing arm mechanism 31 and one swing arm drive mechanism 32, with each swing arm drive mechanism 32 drivenly connected to its corresponding swing arm mechanism 31. For example, the transport equipment 100 includes four obstacle-crossing devices 30, which together have four swing arm mechanisms 31 and two swing arm drive mechanisms 32. Two obstacle-crossing devices 30 are located at the front of the travel direction, and the other two are located at the rear of the travel direction. The two swing arm drive mechanisms 32 are drivenly connected to the two swing arm mechanisms 31 located at the front.

[0166] The method of powering the swing arm drive mechanism 32 is not limited. The swing arm drive mechanism 32 has both driving and transmission functions. For example, a drive motor, such as an AC motor or a DC motor, can be used for driving. For example, gear transmission, belt transmission, chain transmission, or electric cylinder can be used for transmission.

[0167] The transport equipment 100 provided in this application includes an obstacle-crossing device 30, which can be installed in the transport compartment 10 or the walking device 20. When the walking device 20 moves, the obstacle-crossing device 30 can move along with it. Obstacle crossing is achieved by rotating the swing arm mechanism 31 relative to the transport compartment 10. The walking device 20, in coordination with the obstacle-crossing device 30, can cross steps, enabling the transport equipment 100 to climb stairs and transport cleaning equipment to various floors for cleaning.

[0168] In some embodiments, please refer to Figure 6 and Figure 7 The swing arm mechanism 31 includes a swing arm wheel 311, a tension wheel 312, a swing arm body 313, and a swing arm track 314. The swing arm wheel 311 is installed at one end of the swing arm body 313, and the tension wheel 312 is adjustablely installed at the other end of the swing arm body 313. The swing arm track 314 is engaged with the swing arm wheel 311 and the tension wheel 312.

[0169] The swing arm track 314 is fitted onto the tension wheel 312 and the swing arm wheel 311, and the swing arm drive mechanism 32 is drivenly connected to the swing arm body 313. For example, the inner ring of the swing arm track 314 has teeth that mesh with the tension wheel 312 and the swing arm wheel 311. The tension wheel 312 and the swing arm wheel 311 are both external gears, which mesh with the inner ring teeth of the swing arm track 314 for transmission.

[0170] The tension pulley 312 can adjust the tension of the swing arm track 314 to ensure that the force is evenly distributed between the swing arm track 314, the tension pulley 312, and the swing arm wheel 311. This can reduce the possibility of the swing arm track 314 becoming loose due to long-term use or temperature changes, resulting in skipped teeth or poor meshing transmission. It can also reduce the vibration and noise generated between the swing arm track 314 and the tension pulley 312 during operation.

[0171] In some embodiments, please refer to Figure 2 The swing arm drive mechanism 32 includes a swing arm transmission assembly 321 and a swing arm drive component 322. The swing arm transmission assembly 321 is connected to the swing arm body 313; the swing arm drive component 322 is disposed on the traveling mechanism 21 and is drivenly connected to the swing arm transmission assembly 321 to drive the swing arm mechanism 31 to rotate relative to the transport compartment 10.

[0172] The swing arm drive component 322 provides the power for the swing arm transmission assembly 321 to rotate the swing arm body 313. Exemplarily, the swing arm drive component 322 can be a drive electric cylinder. The swing arm transmission assembly 321 transmits the power provided by the swing arm drive component 322 to the swing arm body 313, enabling the swing arm body 313 to rotate relative to the transport compartment 10. The method of transmission implemented by the swing arm transmission assembly 321 is not limited; it can be achieved through gear transmission, belt transmission, chain transmission, or electric cylinder, etc.

[0173] In some embodiments, please refer to Figure 2 The swing arm transmission assembly 321 includes a first transmission wheel 3211, a second transmission wheel 3212, and an intermediate transmission component 3213. The swing arm drive component 322 is drivenly connected to the first transmission wheel 3211; the second transmission wheel 3212 is fixedly connected to the swing arm body 313; the first transmission wheel 3211 and the second transmission wheel 3212 are respectively drivenly connected to the intermediate transmission component 3213.

[0174] The swing arm drive 322 provides power for the rotation of the first transmission wheel 3211, which is transmitted to the second transmission wheel 3212 via the intermediate transmission member 3213, thereby driving the swing arm body 313 to rotate together to overcome obstacles. Exemplarily, the intermediate transmission member 3213 includes a transmission wheel set, for example, consisting of one or more transmission wheels. The diameters of the transmission wheels can be the same or different, thus changing the transmission torque so that the swing arm drive 322 can transmit driving force to the second transmission wheel 3212 through multiple transmission wheels, thereby driving the swing arm body 313 to rotate. The transmission wheels can be gears or worms. In other embodiments, the transmission wheel set includes a worm gear and a worm, which mesh to drive the second transmission wheel 3212 to rotate, thereby driving the swing arm body 313 to rotate.

[0175] In some embodiments, please refer to Figure 2 The first transmission wheel 3211, the intermediate transmission component 3213, and the second transmission wheel 3212 are all meshing gears.

[0176] The diameters of the first transmission wheel 3211, the intermediate transmission component 3213, and the second transmission wheel 3212 can be the same or different, thus changing the transmission torque so that the swing arm drive component 322 can transmit the driving force to the second transmission wheel 3212 through multiple transmission wheels, thereby driving the swing arm body 313 to rotate.

[0177] In some embodiments, the intermediate transmission component 3213 is a transmission belt, which is sleeved on the first transmission wheel 3211 and the second transmission wheel 3212.

[0178] A transmission belt is fitted onto the first transmission pulley 3211 and the second transmission pulley 3212. The swing arm drive member 322 is drivenly connected to the first transmission pulley 3211, so that the transmission belt rotates, driving the second transmission pulley 3212 to rotate, and in turn driving the swing arm body 313 to rotate. Exemplarily, the transmission belt meshes with the first transmission pulley 3211 and the second transmission pulley 3212. For example, the inner ring of the transmission belt has teeth facing the first transmission pulley 3211 and the second transmission pulley 3212. The first transmission pulley 3211 and the second transmission pulley 3212 are both external gears, meshing with the inner ring teeth of the transmission belt.

[0179] In other embodiments, the transmission belt drives the first transmission wheel 3211 and the second transmission wheel 3212 through friction.

[0180] In some embodiments, please refer to Figure 10 and Figure 11 The walking mechanism 21 includes a track support 211 with a protrusion 2111, and the swing arm drive mechanism 32 also includes a first bearing 323, which is disposed between the second transmission wheel 3212 and the protrusion 2111.

[0181] The first bearing 323 is used to reduce the friction between the second drive wheel 3212 and the track support 211, thereby reducing wear between structures, reducing energy consumption generated by the device, and reducing the possibility of jamming when the second drive wheel 3212 rotates relative to the track support 211.

[0182] In some embodiments, please refer to Figure 2 The traveling mechanism 21 is connected to the swing arm wheel 311 in a transmission connection so that the traveling mechanism 21 can drive the swing arm wheel 311 to rotate.

[0183] In other words, when the walking drive mechanism 22 drives the walking mechanism 21 to move, the swing arm wheel 311 can rotate together with the walking mechanism 21. This reduces the number of drive systems used, simplifies maintenance, reduces the weight of the drive unit used in the transport equipment 100, lightens the overall weight of the transport equipment 100, and improves the energy efficiency of the transport equipment 100. Furthermore, since both the walking mechanism 21 and the swing arm mechanism 31 are driven by the walking drive mechanism 22, the coordination of the transport equipment 100's movement is improved.

[0184] In other embodiments, the obstacle crossing device 30 further includes an obstacle crossing drive mechanism, which is drivenly connected to the swing arm wheel 311 to drive the swing arm track 314 to rotate.

[0185] Thus, the movement of the walking mechanism 21 and the swing arm mechanism 31 can be independently controlled, improving the flexibility of the transport equipment 100. Furthermore, if one of the walking drive mechanism 22 or the obstacle-crossing drive mechanism fails, the other can still enable the transport device to continue moving, improving the reliability of the transport equipment 100.

[0186] In some embodiments, please refer to Figure 3 The main body 313 of the swing arm includes an adjusting seat 3131 and a swing arm bracket 3132. The adjusting seat 3131 is used to install the tension wheel 312 and can adjust the position of the tension wheel 312; the swing arm wheel 311 is installed at one end of the swing arm bracket 3132, and the adjusting seat 3131 is installed at the other end of the swing arm bracket 3132.

[0187] The adjusting seat 3131 is movably connected to the swing arm bracket 3132, and the tensioning wheel 312 can move with the adjusting seat 3131 to achieve the tensioning effect.

[0188] In some embodiments, please refer to Figure 4 The main body of the swing arm 313 also includes a housing base 3133 and a side cover 3134. The housing base 3133 is fixed to the swing arm bracket 3132, and the side cover 3134 is installed on the housing base 3133.

[0189] The outer casing 3133 and side cover 3134 enhance the structural strength of the swing arm body 313, enabling it to withstand external impacts that the swing arm may experience during movement. Simultaneously, the outer casing 3133 and side cover 3134 shield the swing arm bracket 3132, protecting the internal structure from external environmental influences. The side cover 3134 and outer casing 3133 are detachably connected for easy routine maintenance and repair.

[0190] In some embodiments, please refer to Figures 6-8 The adjusting seat 3131 includes a tension wheel seat 31311, a tension wheel frame 31312, and a tensioning assembly 31313. The tension wheel seat 31311 is disposed on the swing arm bracket 3132; the tension wheel 312 is disposed on the tension wheel frame 31312; the tensioning assembly 31313 connects the tension wheel seat 31311 and the tension wheel frame 31312 to achieve adaptive tensioning of the swing arm track 314.

[0191] The tension wheel 312 can move with the tension wheel frame 31312, and the tension wheel seat 31311 is fixed to the swing arm bracket 3132. Under the action of the tensioning assembly 31313, the tension wheel frame 31312 can drive the tension wheel 312 to move relative to the swing arm bracket 3132, which can adjust the distance between the tension wheel 312 and the swing arm wheel 311, thereby adjusting the tension of the swing arm track 314.

[0192] For example, please refer to Figure 8The tensioning assembly 31313 includes a tensioning member 313131, which is disposed between the tensioning wheel seat 31311 and the tensioning wheel frame 31312 to adjust the tension force between the tensioning wheel 312 and the swing arm wheel 311.

[0193] For example, the tensioning element 313131 is an elastic element, such as a compression spring. The compression spring is compressed by the tension wheel seat 31311 and the tension wheel frame 31312, accumulating elastic potential energy, which can adjust the distance between the tension wheel 312 and the swing arm wheel 311, thereby adjusting the tension of the swing arm track 314.

[0194] For example, please refer to Figure 8 The tensioning assembly 31313 also includes a tensioning wheel shaft 313132, which is disposed on the tensioning wheel frame 31312. The tensioning wheel 312 is sleeved on the tensioning wheel shaft 313132, allowing the tensioning wheel 312 to rotate relative to the tensioning wheel seat 31311. Thus, the tensioning wheel shaft 313132 can limit the movement of the tensioning wheel 312, thereby improving the stability of its rotation.

[0195] For example, the tensioning wheel frame 31312 has a wheel frame body 313121 and a support plate 313122, the extension direction of the support plate 313122 being perpendicular to the extension direction of the wheel frame body 313121.

[0196] By way of example, the tensioning assembly 31313 further includes a tensioning column 313133, which is fixed to the support plate. The tensioning member 313131 is an elastic member, which is sleeved on the tensioning column 313133. Thus, the tensioning column 313133 passes through the elastic member, allowing the elastic member to deform by extending and contracting along the tensioning column 313133. The tensioning column 313133 can limit the movement of the elastic member, thereby improving the stability of the elastic member during deformation.

[0197] In some embodiments, the transport device 100 also includes a collision avoidance sensor 40 disposed on the swing arm mechanism 31 to identify obstacles at least at the front, bottom, or outer side of the swing arm mechanism 31.

[0198] When the front, bottom, or outer part of the swing arm mechanism 31 is subjected to force, such as when it encounters a wall, furniture, or other obstacle, the anti-collision sensor 40 can detect the collision and immediately send a signal to the control system, so as to adjust the forward direction of the transport equipment 100 in time or stop it from moving forward, so as to avoid collision with the obstacle.

[0199] In some embodiments, the anti-collision sensing device 40 includes at least one of a micro switch, an elastic member, a camera, radar (RADAR), infrared radar, and lidar (LIDAR).

[0200] Microswitches are used to detect physical contact between objects. When the switch is pressed, it closes the circuit and sends a signal. Using microswitches can reduce costs.

[0201] When an elastic member undergoes elastic deformation, it is considered to have detected an obstacle and will take an avoidance action.

[0202] Cameras can capture images or videos, and image analysis can reveal information about the environment, such as the location of objects or obstacles.

[0203] Radar (RADAR) measures the distance and speed of objects by emitting radio waves and receiving the reflected signals. It can detect distant targets and obtain the location information of targets or obstacles, and is unaffected by light conditions.

[0204] By emitting infrared light and receiving reflected signals, the distance or temperature of an object can be measured, thereby obtaining the location information of the target or obstacle.

[0205] LiDAR (Light Detection and Ranging) can use laser pulses to achieve high-precision ranging, thereby obtaining the position information of targets or obstacles.

[0206] In some embodiments, please refer to Figure 8 The anti-collision sensing device 40 includes a micro switch, a switch base, and a spring. The spring and the micro switch are disposed in the switch base. The spring is used to trigger the micro switch to identify the touch action of the swing arm mechanism 31.

[0207] The switch holder is used to fix the micro switch. The micro switch can be designed to adapt to the requirements so that the spring can trigger the micro switch under the action of external force.

[0208] In some embodiments, please refer to Figure 8 The anti-collision sensing device 40 includes a first anti-collision sensing device 41, which is disposed on the tension wheel seat 31311, the tension assembly 31313, or the tension wheel frame 31312, for detecting the position of the tension assembly 31313 to identify obstacles in front of the swing arm mechanism 31.

[0209] It is understood that the front part of the swing arm mechanism 31 refers to the front section along the forward direction of the transport equipment 100. When the front part of the swing arm mechanism 31 is subjected to force, such as when it encounters a wall, furniture or other obstacle, the first anti-collision sensor 41 can detect the collision and immediately send a signal to the control system, so as to adjust the forward direction of the transport equipment 100 in time or stop it from moving forward, so as to avoid collision with the obstacle.

[0210] For example, please refer to Figure 8The first anti-collision sensing device 41 includes a first micro switch 411, a first switch base 412, and a first spring 413. The first switch base 412 is fixed to the tension wheel base 31311. The first spring 413 and the first micro switch 411 are disposed on the first switch base 412 and are drivenly connected. The end of the tensioning column 313133 away from the tension wheel 312 housing is the suspension end, and the first spring 413 is located on the movement trajectory of the suspension end. Thus, when the front of the swing arm mechanism 31 is subjected to force, the suspension end can trigger the first micro switch 411.

[0211] In some embodiments, please refer to Figure 9 The main body of the swing arm 313 also includes a fixed frame 3135 and a movable frame 3136. The fixed frame 3135 is fixedly mounted on the swing arm bracket 3132 and can support the swing arm track 314 on one side along the vertical direction of the swing arm bracket 3132; the movable frame 3136 is movably mounted on the swing arm bracket 3132 and can support the swing arm track 314 on the other side along the vertical direction of the swing arm bracket 3132.

[0212] Thus, the movable frame 3136 can be displaced relative to the fixed frame 3135. The fixed frame 3135 and the movable frame 3136 can support the swing arm track 314 in the vertical direction, which can improve the rotational stability of the swing arm track 314, thereby improving the transmission efficiency of the swing arm track 314 and extending its service life.

[0213] For example, please refer to Figure 9 The anti-collision sensing device 40 includes a second anti-collision sensing device 42, which is disposed on the fixed frame 3135 or the movable frame 3136, for detecting the position of the movable frame 3136 to identify obstacles at the bottom of the swing arm mechanism 31.

[0214] The fixed frame 3135 and the movable frame 3136 are arranged vertically. The fixed frame 3135 supports the swing arm track 314 upwards along the upper end of the swing arm bracket 3132, and the movable frame 3136 supports the swing arm track 314 downwards along the lower end of the swing arm bracket 3132. When the bottom of the swing arm mechanism 31, such as the bottom of the swing arm track 314, is subjected to force, for example, when it encounters a wall, furniture, or other obstacle, the second anti-collision sensor 40 can detect the collision and immediately send a signal to the control system, so as to adjust the forward direction of the transport equipment 100 in time or stop its forward movement to avoid collision with the obstacle.

[0215] For example, please refer to Figure 9The second anti-collision sensing device 42 includes a second micro switch 421, a second switch base 422, and a second spring 423. The second switch base 422 is fixed to the fixing frame 3135. The second spring 423 and the second micro switch 421 are disposed on the second switch base 422 and are drivenly connected. The second spring 423 is located on the movement trajectory of the fixing frame 3135. Thus, when the bottom of the swing arm mechanism 31 is subjected to force, the fixing frame 3135 can trigger the second micro switch 421.

[0216] In some embodiments, please refer to Figure 9 The swing arm body 313 also includes an idler wheel 3137, which is mounted on the movable frame 3136 and can be connected to the swing arm track 314 for transmission.

[0217] The idler pulley 3137 can share the load of the swing arm pulley 311 and tension pulley 312 inside the swing arm track 314, improving the operational stability of the obstacle-crossing device 30. By evenly distributing the load, the service life of the obstacle-crossing device 30 can be extended. Furthermore, the idler pulley 3137 can support the swing arm track 314, which helps maintain the tension of the swing arm track 314.

[0218] For example, the movable frame 3136 has an idler groove 3136a and an idler shaft 31361, the idler shaft 31361 is fixed in the idler groove 3136a, and the idler 3137 is sleeved on the idler shaft 31361; the swing arm track 314 is drivenly connected to the idler 3137.

[0219] The idler wheel groove 3136a provides installation space for the idler wheel 3137. The idler wheel shaft 31361 is mounted on the movable frame 3136, and the idler wheel 3137 is sleeved on the idler wheel shaft 31361, allowing the idler wheel 3137 to rotate relative to the movable frame 3136. Thus, the idler wheel shaft 31361 acts as a limit for the idler wheel 3137, improving the stability of its rotation.

[0220] In some embodiments, please refer to Figure 4 The side cover 3134 is movably mounted on the housing base 3133 so that the side cover 3134 can move toward the inside of the side cover 3134.

[0221] For example, please refer to Figure 2 The anti-collision sensor 40 includes a third anti-collision sensor 43, which is disposed on the side cover 3134 or the swing arm bracket 3132, for detecting the position of the side cover 3134 to identify obstacles on the outer side of the swing arm mechanism 31.

[0222] When the side of the swing arm mechanism 31, such as the side cover 3134, is subjected to force, for example, when it encounters a wall, furniture or other obstacle, the third anti-collision sensor 40 can detect the collision and immediately send a signal to the control system, so as to adjust the forward direction of the transport equipment 100 in time or stop it from moving forward, so as to avoid further collision with the obstacle.

[0223] For example, the third anti-collision sensing device 43 includes a third micro switch, a third switch base, and a third spring. The third switch base is fixed to the swing arm bracket 3132, and the third spring and the third micro switch are disposed on the third switch base. The third spring and the third micro switch are drivenly connected, and the third spring is located on the movement trajectory of the side cover 3134. Thus, when the side of the swing arm mechanism 31 is subjected to force, such as the side cover 3134, the side cover 3134 can trigger the third micro switch.

[0224] In some embodiments, please refer to Figure 10 and Figure 11 The traveling mechanism 21 includes traveling wheels 212, track brackets 211, traveling tracks 216, a first drive shaft 214, and a second bearing 215. The first drive shaft 214 is mounted on both ends of the track bracket 211 via the second bearing 215. The traveling wheels 212 are fixedly mounted on the first drive shaft 214. The first drive shaft 214 is connected to the swing arm mechanism 31. The traveling tracks 216 mesh with the traveling wheels 212 at both ends of the track bracket 211. The traveling drive mechanism 22 is driven by one of the traveling wheels 212 to drive the traveling tracks 216 to rotate.

[0225] The walking devices 20 are positioned on both sides of the transport compartment 10 along the direction of travel. The walking mechanism 21 includes two walking wheels 212, which can be either driving wheels or driven wheels. For example, the driving wheel is connected to the walking drive mechanism 22, and the other is a driven wheel.

[0226] The walking drive mechanism 22 is driven by the walking wheels 212. The walking track 216 is fitted onto the walking wheels 212 at both ends of the track support 211, driving the walking track 216. The inner ring of the walking track 216 has teeth facing the walking wheels 212, which are external gears that mesh with the inner ring teeth of the walking track 216. When the walking drive mechanism 22 drives the walking wheels 212 to rotate, the swing arm wheel 311 can rotate together. This reduces the number of drive systems used, simplifies maintenance, reduces the weight of the drive unit used in the transport equipment 100, lightens the overall weight of the transport equipment 100, and improves the energy efficiency of the transport equipment 100. Furthermore, the simultaneous rotation of the walking wheels 212 and the swing arm wheel 311 with the first drive shaft 214 improves the coordination of the walking motion.

[0227] The second bearing 215 is used to reduce the friction between the first drive shaft 214 and the track support 211, thereby reducing wear between the structures, reducing the energy consumption generated by the device, and reducing the possibility of jamming when the first drive shaft 214 rotates relative to the track support 211.

[0228] For example, please refer to Figure 7 The swing arm wheel 311 is mounted on the first drive shaft 214, so that the first drive shaft 214 can drive the swing arm wheel 311 and the traveling wheel 212 to rotate together.

[0229] In some embodiments, please refer to Figure 10 and Figure 11 The walking drive mechanism 22 includes a walking drive component 221 and a coupling 222. The walking drive component 221 and the coupling 222 are drivenly connected, and the corresponding first transmission shaft 214 is fixed to the coupling 222.

[0230] The travel drive component 221 can be a drive motor, such as an AC motor or a DC motor. The coupling 222 can reduce impact and absorb vibration, thereby reducing the load on the travel drive component 221. Furthermore, the coupling 222 can compensate for displacement between the first drive shaft 214 and the travel drive component 221 caused by manufacturing and installation errors, deformation during operation, or thermal expansion, thereby improving transmission efficiency.

[0231] In some embodiments, please refer to Figure 10 and Figure 11 The first drive shaft 214 has a circumferentially formed convex ring 2141, which is located between the second bearing 215 and the traveling wheel 212.

[0232] The convex ring 2141 facilitates the positioning of the first drive shaft 214 during installation, while also preventing the possibility of interference between the second bearing 215 and the swing arm wheel 311.

[0233] For example, the traveling wheel 212 has a first receiving post 2121 facing the convex ring 2141, and the first drive shaft 214 passes through the first receiving post 2121. The convex ring 2141 is located between the end of the first receiving post 2121 and the second bearing 215. Providing the first receiving post 2121 can improve the fixing effect of the first drive shaft 214 and the swing arm wheel 311.

[0234] For example, the swing arm wheel 311 has a second receiving post 3111 facing the convex ring 2141, and the first drive shaft 214 passes through the second receiving post 3111. A second bearing 215 is disposed between the convex ring 2141 and the second receiving post 3111. The provision of the second receiving post 3111 can improve the fixing effect of the first drive shaft 214 and the traveling wheel 212.

[0235] For example, please refer to Figure 10 and Figure 11 The track support 211 has a protrusion 2111 facing the swing arm mechanism 31. The protrusion 2111 has a mounting cavity, in which at least a portion of the second bearing 215 and the first drive shaft 214 are located. The first bearing 323 is sleeved on the protrusion 2111 and is located between the second drive wheel 3212 and the protrusion 2111. The protrusion 2111 provides the mounting positions for the first bearing 323, the second bearing 215, and the second drive wheel 3212.

[0236] In some embodiments, please refer to Figure 12 and Figure 13 The transport compartment 10 includes a housing 11, an opening mechanism 12, and a limiting mechanism 13. The housing 11 has a receiving portion 11a; the opening mechanism 12 is used to open or close the housing 11; and the limiting mechanism 13 is used to limit the items contained in the receiving portion 11a.

[0237] The structure of the housing 11 is not limited, as long as it can meet the storage requirements of the receiving section 11a. The projection of the outer contour of the housing 11 onto the ground can be circular, square, elliptical, or trapezoidal, etc. By limiting the items through the door opening mechanism 12, the possibility of wear or damage caused by the items swaying and colliding with the housing 11 during the movement of the transport equipment 100 can be reduced.

[0238] In some embodiments, please refer to Figure 12 and Figure 13 The housing 11 includes a first housing 111, a second housing 112, and a cover plate 113. The first housing 111 covers the second housing 112 to form a receiving portion 11a with an entrance 11b; the cover plate 113 is connected to the first housing 111 or the second housing 112 so that it can rotate under the drive of the door opening mechanism 12 to open or close the entrance 11b.

[0239] Thus, the housing 11 includes a first housing 111 and a second housing 112, which are detachably connected, allowing for easy disassembly and assembly of the first housing 111 to install other structures within the receiving section 11a. The door opening mechanism 12 controls the cover 113 to open or close the entrance 11b, allowing items to enter the receiving section 11a from the entrance 11b.

[0240] For example, the first shell 111 and the second shell 112 can be the upper shell and the lower shell, respectively. Alternatively, the first shell 111 and the second shell 112 can be the left shell and the right shell, respectively. Alternatively, the first shell 111 and the second shell 112 can be the front shell and the rear shell, respectively.

[0241] For example, please refer to Figure 13Taking the first shell 111 as the upper shell and the second shell 112 as the lower shell as an example, the cover plate 113 is connected to the second shell 112, for example, connected to the bottom plate of the second shell 112. In the closed state, the cover plate 113 covers the input port of the receiving part 11a. Driven by the door opening mechanism 12, the cover plate 113 can be flipped up or down. After the cover plate 113 is flipped down, it fits against the ground so that items that can move automatically can pass through the cover plate 113 and enter the receiving part 11a.

[0242] In other embodiments not shown, the cover plate 113 is connected to the first housing 111, and in the closed state, the cover plate 113 covers the inlet of the receiving portion 11a. Driven by the door opening mechanism 12, the cover plate 113 can be flipped up or down.

[0243] In some embodiments, please refer to Figure 13 and Figure 14 Taking the first shell 111 as the upper shell and the second shell 112 as the lower shell as an example, the cover plate 113 is connected to the second shell 112, and the door opening mechanism 12 includes a door opening drive assembly 121 and a door opening transmission assembly 122. The door opening drive assembly 121 is installed on the first shell 111; the door opening transmission assembly 122 is connected to the cover plate 113, and the door opening drive assembly 121 and the door opening transmission assembly 122 are drivenly connected so that the cover plate 113 can rotate around the second shell 112.

[0244] The door opening drive assembly 121 provides power for the rotation of the cover plate 113, and the method of providing power is not limited. For example, a drive motor, such as an AC motor or a DC motor, can be used to achieve the drive.

[0245] The door opening drive assembly 122 is used to transmit the power provided by the door opening drive assembly 121 to the cover plate 113. The door opening drive assembly 122 can achieve transmission in any way. For example, it can be driven by gear transmission, belt transmission, chain transmission or electric cylinder.

[0246] In some embodiments, please refer to Figure 13 The inner side of the cover plate 113 has a ramp 1131 so that when the cover plate 113 is opened, the ramp 1131 can smoothly connect the ground and the bottom upper surface of the second shell 112.

[0247] In this way, the self-propelled items to be transported can walk along the ramp 1131 into the receiving section 11a.

[0248] In some embodiments, please refer to Figure 14The door opening drive assembly 121 is mounted on the first housing 111, and the door opening transmission assembly 122 includes a second drive shaft 1221, a first connecting rod 1222, and a second connecting rod 1223. The door opening drive assembly 121 is drivenly connected to the second drive shaft 1221; the first end of the first connecting rod 1222 is fixedly connected to the second drive shaft 1221; the first end of the second connecting rod 1223 is hinged to the second end of the first connecting rod 1222, and the second end of the second connecting rod 1223 is hinged to the cover plate 113.

[0249] The first drive shaft 214 rotates under the drive of the door opening drive assembly 121, causing the first connecting rod 1222 to rotate relative to the second drive shaft 1221. The second end of the first connecting rod 1222 pulls the second connecting rod 1223 to move closer to or further away from the receiving part 11a, thereby causing the cover plate 113 to rotate relative to the bottom plate of the second shell 112, so as to open or close the entrance 11b.

[0250] In some other embodiments not shown, the door opening drive assembly 121 is mounted on the second housing 112.

[0251] In some embodiments, please refer to Figure 14 The limiting mechanism 13 includes a first limiting mechanism 131, which is a first pressure plate 1311. The first pressure plate 1311 is fixedly connected to the second transmission shaft 1221 so that when the cover plate 113 is closed, it can abut against the item in the receiving part 11a in the up and down direction, and when the cover plate 113 is open, it can move away from the item in the receiving part 11a.

[0252] The first drive shaft 214 rotates under the drive of the door opening drive assembly 121, causing the first pressure plate 1311 to rotate relative to the second drive shaft 1221, and to abut against the item in the vertical direction to limit or release the limit. By driving the first pressure plate 1311 and the second pull rod simultaneously through the first drive shaft 214, the number of structural components used can be reduced, and the weight of the transport equipment 100 can be reduced.

[0253] In some embodiments, please refer to Figure 15 and Figure 16The limiting mechanism 13 includes a first limiting mechanism 131, which includes a pressure plate bracket 1312, a third drive shaft 1313, a second pressure plate 1316, a third connecting rod 1314, and a fourth connecting rod 1315. The pressure plate bracket 1312 is disposed on the first housing 111; the third drive shaft 1313 is rotatably disposed on the pressure plate bracket 1312; one end of the third connecting rod 1314 is hinged to the first connecting rod 1222, and the other end of the third connecting rod 1314 is hinged to one end of the fourth connecting rod 1315; the other end of the fourth connecting rod 1315 is fixedly connected to the third drive shaft 1313; the second pressure plate 1316 is fixedly connected to the third drive shaft 1313 so that when the cover 113 is closed, it can abut against the item in the receiving part 11a in the vertical direction, and when the cover 113 is open, it can move away from the item in the receiving part 11a.

[0254] The pressure plate bracket 1312 is used to mount the second pressure plate 1316 so that the second pressure plate 1316 can press down on the item after rotation, limiting the item's position in the vertical direction. The first connecting rod 1222 can drive the third connecting rod 1314 to rotate, and the third connecting rod 1314 drives the second pressure plate 1316 and the third transmission shaft 1313 to rotate relative to the first housing 111 via the fourth connecting rod 1315. In this way, the first connecting rod 1222 can simultaneously drive the second connecting rod 1223 and the third connecting rod 1314 for transmission, which can both press the second pressure plate 1316 onto the item and close the cover plate 113, reducing the number of structural components used and lightening the weight of the transport equipment 100.

[0255] In some embodiments, please refer to Figures 17-20 The first link 1222 has an extension arm 12221, and the limiting mechanism 13 includes a second limiting mechanism 132. The second limiting mechanism 132 includes a sliding arm 1323, which has a bent portion 13231 at one end and a stop portion 13232 at the other end. When the cover 113 is closed, the extension arm 12221 can abut against the bent portion 13231, causing the sliding arm 1323 to rise, so that the stop portion 13232 can limit the item in the receiving portion 11a in the horizontal direction. When the cover 113 is opened, the extension arm 12221 can move away from the bent portion 13231, and the sliding arm 1323 can descend, so that the stop portion 13232 can release the item in the receiving portion 11a in the horizontal direction.

[0256] The extension arm 12221 of the first link 1222 is used to drive the sliding arm 1323 to move in the vertical direction, thereby limiting or releasing the stop part 13232 from the item. In this way, the first link 1222 can simultaneously drive the second link 1223 and the sliding arm 1323 to move, which can both limit the stop part 13232 from the item in the horizontal direction and close the cover plate 113, thereby reducing the number of structural components used and reducing the weight of the transport equipment 100.

[0257] For example, the extension arm 12221 has an extension arm body that extends in the vertical direction. The extension arm body can be designed to adapt to the structure of the housing 11 so that the extension arm 12221 can abut against the bending part 13231 and the stop part 13232 can limit the item.

[0258] For example, the extension arm 12221 has an extension surface that can engage with the lower surface of the bending portion 13231 to drive the sliding arm 1323 to move upward. In this way, the contact area between the extension arm 12221 and the bending portion 13231 can be increased, reducing the possibility of the first link 1222 or the bending portion 13231 breaking when the extension arm 12221 drives the sliding arm 1323 to move.

[0259] For example, the stop part 13232 is a stop block, which can limit the movement of the item after moving in the vertical direction. For example, if the item has a limiting groove, the stop block can move upward into the limiting groove to limit the displacement of the item in the horizontal direction.

[0260] Understandably, the sliding arm 1323 can move downwards under the action of gravity, thereby releasing the restriction on the items inside the receiving part 11a.

[0261] In other embodiments, please refer to Figure 17 and Figure 18 The second limiting mechanism 132 also includes a reset member 1324, which is used to drive the sliding arm 1323 to move downward when the extension arm 12221 moves away from the bend 13231.

[0262] The sliding arm 1323 is driven to connect to the reset component 1324. When the extension arm 12221 drives the sliding arm 1323 to move, the sliding arm 1323 does not move downward when the extension arm 12221 releases its contact with the bent part 13231, and the stop block still limits the item.

[0263] For example, please refer to Figure 17 and Figure 18 The reset element 1324 is an elastic element. One end of the elastic element is fixed to the side plate of the second housing 112, and the other end is drivenly connected to the sliding arm 1323. When the extension arm 12221 drives the sliding arm 1323 to move upward, the stop part 13232 limits the item, and the elastic element accumulates elastic potential energy. When the extension arm 12221 drives the sliding arm 1323 to move upward, the elastic element releases the elastic potential energy, driving the sliding arm 1323 to move downward, and the stop part 13232 releases the item from the limit. For example, the elastic element can be a tension spring or a compression spring.

[0264] In some embodiments, please refer to Figure 17 and Figure 18The second limiting mechanism 132 also includes a sliding seat 1325 disposed on the housing 11. The sliding arm 1323 has a sliding groove 1323a, and the sliding seat 1325 passes through the sliding groove 1323a to guide the sliding arm 1323 to slide up and down.

[0265] The sliding connection between the slide groove 1323a and the sliding seat 1325 guides the movement of the sliding arm 1323 in the vertical direction, improving the stability of the movement of the sliding arm 1323, so that the stop block can move stably in the vertical direction to limit or release the limit of the item.

[0266] In some embodiments, please refer to Figures 17-23 The second limiting mechanism 132 also includes a pressure cover 1326 disposed on the second housing 112. The pressure cover 1326 has a stop hole 1326a. When the cover plate 113 is closed, the stop part 13232 can pass through the stop hole 1326a and protrude from the stop hole 1326a to limit the item in the receiving part 11a. When the cover plate 113 is opened, the stop part 13232 can retract from the stop hole 1326a to release the item in the receiving part 11a.

[0267] The stop hole 1326a can guide the movement of the stop part 13232 in the vertical direction, improve the stability of the movement of the sliding arm 1323, so that the stop block can move stably in the vertical direction to limit or release the limit of the item.

[0268] In some embodiments, please refer to Figures 24-27 The limiting mechanism 13 includes a second limiting mechanism 132 disposed on the second housing 112, which is used to limit the items in the receiving part 11a in the horizontal direction.

[0269] By setting the second limiting mechanism 132, the item can be horizontally limited to prevent it from moving within the housing 11a on the base plate. This reduces the possibility of wear or damage caused by the item swaying and colliding with the housing 11 during the movement of the transport equipment 100.

[0270] In some other embodiments not shown, the second limiting mechanism 132 is disposed on the first housing 111.

[0271] In some embodiments, please refer to Figure 25 The second limiting mechanism 132 includes a limiting component 1321 and a limiting drive component 1322. The limiting drive component 1322 is used to drive the limiting component 1321 to move in the vertical direction so as to lock or unlock the item in the receiving part 11a in the horizontal direction.

[0272] The limit drive assembly 1322 is used to provide power for the movement of the limit assembly 1321, and the method of providing power by the limit drive assembly 1322 is not limited. For example, a drive motor, such as an AC motor or a DC motor, can be used to achieve the drive.

[0273] In some embodiments, please refer to Figures 24-27 The limiting component 1321 includes a first slider 13211 with a first inclined surface 132111 and a first elastic member (not shown in the figure) connected to the first slider 13211; the limiting drive component 1322 includes a second slider 13221 with a second inclined surface 132211 and a stop mechanism 13222 drivenly connected to the second slider 13221; the stop mechanism 13222 drives the second slider 13221 to move toward the first slider 13211, the second inclined surface 132211 cooperates with the first inclined surface 132111 to make the first slider 13211 move downward and compress the first elastic member, thereby unlocking the item in the receiving part 11a; the stop mechanism 13222 drives the second slider 13221 to move away from the first slider 13211, the first slider 13211 moves upward under the force of the first elastic member, thereby locking the item in the receiving part 11a.

[0274] The first elastic element is used to provide the power for the movement of the first slider 13211. Exemplarily, the first elastic element is a compression spring. The compression spring is compressed and accumulates elastic potential energy. When the stop mechanism 13222 drives the second slider 13221 away from the first slider 13211, the compression spring releases the elastic potential energy, causing the first slider 13211 to move upward and lock the item.

[0275] By cooperating with the first inclined surface 132111 and the second inclined surface 132211, and with the cooperation of the first elastic element and the stop mechanism 13222, the first slider 13211 can be controlled to move in the up and down direction, lock or unlock the item, improve the safety of transportation, and reduce the possibility of the item shaking in the receiving part 11a during transportation.

[0276] For example, a first elastic element is disposed on the bottom plate of the second shell 112, and the first inclined surface 132111 forms an obtuse angle with the bottom plate of the second shell 112 facing the second inclined surface 132211, while the second inclined surface 132211 forms an acute angle with the bottom surface of the second shell 112 facing the first inclined surface 132111. This allows the second inclined surface 132211 to limit the upward movement of the first inclined block.

[0277] In some embodiments, please refer to Figure 25The second slider 13221 has an internal thread, and the stop mechanism 13222 includes a transmission rod 132221, a stop driver 132222, and a stop pressure plate 132223. The transmission rod 132221 has an external thread and is threadedly connected to the second slider 13221. The stop driver 132222 is disposed in the housing 11 and is drivenly connected to the transmission rod 132221. The stop pressure plate 132223 covers the stop driver 132222 and the second slider 13221, so that the second slider 13221 can move along the stop pressure plate 132223.

[0278] The stop plate 132223 guides and limits the stop actuator 132222 and the second slider 13221, allowing the first slider 13211 to move towards or away from the first slider 13211. The stop actuator 132222 provides power for the movement of the second slider 13221. The method of powering the stop actuator 132222 is not limited. Exemplarily, a drive motor, such as an AC motor or a DC motor, can be used for driving.

[0279] In some embodiments, the limiting component 1321 includes a limiting block, and the limiting drive component 1322 is driven to the limiting block to drive the limiting block to move in the up and down direction.

[0280] For example, the item to be transported has a limiting groove, and the limiting block moves in the vertical direction to the limiting groove to limit the item to be transported in the horizontal direction.

[0281] In some embodiments, please refer to Figure 18 The item to be transported has a self-propelled mechanism, and the transport compartment 10 also includes a guiding mechanism 50 for guiding the item to be transported to a preset position within the receiving section 11a.

[0282] The guiding mechanism 50 can perform its guiding function in any way. For example, a guide groove is provided on the bottom plate of the second shell 112 as the guiding mechanism 50, so that the item to be transported can move along the guide groove to a preset position, so as to further limit the item to be transported.

[0283] For example, please refer to Figure 19 The guiding mechanism 50 includes a guide channel 51 and a positioning block 52. The guide channel 51 is disposed on the second shell 112, and one end of the guide channel 51 extends to the entrance / exit 11b; the positioning block 52 is disposed on the second shell 112 and is spaced apart from the other end of the guide channel 51 to form a limiting space, which is used to hold the item to be transported in a preset position.

[0284] The guide channel 51 guides the item to be transported to a preset position so that further actions such as limiting the item can be performed.

[0285] For example, the item to be transported has a drive wheel that moves along the guide 51 to the limiting space and reaches a preset position so that the limiting component can limit the item to be transported.

[0286] For example, both the positioning block 52 and the guide channel 51 have arc-shaped surfaces to facilitate the positioning of the drive wheel. A second aspect of this application provides a transportation system including an item to be transported and the aforementioned transportation device 100, the transportation device 100 being used to transport the item to be transported.

[0287] In some embodiments, the item to be transported is a cleaning device 200. Moving the cleaning device using the transport device 100 allows for cleaning work across floors, improving cleaning efficiency. After the cleaning device 200 has completed its cleaning work, the transport device 100 returns it to the base station associated with it for further cleaning or clearing of temporarily stored debris. When the environment is a multi-story building, there is no need to repeatedly move the cleaning device 200 / base station, nor is manual labor required, saving time and improving cleaning efficiency.

[0288] In some embodiments, the cleaning device 200 may be a sweeper, a floor scrubber, or a combined sweeper and scrubber.

[0289] The above limit blocks are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A transport apparatus, characterized by, include: The transport compartment is provided with a receiving section for carrying goods and an entrance / exit for goods to enter and exit the receiving section; A walking device is installed in the transport compartment. The walking device includes a walking mechanism and a walking drive mechanism, and the walking drive mechanism is drivenly connected to the walking mechanism. An obstacle-crossing device is installed in the transport compartment or the walking device. The obstacle-crossing device includes a swing arm mechanism and a swing arm drive mechanism. The swing arm drive mechanism is drivenly connected to the swing arm mechanism so that the swing arm mechanism can rotate relative to the transport compartment.

2. The transport apparatus of claim 1, wherein, The swing arm mechanism includes: Swing arm wheel; Tensioner wheel; A swing arm body, wherein the swing arm wheel is mounted at one end of the swing arm body, and the tension wheel is adjustablely mounted at the other end of the swing arm body; The swing arm track engages with the swing arm wheel and the tension wheel.

3. The transport apparatus of claim 2, wherein, The swing arm drive mechanism includes: The swing arm transmission assembly is connected to the main body of the swing arm; A swing arm drive component is disposed on the traveling mechanism and is drivenly connected to the swing arm transmission assembly to drive the swing arm mechanism to rotate relative to the transport compartment.

4. The transport apparatus of claim 3, wherein, The swing arm transmission assembly includes: The first transmission wheel is driven by the swing arm drive component. The second transmission wheel is fixedly connected to the main body of the swing arm; The intermediate transmission component is connected to the first transmission wheel and the second transmission wheel respectively.

5. The transport apparatus of claim 4, wherein, The first transmission wheel, the intermediate transmission component, and the second transmission wheel are all meshing gears; or, The intermediate transmission component is a transmission belt, which is sleeved on the first transmission wheel and the second transmission wheel.

6. The transport apparatus of claim 5, wherein, The walking mechanism includes a track support with protruding pillars, and the swing arm drive mechanism further includes: The first bearing is disposed between the second transmission wheel and the protrusion.

7. The transport apparatus of claim 2, wherein, The walking mechanism is connected to the swing arm wheel via a transmission, so that the walking mechanism can drive the swing arm wheel to rotate.

8. The transport apparatus of claim 2, wherein, The main body of the swing arm includes: An adjusting seat is used to mount the tensioning wheel and can adjust the position of the tensioning wheel; A swing arm bracket, wherein the swing arm wheel is mounted on one end of the swing arm bracket and the adjusting seat is mounted on the other end of the swing arm bracket; The housing base and the side cover are provided, wherein the housing base is fixed to the swing arm bracket and the side cover is mounted on the housing base.

9. The transport apparatus of claim 8, wherein, The adjusting seat includes: The tension wheel seat is disposed on the swing arm bracket; Tensioner frame, wherein the tensioner is mounted on the tensioner frame; The tensioning assembly connects the tensioning wheel seat and the tensioning wheel frame to achieve adaptive tensioning of the swing arm track.

10. The transport apparatus of claim 9, wherein, The transport equipment also includes a collision avoidance sensor, which comprises: A first anti-collision sensing device is disposed on the tension wheel seat, the tensioning assembly, or the tension wheel frame, for detecting the position of the tensioning assembly to identify obstacles in front of the swing arm mechanism.

11. The transport apparatus of claim 8, wherein, The swing arm body also includes: A fixed frame is fixedly installed on the swing arm bracket and can support the swing arm track on one side along the vertical direction of the swing arm bracket; A movable frame is movably mounted on the swing arm bracket and can support the swing arm track on the other side along the vertical direction of the swing arm bracket. The transport equipment also includes a collision avoidance sensor, which comprises: A second anti-collision sensor is installed on the fixed frame or the movable frame to detect the position of the movable frame in order to identify obstacles at the bottom of the swing arm mechanism.

12. The transport equipment according to claim 11, characterized in that, The swing arm body also includes: An idler wheel, located on the movable frame, can be connected to the track drive of the swing arm.

13. The transport apparatus of claim 8, wherein, The side cover is movably mounted on the housing base so that the side cover can move toward the inside of the side cover; the transport equipment also includes an anti-collision sensing device, the anti-collision sensing device comprising: A third anti-collision sensor is installed on the side cover or the swing arm bracket to detect the position of the side cover in order to identify obstacles on the outer side of the swing arm mechanism.

14. The transport apparatus of claim 10, 11 or 13, wherein, The anti-collision sensing device includes a micro switch, a switch base, and a first spring. The first spring and the micro switch are disposed in the switch base. The first spring is used to trigger the micro switch to identify the touch action of the swing arm mechanism.

15. The transport apparatus of claim 2, wherein, The obstacle-crossing device also includes: An obstacle-crossing drive mechanism is connected to the swing arm wheel drive to drive the swing arm track to rotate.

16. The transport apparatus of any one of claims 1 to 9, wherein, The transport equipment also includes: A collision avoidance sensor is disposed on the swing arm mechanism to identify obstacles at least at the front, bottom, or outer part of the swing arm mechanism.

17. The transport apparatus of claim 16, wherein, The anti-collision sensing device includes at least one of a micro switch, an elastic component, a camera, radar, infrared, and lidar.

18. The transport apparatus of claim 1, wherein, The walking mechanism includes: Wheels; Track support; The first drive shaft and the second bearing are respectively provided at both ends of the track bracket through the second bearing. The walking wheel is fixedly provided on the first drive shaft. The first drive shaft is connected to the swing arm mechanism. The walking track engages with the walking wheels at both ends of the track support. The walking drive mechanism is driven by one of the walking wheels to drive the walking track to rotate.

19. The transport apparatus of claim 18, wherein, The walking drive mechanism includes: Walking drive components; The coupling is used to drive the walking drive component, and the corresponding first transmission shaft is fixed to the coupling.

20. The transport apparatus of claim 18, wherein, The first drive shaft has a circumferentially formed convex ring, which is located between the second bearing and the traveling wheel.

21. The transport apparatus of any one of claims 1 to 13, 18 to 20, wherein, The transport compartment includes: The housing has the receiving portion and the opening / closing port that can be opened or closed; A door opening mechanism for opening or closing the entrance / exit; A limiting mechanism is used to limit the movement of an item contained within the receiving section.

22. The transport apparatus of claim 21, wherein, The housing includes: First shell; A second shell, wherein the first shell is disposed on the second shell to form the receiving portion having the inlet and outlet; A cover plate, connected to the first or second housing, is rotatable under the drive of the opening mechanism to open or close the entrance / exit.

23. The transport apparatus of claim 22, wherein, The cover plate is connected to the second shell, and the door opening mechanism includes: A door opening drive assembly is installed in the first housing or the second housing; A door opening drive assembly is connected to the cover plate, and a door opening drive assembly is driven to connect to the door opening drive assembly so that the cover plate can rotate around the second shell.

24. The transport equipment according to claim 23, characterized in that, The inner side of the cover plate has a ramp so that when the cover plate is opened, the ramp can smoothly connect the ground to the bottom upper surface of the second shell.

25. The transport apparatus of claim 23, wherein, The door opening drive assembly is mounted on the first housing, and the door opening transmission assembly includes: The second drive shaft is connected to the door opening drive assembly in a driving connection. The first link, the first end of the first link being fixedly connected to the second drive shaft; The second link has its first end hinged to the second end of the first link, and its second end hinged to the cover plate.

26. The transport apparatus of claim 25, wherein, The limiting mechanism includes a first limiting mechanism, which is a first pressure plate. The first pressure plate is fixedly connected to the second transmission shaft so that it can abut against the item in the receiving part in the up and down direction when the cover is closed, and can move away from the item in the receiving part when the cover is open.

27. The transport apparatus of claim 25, wherein, The limiting mechanism includes a first limiting mechanism, which includes: The pressure plate bracket is disposed in the first housing; The third drive shaft is rotatably mounted on the pressure plate bracket; The third link and the fourth link, one end of the third link is hinged to the first link, the other end of the third link is hinged to one end of the fourth link, and the other end of the fourth link is fixedly connected to the third drive shaft; The second pressure plate is fixedly connected to the third drive shaft so that it can abut against the item in the receiving part in the vertical direction when the cover is closed, and can move away from the item in the receiving part when the cover is open.

28. The transport apparatus of claim 25, wherein, The first link has an extension arm, and the limiting mechanism includes a second limiting mechanism, which includes a sliding arm having a bent portion at one end and a stop portion at the other end. When the cover is closed, the extension arm can abut against the bend and drive the sliding arm to rise, so that the stop part can limit the item in the receiving part in the horizontal direction; When the cover is opened, the extension arm can move away from the bend, and the sliding arm can descend so that the stop portion can release the restriction on the item in the receiving portion in the horizontal direction.

29. The transport apparatus of claim 28, wherein, The second limiting mechanism also includes a reset member, used to drive the sliding arm to move downward when the extended arm moves away from the bent portion.

30. The transport apparatus of claim 28, wherein, The second limiting mechanism further includes a sliding seat disposed on the housing, the sliding arm having a sliding groove, and the sliding seat passing through the sliding groove to guide the sliding arm to slide up and down.

31. The transport apparatus of claim 28, wherein, The second limiting mechanism further includes a pressure cap disposed on the second housing, the pressure cap having a stop hole; When the cover is closed, the stop portion can pass through the stop hole and protrude from the stop hole to limit the item inside the receiving part; When the cover is opened, the stop portion can retract from the stop hole to release the restriction on the item inside the receiving portion.

32. The transport apparatus of claim 22, wherein, The limiting mechanism includes a second limiting mechanism disposed on the first shell or the second shell, used to limit the item in the receiving part in the horizontal direction.

33. The transport apparatus of claim 32, wherein, The second limiting mechanism includes: Limiting components; A limit drive assembly is used to drive the limit assembly to move in the vertical direction so as to lock or unlock the item in the receiving part in the horizontal direction.

34. The transport apparatus of claim 33, wherein, The limiting component includes a first slider having a first inclined surface and a first elastic element connected to the first slider; The limit drive assembly includes a second slider with a second inclined surface and a stop mechanism drivenly connected to the second slider. The stop mechanism drives the second slider to move toward the first slider, and the second inclined surface cooperates with the first inclined surface to make the first slider move downward and compress the first elastic element, thereby unlocking the item in the receiving part; The stop mechanism drives the second slider to move away from the first slider, and the first slider moves upward under the force of the first elastic member, thereby locking the item in the receiving part.

35. The transport apparatus of claim 34, wherein, The second slider has an internal thread, and the stop mechanism includes: A transmission rod with external threads is threadedly connected to the second slider. A stop driver is disposed in the housing and is drivenly connected to the transmission rod; A stop plate is provided over the stop driver and the second slider so that the second slider can move along the stop plate.

36. The transport apparatus of claim 33, wherein, The limiting component includes a limiting block, and the limiting drive component is driven to drive the limiting block to move in the up and down direction.

37. The transport apparatus of claim 22, wherein, The goods to be transported have a self-propelled mechanism, and the transport compartment further includes: A guiding mechanism is used to guide the item to be transported to a preset position within the receiving section.

38. The transport apparatus of claim 37, wherein, The guiding mechanism includes: A guide channel is disposed in the second housing, one end of which extends to the inlet / outlet; A positioning block is disposed on the second shell and spaced apart from the other end of the guide channel to form a limiting space, which is used to hold the item to be transported in a preset position.

39. The transport apparatus of claim 1, wherein, The walking devices are respectively installed on both sides of the transport compartment, and obstacle-crossing devices are installed in front of and behind each walking device. Each walking drive mechanism is driven by the corresponding obstacle-crossing device; or, The walking devices are respectively installed on the outer sides of the transport cabin, and the obstacle-crossing devices are installed on the front and rear outer sides of each walking device. The entrance and exit are located between the walking devices on both sides.

40. A transport system characterized by, It includes the article to be transported and the transport equipment according to any one of claims 1 to 39, the transport equipment being used to transport the article to be transported.

41. The transport system of claim 40, wherein, The items to be transported are cleaning equipment.

42. The transport system of claim 41, wherein, The cleaning equipment is a sweeper, a floor scrubber, or a combined sweeper and scrubber.

Images