A transport device

Abstract

The embodiment of the present application discloses a kind of transport devices, including carrier, front wheel component, rear wheel component, first swing arm component and second swing arm component;In front wheel component, front connecting rod is connected to carrier, front wheel is rotationally arranged in front connecting rod, and front wheel motor is arranged in front connecting rod and is connected with front wheel drive;In rear wheel component, rear connecting rod is connected to carrier, rear wheel is rotationally arranged in rear connecting rod, and rear wheel motor is arranged in rear connecting rod and is connected with rear wheel drive;In first swing arm component, two ends of first swing arm are respectively rotationally connected with front connecting rod and first swing arm wheel, and first swing arm motor is drivenly connected with first swing arm;In second swing arm component, two ends of second swing arm are respectively rotationally connected with rear connecting rod and second swing arm wheel, and second swing arm motor is drivenly connected with second swing arm.By the above-mentioned mode, the front wheel component, rear wheel component, first swing arm component and second swing arm component of the embodiment of the present application are cooperated to make the transport device be able to climb steps, and improve transport efficiency.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of transportation technology, and in particular to a transportation device. Background Technology

[0002] A transport device is a device used to handle, convey, or transfer materials. However, traditional transport devices are usually only suitable for flat ground. When encountering stairs, traditional transport devices lack the ability to climb them, requiring external manual intervention to climb, which reduces transport efficiency and increases transport costs. Summary of the Invention

[0003] The present invention aims to provide a transportation device that can climb stairs, thereby improving transportation efficiency and reducing transportation costs.

[0004] To solve the above-mentioned technical problems, one technical solution adopted in this embodiment of the invention is as follows: A transportation device is provided, including a vehicle, a front wheel assembly, a rear wheel assembly, a first swing arm assembly, and a second swing arm assembly; the vehicle is used to load goods; the front wheel assembly includes a front link, a front wheel, and a front wheel motor, one end of the front link is connected to the front end of the vehicle, the front wheel is rotatably disposed at the other end of the front link, the front wheel motor is disposed at the other end of the front link, the front wheel motor is connected to the front wheel drive, and the front wheel motor is used to drive the front wheel to rotate; the rear wheel assembly includes a rear link, a rear wheel, and a rear wheel motor, one end of the rear link is connected to the rear end of the vehicle, the rear wheel is rotatably disposed at the other end of the rear link, the rear wheel motor is disposed at the other end of the rear link, the rear wheel motor is connected to the rear wheel drive, and the rear wheel motor is used to drive the front wheel to rotate. The rear wheel is driven to rotate; the first swing arm assembly includes a first swing arm, a first swing arm motor, and a first swing arm wheel. One end of the first swing arm is rotatably connected to the front connecting rod, and the other end of the first swing arm is rotatably connected to the first swing arm wheel. The first swing arm motor is disposed on the front connecting rod and is drivenly connected to one end of the first swing arm. The first swing arm motor is used to drive the first swing arm to swing relative to the vehicle; the second swing arm assembly includes a second swing arm, a second swing arm motor, and a second swing arm wheel. One end of the second swing arm is rotatably connected to the rear connecting rod, and the other end of the second swing arm is rotatably connected to the second swing arm wheel. The second swing arm motor is disposed on the rear connecting rod and is drivenly connected to one end of the second swing arm. The second swing arm motor is used to drive the second swing arm to swing relative to the vehicle.

[0005] Optionally, along a first direction, the front link protrudes from the front end of the vehicle, and along a second direction, the front link and the vehicle enclose a first reserved space, the first reserved space being used to accommodate the first swing arm, the first direction being the direction from the front end of the vehicle to the rear end of the vehicle, and the second direction being the direction from the top end of the vehicle to the bottom end of the vehicle.

[0006] Optionally, along the first direction, the rear link protrudes from the rear end of the vehicle, and along the second direction, the rear link and the vehicle enclose a second reserved space, the second reserved space being used to accommodate the second swing arm.

[0007] Optionally, the first swing arm assembly further includes a first wheel motor, which is disposed at the other end of the first swing arm and is drivenly connected to the first swing arm wheel. The first wheel motor is used to drive the first swing arm wheel to rotate.

[0008] Optionally, the second swing arm assembly further includes a second wheel motor, which is disposed at the other end of the second swing arm and is drivenly connected to the second swing arm wheel. The second wheel motor is used to drive the second swing arm wheel to rotate.

[0009] Optionally, the first swing arm includes a first arm body and a second arm body connected together. The first arm body and the second arm body are set at a preset angle. The end of the first arm body away from the second arm body is connected to the front connecting rod, and the end of the second arm body away from the first arm body is rotatably connected to the first swing arm wheel.

[0010] Optionally, the first swing arm further includes a first angle motor, which is disposed on the first arm body and connected to the second arm body. The first angle motor is used to drive the second arm body to rotate relative to the first arm body to adjust the included angle between the first arm body and the second arm body.

[0011] Optionally, the second swing arm includes a third arm and a fourth arm connected to each other. The third arm and the fourth arm are set at a preset angle. The end of the third arm away from the fourth arm is connected to the rear connecting rod, and the end of the fourth arm away from the third arm is rotatably connected to the second swing arm wheel.

[0012] Optionally, the second swing arm further includes a second angle motor, which is disposed on the third arm and connected to the fourth arm. The second angle motor is used to drive the fourth arm to rotate relative to the third arm to adjust the included angle between the third arm and the fourth arm.

[0013] Optionally, there are two front wheel assemblies and two rear wheel assemblies, with the two front wheel assemblies located on both sides of the front end of the vehicle and the two rear wheel assemblies located on both sides of the rear end of the vehicle.

[0014] The beneficial effects of this invention are as follows: Unlike existing technologies, this invention provides a transportation device including a vehicle, a front wheel assembly, a rear wheel assembly, a first swing arm assembly, and a second swing arm assembly. The vehicle is used to load goods. The front wheel assembly includes a front link, a front wheel, and a front wheel motor. One end of the front link is connected to the front end of the vehicle, the front wheel is rotatably mounted on the other end of the front link, and the front wheel motor is mounted on the other end of the front link and connected to a front wheel drive. The front wheel motor is used to drive the front wheel to rotate. The rear wheel assembly includes a rear link, a rear wheel, and a rear wheel motor. One end of the rear link is connected to the rear end of the vehicle, the rear wheel is rotatably mounted on the other end of the rear link, and the rear wheel motor is mounted on the other end of the rear link and connected to a rear wheel drive. The rear wheel motor is used to drive the rear wheel to rotate; the first swing arm assembly includes a first swing arm, a first swing arm motor, and a first swing arm wheel. One end of the first swing arm is rotatably connected to the front connecting rod, and the other end of the first swing arm is rotatably connected to the first swing arm wheel. The first swing arm motor is disposed on the front connecting rod and is drivenly connected to one end of the first swing arm. The first swing arm motor is used to drive the first swing arm to swing relative to the vehicle; the second swing arm assembly includes a second swing arm, a second swing arm motor, and a second swing arm wheel. One end of the second swing arm is rotatably connected to the rear connecting rod, and the other end of the second swing arm is rotatably connected to the second swing arm wheel. The second swing arm motor is disposed on the rear connecting rod and is drivenly connected to one end of the second swing arm. The second swing arm motor is used to drive the second swing arm to swing relative to the vehicle.

[0015] In the above manner, the front wheel assembly, rear wheel assembly, first swing arm assembly, and second swing arm assembly of the present invention cooperate to enable the transport device to climb steps without the need for external manual intervention, thereby improving transport efficiency and reducing transport costs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in specific embodiments of the present invention or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0017] Figure 1 This is a schematic diagram of the overall structure of the transportation device provided in the embodiment of the present invention. Figure 1 ;

[0018] Figure 2 This is a partial structural cross-section of the transportation device provided in an embodiment of the present invention. Figure 1 ;

[0019] Figure 3 This is a partial structural cross-section of the transportation device provided in an embodiment of the present invention. Figure 2 ;

[0020] Figure 4 This is a schematic diagram of the overall structure of the transportation device provided in the embodiment of the present invention. Figure 2 ;

[0021] Figure 5 This is a schematic diagram of the motion state of a motion example of the transportation device provided in an embodiment of the present invention. Figure 1 ;

[0022] Figure 6 This is a schematic diagram of the motion state of a motion example of the transportation device provided in an embodiment of the present invention. Figure 2 ;

[0023] Figure 7 This is a schematic diagram of the motion state of a motion example of the transportation device provided in an embodiment of the present invention. Figure 3 ;

[0024] Figure 8 This is a schematic diagram of the motion state of a motion example of the transportation device provided in an embodiment of the present invention. Figure 4 ;

[0025] Figure 9 This is a schematic diagram of the motion state of a motion example of the transportation device provided in an embodiment of the present invention. Figure 5 ;

[0026] Figure 10 This is a schematic diagram of the motion state of a motion example of the transportation device provided in an embodiment of the present invention. Figure 6 ;

[0027] Figure 11 This is a schematic diagram of the motion state of a motion example of the transportation device provided in an embodiment of the present invention. Figure 7 ;

[0028] Figure 12 This is a schematic diagram of the motion state of a motion example of the transportation device provided in an embodiment of the present invention. Figure 8 ;

[0029] Figure 13 This is a schematic diagram of the motion state of another motion example of the transportation device provided in this embodiment of the invention. Figure 1 ;

[0030] Figure 14 This is a schematic diagram of the motion state of another motion example of the transportation device provided in this embodiment of the invention. Figure 2 ;

[0031] Figure 15This is a schematic diagram of the motion state of another motion example of the transportation device provided in this embodiment of the invention. Figure 3 ;

[0032] Figure 16 This is a schematic diagram of the motion state of another motion example of the transportation device provided in this embodiment of the invention. Figure 4 ;

[0033] Figure 17 This is a schematic diagram of the motion state of another motion example of the transportation device provided in this embodiment of the invention. Figure 5 .

[0034] Explanation of reference numerals in the attached figures:

[0035] 1 vehicle;

[0036] 2. Front wheel assembly; 21. Front link; 22. Front wheel; 23. Front wheel motor;

[0037] 3. Rear wheel assembly, 31. Rear link, 32. Rear wheel, 33. Rear wheel motor;

[0038] 4 First swing arm assembly, 41 First swing arm, 411 First arm body, 412 Second arm body, 42 First swing arm motor, 43 First swing arm wheel, 44 First wheel motor;

[0039] 5 Second swing arm assembly, 51 Second swing arm, 511 Third arm body, 512 Fourth arm body, 52 Second swing arm motor, 53 Second swing arm wheel, 54 Second wheel motor;

[0040] 6. First reserved space;

[0041] 7. Second reserved space;

[0042] 8 camera components;

[0043] 9. LiDAR;

[0044] 100 transport devices;

[0045] X is the first direction, and Y is the second direction. Detailed Implementation

[0046] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "vertical," "horizontal," etc., used in this specification indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 the present invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0048] A transport device is a device used to handle, convey, or transfer materials. However, traditional transport devices are usually only suitable for flat ground. When encountering stairs, traditional transport devices lack the ability to climb them, requiring external manual intervention to climb, which reduces transport efficiency and increases transport costs.

[0049] Based on this, the present invention provides a transportation device 100 that can climb stairs and improve transportation efficiency.

[0050] To facilitate the reader's understanding of the concept of the embodiments of the present invention, the specific structure of the transport device 100 is described below:

[0051] Please see Figures 1 to 3The transport device 100 includes a carrier 1, a front wheel 22 assembly 2, a rear wheel 32 assembly 3, a first swing arm assembly 4, and a second swing arm assembly 5. The carrier 1 is used to load goods. The front wheel 22 assembly 2 includes a front connecting rod 21, a front wheel 22, and a front wheel motor 23. One end of the front connecting rod 21 is connected to the front end of the carrier 1, the front wheel 22 is rotatably mounted on the other end of the front connecting rod 21, and the front wheel motor 23 is mounted on the other end of the front connecting rod 21. The front wheel motor 23 is drivenly connected to the front wheel 22 and is used to drive the front wheel 22 to rotate. The rear wheel 32 assembly 3 includes a rear connecting rod 31, a rear wheel 32, and a rear wheel motor 33. One end of the rear connecting rod 31 is connected to the rear end of the carrier 1, the rear wheel 32 is rotatably mounted on the other end of the rear connecting rod 31, and the rear wheel motor 33 is mounted on the other end of the rear connecting rod 31. The rear wheel motor 33 is drivenly connected to the rear wheel 32 and is used to drive the rear wheel 32 to rotate. The first swing arm assembly 4 includes a first swing arm 41, a first swing arm motor 42, and a first swing arm wheel 43. One end of the first swing arm 41 is rotatably connected to the front connecting rod 21, and the other end of the first swing arm 41 is rotatably connected to the first swing arm wheel 43. The first swing arm motor 42 is disposed on the front connecting rod 21 and is drivenly connected to one end of the first swing arm 41. The first swing arm motor 42 is used to drive the first swing arm 41 to swing relative to the carrier 1. The second swing arm assembly 5 includes a second swing arm 51, a second swing arm motor 52, and a second swing arm wheel 53. One end of the second swing arm 51 is rotatably connected to the rear connecting rod 31, and the other end of the second swing arm 51 is rotatably connected to the second swing arm wheel 53. The second swing arm motor 52 is disposed on the rear connecting rod 31 and is drivenly connected to one end of the second swing arm 51. The second swing arm motor 52 is used to drive the second swing arm 51 to swing relative to the carrier 1.

[0052] In the above manner, the front wheel 22 assembly 2, the rear wheel 32 assembly 3, the first swing arm assembly 4 and the second swing arm assembly 5 of the present invention cooperate to enable the transport device 100 to climb the steps without the need for external manual intervention, thereby improving transport efficiency and reducing transport costs.

[0053] To facilitate the reader's understanding of the concept of the embodiments of the present invention, an example of the specific movement process of the transport device 100 is provided below, such as... Figures 5 to 12 As shown:

[0054] First, please refer to Figure 5 and Figure 6 When the front wheel motor 23 or the rear wheel motor 33 outputs power to drive the transport device 100 forward, until the front wheel 22 moves to the front of the step or touches the vertical surface of the step, the first swing arm motor 42 outputs power to drive the first swing arm 41 to swing downward until the first swing arm wheel 43 touches the horizontal surface of the step; then, please refer to Figure 7The first swing arm motor 42 continues to output power to drive the first swing arm 41 to swing further, so that the front wheel 22 is lifted vertically until the lowest point of the front wheel 22 is lifted to the same horizontal level as the step surface. At this time, the vehicle 1 is tilted. Then, please refer to Figure 8 The rear wheel motor 33 outputs power to drive the transport device 100 forward until the rear wheel 32 moves to the front of the step or touches the vertical surface of the step. During this process, the front wheel 22 and the first swing arm wheel 43 move forward synchronously on the horizontal surface of the step. Then, please refer to... Figure 9 The second swing arm motor 52 outputs power to drive the second swing arm 51 to swing downwards until the second swing arm wheel 53 touches the ground. Simultaneously, the first swing arm motor 42 outputs power to drive the first swing arm 41 to swing upwards to reset. Next, please refer to... Figure 10 The second swing arm motor 52 continues to output power to drive the second swing arm 51 to swing further, so that the rear wheel 32 is lifted vertically until the lowest point of the rear wheel 32 is lifted to the same horizontal level as the step surface, at which point the vehicle 1 is in a horizontal state; finally, please refer to Figure 11 and Figure 12 The front wheel motor 23 outputs power to drive the transport device 100 forward until the rear wheel 32 touches the horizontal surface of the step. Then, the second swing arm motor 52 outputs power to drive the second swing arm 51 to swing upward and reset, thus completing the climbing of the step by the transport device 100.

[0055] It should be noted that the movement process of the aforementioned transport device 100 is only an example, and the movement process of the transport device 100 includes, but is not limited to, the above example. It should also be noted that when only the front wheel motor 23, rear wheel motor 33, first swing arm motor 42, and second swing arm motor 52 are present, during the process of the transport device 100 climbing the steps, as the transport device 100 moves forward, the vehicle 1 can only first partially climb to the horizontal surface of the steps in an inclined state, and then climb to the horizontal surface of the steps as a whole in a horizontal state.

[0056] Regarding the aforementioned transport device 100, please refer to some embodiments. Figure 4Along a first direction, the front connecting rod 21 protrudes from the front end of the carrier 1. Along a second direction, the front connecting rod 21 and the carrier 1 enclose a first reserved space 6, which is used to accommodate the first swing arm 41. The first direction is from the front end of the carrier 1 to the rear end of the carrier 1, and the second direction is from the top end of the carrier 1 to the bottom end of the carrier 1. In this way, the first reserved space 6 is formed above the front connecting rod 21, which can accommodate the first swing arm 41 when it swings above the front connecting rod 21, reducing the protrusion of the first swing arm 41 from the front end of the front connecting rod 21, improving structural compactness, reducing the overall volume of the transport device 100, and helping the transport device 100 to pass through narrow spaces in the working state, or helping the transport device 100 to be folded and stored in the non-working state.

[0057] Furthermore, regarding the aforementioned transport device 100, in some embodiments, please refer to... Figure 4 Along the first direction, the rear link 31 protrudes from the rear end of the carrier 1. Along the second direction, the rear link 31 and the carrier 1 enclose a second reserved space 7, which is used to accommodate the second swing arm 51. In this way, the second reserved space 7 is formed above the rear link 31, which can accommodate the second swing arm 51 when it swings above the rear link 31, reducing the protrusion of the second swing arm 51 from the rear end of the rear link 31, further improving the structural compactness, further reducing the overall volume of the transport device 100, further facilitating the transport device 100 to pass through narrow spaces in the working state, or further facilitating the folding and storage of the transport device 100 in the non-working state.

[0058] Regarding the aforementioned transport device 100, please refer to some embodiments. Figures 1 to 3 The transport device 100 also includes a camera assembly 8 and a lidar 9. Both the camera assembly 8 and the lidar 9 are located at the front end of the vehicle 1. The camera assembly 8 is used to capture the image in front of the transport device 100, and the lidar 9 is used for distance measurement. In this way, during the process of the transport device 100 climbing the steps, the camera assembly 8 and the lidar 9 acquire specific information about the transport device 100 climbing the steps (e.g., visual information and distance information, etc.), so that the front wheel assembly 22, the rear wheel assembly 32, the first swing arm assembly 4, and the second swing arm assembly 5 can adjust the drive strategy in real time, thereby improving the success rate of the transport device 100 climbing the steps.

[0059] Regarding the aforementioned transport device 100, please refer to some embodiments. Figures 1 to 3The vehicle has two front wheel assemblies 22 and two rear wheel assemblies 32. The two front wheel assemblies 22 are located on both sides of the front end of the vehicle 1, and the two rear wheel assemblies 32 are located on both sides of the rear end of the vehicle 1. In this way, the front wheel assemblies 22 and the rear wheel assemblies 32 form a symmetrical structure, which can improve the force balance of the transport device 100 during the climbing process, avoid the transport device 100 from tilting due to uneven force during the climbing process, improve the stability of the transport device 100 during the climbing process, enable the transport device 100 to adapt to greater loads, increase the applicability of the transport device 100, and enhance the practicality of the transport device 100.

[0060] Please see Figures 1 to 3 The first swing arm assembly 4 also includes a first wheel motor 44, which is located at the other end of the first swing arm 41 and is driven by the first swing arm wheel 43. The first wheel motor 44 is used to drive the first swing arm wheel 43 to rotate. The second swing arm assembly 5 also includes a second wheel motor 54, which is located at the other end of the second swing arm 51 and is driven by the second swing arm wheel 53. The second wheel motor 54 is used to drive the second swing arm wheel 53 to rotate. In this way, both the first swing arm wheel 43 and the second swing arm wheel 53 can output power, which can enrich the way the transport device 100 climbs the steps and improve the stability of the transport device 100 when climbing the steps.

[0061] Because a first wheel motor 44 and a second wheel motor 54 have been added, to facilitate the reader's further understanding of the concept of the embodiments of the present invention, the following provides another example of the specific movement process of the transport device 100, such as... Figures 13 to 17 As shown:

[0062] First, please refer to Figure 13 and Figure 14 When the front wheel motor 23 or the rear wheel motor 33 outputs power to drive the transport device 100 forward, until the front wheel 22 moves to the front of the step or touches the vertical surface of the step, the first swing arm motor 42 outputs power to drive the first swing arm 41 to swing downward until the first swing arm wheel 43 touches the horizontal surface of the step. At the same time, the second swing arm motor 52 outputs power to drive the second swing arm 51 to swing downward until the second swing arm wheel 53 touches the ground. Then, please refer to Figure 15 The first swing arm motor 42 and the second swing arm motor 52 continue to output power simultaneously, driving the first swing arm 41 and the second swing arm 51 to swing further, so that the front wheel 22 and the rear wheel 32 are lifted synchronously in the vertical direction until the lowest point of the front wheel 22 and the lowest point of the rear wheel 32 in the vertical direction are raised to the same horizontal height as the step surface. At this time, the vehicle 1 is in a horizontal state; then, please refer to Figure 16The first wheel motor 44 and / or the second wheel motor 54 output power to drive the first swing arm wheel 43 and / or the second swing arm wheel 53 to rotate, so that the transport device 100 moves forward until the front wheel 22 and the rear wheel 32 both touch the cross surface of the step; finally, please refer to Figure 17 The first swing arm 41 is driven to swing upward and reset by the output power of the first swing arm motor 42, and the second swing arm 51 is driven to swing upward and reset by the output power of the second swing arm motor 52, thus completing the climbing of the steps by the transport device 100.

[0063] It should be noted that the movement process of the aforementioned transport device 100 is only an example, and the movement process of the transport device 100 includes, but is not limited to, the above example. It should also be noted that when the front wheel motor 23, rear wheel motor 33, first swing arm motor 42, second swing arm motor 52, first wheel motor 44, and second wheel motor 54 are all present simultaneously, during the process of the transport device 100 climbing the steps, as the transport device 100 moves forward, the vehicle 1 can climb to the horizontal surface of the steps in a horizontal state.

[0064] Regarding the aforementioned transport device 100, please refer to some embodiments. Figures 1 to 3 The front wheel 22 is rotatably engaged with one side wall of the front connecting rod 21. The front wheel motor 23 is built into the front wheel 22. The first swing arm 41 is screwed to the other side wall of the front connecting rod 21 away from the front wheel 22. The end of the first swing arm 41 away from the front wheel 22 is provided with a first notch. The first swing arm wheel 43 is rotatably engaged with the first notch. The first wheel motor 44 is built into the first swing arm wheel 43. The rear wheel 32 is rotatably engaged with one side wall of the rear connecting rod 31. The rear wheel motor 33 is built into the rear wheel 32. The second swing arm 51 is screwed to the other side wall of the rear connecting rod 31 away from the rear wheel 32. The end of the second swing arm 51 away from the rear wheel 32 is provided with a second notch. The second swing arm wheel 53 is rotatably engaged with the second notch of the rear connecting rod 31. The second wheel motor 54 is built into the second swing arm wheel 53.

[0065] Regarding the first swing arm assembly 4 described above, please refer to [link / reference] in some embodiments. Figures 1 to 3 The first swing arm 41 includes a first arm body 411 and a second arm body 412 connected together. The first arm body 411 and the second arm body 412 are set at a preset angle. The end of the first arm body 411 away from the second arm body 412 is connected to the front connecting rod 21, and the end of the second arm body 412 away from the first arm body 411 is rotatably connected to the first swing arm wheel 43. In this way, the first swing arm 41 has a preset angle, which can improve the adaptability of the first swing arm 41 so that it can adapt to steps of different heights.

[0066] Furthermore, in some embodiments, the first swing arm 41 further includes a first angle motor (not shown). The first angle motor is disposed on the first arm body 411 and connected to the second arm body 412. The first angle motor is used to drive the second arm body 412 to rotate relative to the first arm body 411, thereby adjusting the included angle between the first arm body 411 and the second arm body 412. In this way, the included angle of the first swing arm 41 can be adjusted, further improving the adaptability of the first swing arm 41 to accommodate steps of varying heights.

[0067] Regarding the second swing arm assembly 5 described above, please refer to [link / reference] in some embodiments. Figures 1 to 3 The second swing arm 51 includes a third arm body 511 and a fourth arm body 512 connected together. The third arm body 511 and the fourth arm body 512 are set at a preset angle. The end of the third arm body 511 away from the fourth arm body 512 is connected to the rear connecting rod 31, and the end of the fourth arm body 512 away from the third arm body 511 is rotatably connected to the second swing arm wheel 53. In this way, the second swing arm 51 has a preset angle, which can improve the adaptability of the second swing arm 51 so that it can adapt to steps of different heights.

[0068] Furthermore, in some embodiments, the second swing arm 51 also includes a second angle motor (not shown). The second angle motor is disposed on the third arm 511 and connected to the fourth arm 512. The second angle motor is used to drive the fourth arm 512 to rotate relative to the third arm 511, thereby adjusting the included angle between the third arm 511 and the fourth arm 512. In this manner, the included angle of the second swing arm 51 can be adjusted, further improving the adaptability of the second swing arm 51 to accommodate steps of varying heights.

[0069] It should be noted that the first swing arm 41 and the second swing arm 51 are both, but not limited to, triangles with a preset included angle. For example, in some other embodiments, the first swing arm 41 and the second swing arm 51 are both arcs with a preset curvature.

[0070] This invention provides a transportation device 100, including a carrier 1, a front wheel 22 assembly 2, a rear wheel 32 assembly 3, a first swing arm assembly 4, and a second swing arm assembly 5. The carrier 1 is used to load goods. The front wheel 22 assembly 2 includes a front connecting rod 21, a front wheel 22, and a front wheel motor 23. One end of the front connecting rod 21 is connected to the front end of the carrier 1, the front wheel 22 is rotatably disposed at the other end of the front connecting rod 21, and the front wheel motor 23 is disposed at the other end of the front connecting rod 21. The front wheel motor 23 is drivenly connected to the front wheel 22 and is used to drive the front wheel 22 to rotate. The rear wheel 32 assembly 3 includes a rear connecting rod 31, a rear wheel 32, and a rear wheel motor 33. One end of the rear connecting rod 31 is connected to the rear end of the carrier 1, the rear wheel 32 is rotatably disposed at the other end of the rear connecting rod 31, and the rear wheel motor 33 is disposed at the other end of the rear connecting rod 31. The rear wheel motor 33 is drivenly connected to the rear wheel 32 and is used to drive the rear wheel 32 to rotate. Wheel 32 rotates; the first swing arm assembly 4 includes a first swing arm 41, a first swing arm motor 42, and a first swing arm wheel 43. One end of the first swing arm 41 is rotatably connected to the front connecting rod 21, and the other end of the first swing arm 41 is rotatably connected to the first swing arm wheel 43. The first swing arm motor 42 is disposed on the front connecting rod 21 and is drivenly connected to one end of the first swing arm 41. The first swing arm motor 42 is used to drive the first swing arm 41 to swing relative to the carrier 1; the second swing arm assembly 5 includes a second swing arm 51, a second swing arm motor 52, and a second swing arm wheel 53. One end of the second swing arm 51 is rotatably connected to the rear connecting rod 31, and the other end of the second swing arm 51 is rotatably connected to the second swing arm wheel 53. The second swing arm motor 52 is disposed on the rear connecting rod 31 and is drivenly connected to one end of the second swing arm 51. The second swing arm motor 52 is used to drive the second swing arm 51 to swing relative to the carrier 1. In the above manner, the front wheel 22 assembly 2, the rear wheel 32 assembly 3, the first swing arm assembly 4 and the second swing arm assembly 5 of the present invention cooperate to enable the transport device 100 to climb the steps without the need for external manual intervention, thereby improving transport efficiency and reducing transport costs.

[0071] The present invention provides another embodiment of a transportation system, including the above-described transportation device 100. For the specific structure and function of the above-described transportation device 100, please refer to the above embodiments, which will not be repeated here.

[0072] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A transport device, characterized in that, include: A vehicle used for loading goods; A front wheel assembly includes a front link, a front wheel, and a front wheel motor. One end of the front link is connected to the front end of the vehicle. The front wheel is rotatably mounted on the other end of the front link. The front wheel motor is mounted on the other end of the front link and is connected to the front wheel drive. The front wheel motor is used to drive the front wheel to rotate. The rear wheel assembly includes a rear link, a rear wheel, and a rear wheel motor. One end of the rear link is connected to the rear end of the vehicle. The rear wheel is rotatably mounted on the other end of the rear link. The rear wheel motor is mounted on the other end of the rear link and is connected to the rear wheel drive. The rear wheel motor is used to drive the rear wheel to rotate. The first swing arm assembly includes a first swing arm, a first swing arm motor and a first swing arm wheel. One end of the first swing arm is rotatably connected to the front link, and the other end of the first swing arm is rotatably connected to the first swing arm wheel. The first swing arm motor is disposed on the front link and is drivenly connected to one end of the first swing arm. The first swing arm motor is used to drive the first swing arm to swing relative to the vehicle. The second swing arm assembly includes a second swing arm, a second swing arm motor, and a second swing arm wheel. One end of the second swing arm is rotatably connected to the rear connecting rod, and the other end of the second swing arm is rotatably connected to the second swing arm wheel. The second swing arm motor is disposed on the rear connecting rod and is drivenly connected to one end of the second swing arm. The second swing arm motor is used to drive the second swing arm to swing relative to the vehicle.

2. The transport device according to claim 1, characterized in that, Along a first direction, the front link protrudes from the front end of the vehicle. Along a second direction, the front link and the vehicle enclose a first reserved space, which is used to accommodate the first swing arm. The first direction is from the front end of the vehicle to the rear end of the vehicle, and the second direction is from the top end of the vehicle to the bottom end of the vehicle.

3. The transport device according to claim 2, characterized in that, Along the first direction, the rear link protrudes from the rear end of the vehicle, and along the second direction, the rear link and the vehicle enclose a second reserved space, which is used to accommodate the second swing arm.

4. The transport device according to claim 1, characterized in that, The first swing arm assembly further includes a first wheel motor, which is disposed at the other end of the first swing arm and is drivenly connected to the first swing arm wheel. The first wheel motor is used to drive the first swing arm wheel to rotate.

5. The transport device according to claim 1, characterized in that, The second swing arm assembly also includes a second wheel motor, which is located at the other end of the second swing arm and is connected to the second swing arm wheel drive. The second wheel motor is used to drive the second swing arm wheel to rotate.

6. The transport device according to claim 1, characterized in that, The first swing arm includes a first arm body and a second arm body connected together. The first arm body and the second arm body are set at a preset angle. The end of the first arm body away from the second arm body is connected to the front connecting rod, and the end of the second arm body away from the first arm body is rotatably connected to the first swing arm wheel.

7. The transport device according to claim 6, characterized in that, The first swing arm also includes a first angle motor, which is disposed on the first arm body and connected to the second arm body. The first angle motor is used to drive the second arm body to rotate relative to the first arm body to adjust the included angle between the first arm body and the second arm body.

8. The transport device according to claim 6, characterized in that, The second swing arm includes a third arm and a fourth arm connected to each other. The third arm and the fourth arm are set at a preset angle. The end of the third arm away from the fourth arm is connected to the rear connecting rod, and the end of the fourth arm away from the third arm is rotatably connected to the second swing arm wheel.

9. The transport device according to claim 8, characterized in that, The second swing arm also includes a second angle motor, which is disposed on the third arm and connected to the fourth arm. The second angle motor is used to drive the fourth arm to rotate relative to the third arm to adjust the included angle between the third arm and the fourth arm.

10. The transport device according to claim 6, characterized in that, The number of front wheel assemblies and rear wheel assemblies are both two, with the two front wheel assemblies located on both sides of the front end of the vehicle and the two rear wheel assemblies located on both sides of the rear end of the vehicle.

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