Conveying mechanism and autonomous moving device

Abstract

The utility model provides a conveying mechanism and an autonomous moving device. The conveying mechanism comprises a conveying track, a conveying belt and a driving device, the driving mechanism is arranged on the conveying track and used for driving the to-be-conveyed part to move along the conveying track; the limiting assembly is arranged close to one end of the conveying rail, the limiting assembly can act between a first position and a second position, and when the limiting assembly is located at the first position, the to-be-conveyed part can be limited; and the buffering piece is arranged on the conveying rail and used for applying buffering force to the to-be-conveyed piece moving on the conveying rail. According to the conveying mechanism, the to-be-conveyed piece can be prevented from falling off at the end of the rail in the conveying process, buffering force can be applied to the to-be-conveyed piece through the buffering piece to prevent the to-be-conveyed piece from rushing out of the other end of the conveying rail, it is ensured that the to-be-conveyed piece can be slowly stopped on the conveying mechanism, and compared with a limiting piece arranged at the other end of the rail, the to-be-conveyed piece is not prone to falling off. The problem that the to-be-transported piece is damaged due to sudden stop can be prevented, and the safety of the to-be-transported piece is further ensured.

Description

Technical Field

[0001] This utility model relates to the field of autonomous mobile device technology, and more specifically, to a conveying mechanism and an autonomous mobile device. Background Technology

[0002] Currently, autonomous mobile robots (AMRs) or automated guided vehicles (AGVs) in related technologies require chain conveyor mechanisms to interface with the chain mechanisms of conveyor lines and transport materials. Due to the size limitations of autonomous mobile devices, the chain conveyor mechanisms need to be compactly designed, and because of the low friction of chains, materials can easily slip off the conveyor mechanism.

[0003] Therefore, how to design a conveying mechanism that can prevent materials from slipping out has become an urgent problem to be solved. Utility Model Content

[0004] The present invention aims to at least solve the problem of materials easily slipping out of the conveying mechanism.

[0005] Therefore, the first aspect of this utility model provides a conveying mechanism.

[0006] The second aspect of this utility model provides an autonomous mobile device.

[0007] In view of this, the first aspect of the present invention provides a conveying mechanism, comprising: a conveying track; a driving mechanism disposed on the conveying track for driving the item to be transported to move along the conveying track; a limiting component disposed near one end of the conveying track, the limiting component being able to move between a first position and a second position, the limiting component being able to limit the item to be transported when it is in the first position; and a buffer component disposed on the conveying track for applying a buffering force to the item to be transported moving on the conveying track.

[0008] The conveying mechanism provided by this utility model includes a conveying track, a driving mechanism, a limiting component, and a buffer component. The conveying mechanism is mounted on the conveying track, allowing the driving mechanism to drive the transported item to move along the track, thus achieving the conveying of the item. Simultaneously, to prevent the transported item from falling off the track end during transport, a limiting component can be installed at one end of the track to limit the transported item and prevent it from falling. Specifically, the transported item can be configured as a movable part, capable of moving between a first position and a second position. When the limiting component is in the first position, it can limit the transported item; when it is in the second position, it cannot limit the transported item. This arrangement facilitates the handover of goods between the conveying mechanism and other equipment. For example, when other equipment needs to transport the item to the conveying mechanism, the limiting component can be initially in the second position, and then, when the item is transferred to the conveying mechanism, it can be moved back to the first position to limit the transported item. This arrangement satisfies the limitation of the transported item without affecting its transfer. Furthermore, when other equipment transfers the item to be transported from one end of the conveyor track to the conveying mechanism, the item may veer off the other end of the conveyor track due to inertia. Therefore, this application also includes a buffer component. The buffer component applies a cushioning force to the item to be transported to prevent it from veering off the other end of the conveyor track, ensuring stability and safety during the transport process. Moreover, because this application uses a buffer component, it ensures that the item to be transported comes to a slow stop on the conveying mechanism. Compared to setting a limiting component at the other end of the track, this prevents damage to the item due to sudden stops, further ensuring the safety of the item.

[0009] The conveying mechanism provided by this utility model may also have the following additional technical features:

[0010] In some embodiments, the conveying mechanism may optionally include: support wheels disposed near both ends of the conveying track for providing auxiliary support for the items to be transported.

[0011] In these embodiments, support wheels can also be installed at both ends near the conveyor track to provide auxiliary support for the transported item, thereby preventing nodding when the transported item is handed over to other equipment and the conveyor mechanism. It is understood that the drive mechanism will only move the transported item when it is positioned on the drive track. Before that, if the transported item is in contact with the conveyor track, its weight and friction may cause it to jam or nod when moving forward. Therefore, installing support wheels at both ends near the conveyor track ensures that the transported item does not nod.

[0012] In some embodiments, the buffer is optionally located at the bottom of the item to be transported and contacts the bottom of the item to be transported.

[0013] In these embodiments, a buffer can be placed at the bottom of the item to be transported and in contact with the bottom of the item to be transported, so that the item to be transported can be cushioned by the buffer.

[0014] In some embodiments, the buffer is optionally located on the side of the item to be transported and contacts the side of the item to be transported.

[0015] In these embodiments, a buffer can also be disposed on the side of the item to be transported and in contact with the side of the item to be transported, so that the item to be transported can be cushioned by the buffer.

[0016] In some embodiments, the conveying mechanism may optionally further include at least one sensor disposed on the conveying track for detecting the position of the item to be transported.

[0017] In these embodiments, in order to detect the position of the item to be transported, at least one sensor can be set on the transport track. This way, the position of the item to be transported can be detected by at least one sensor, preventing situations such as the item not being transported in place.

[0018] In some embodiments, optionally, the number of sensors is two, with the two sensors respectively located at both ends of the conveyor track.

[0019] In these embodiments, to save costs and accurately detect the position of the item to be transported, a sensor can be installed at each end of the transport track. This way, when the item is handed over, the starting and ending positions of the item can be determined, which is beneficial for controlling the limiting components.

[0020] In some embodiments, the limiting component may optionally be rotatable between a first position and a second position, or the limiting component may be slidable between a first position and a second position.

[0021] In these embodiments, the limiting component can be positioned near one end of the conveying track. This allows the limiting component to restrict the transported item on the conveying track, preventing it from falling off one end. The limiting component operates between a first position and a second position; specifically, it can rotate between the first and second positions, or it can slide between the first and second positions, thereby switching positions.

[0022] In some embodiments, the conveying track may optionally include a base and a track, the track being disposed on the base, and the driving mechanism including: a driving device disposed on the base; and a transmission device disposed on the track and connected to the driving device, the driving device being used to drive the transmission device to move the item to be transported along the conveying track; wherein the transmission device includes at least one of a transmission chain, a transmission roller, and a transmission belt.

[0023] In these embodiments, the conveying track includes a base and a track, with the track disposed on the base. The driving mechanism includes a driving device and a transmission device. The driving device is disposed on the base. The transmission device is disposed on the track and connected to the driving device. The driving device can drive the transmission device to move the item to be transported along the conveying track. The transmission device includes at least one of a drive chain, a drive roller, and a drive belt, thus enabling the transport of the item by placing it on the drive chain, drive roller, or drive belt.

[0024] In some embodiments, the conveying mechanism may optionally include an oil nozzle disposed on the track and opposite to the transmission device, for replenishing lubricating oil to the transmission device.

[0025] In these embodiments, an oil nozzle can also be provided to replenish lubricating oil to the transmission device, preventing jamming and improving the service life of the transmission device.

[0026] In some embodiments, the buffer may optionally include at least one of a hydraulic buffer, a rubber buffer, and a spring buffer.

[0027] In these embodiments, the buffer includes at least one of a hydraulic buffer, a rubber buffer, and a spring buffer, and the specific type of buffer can be set according to actual needs.

[0028] The second aspect of this utility model provides an autonomous mobile device, comprising: a conveying mechanism as described in any of the technical solutions of the first aspect.

[0029] The autonomous mobile device provided in this application includes the conveying mechanism of any of the technical solutions in the first aspect. Since the autonomous mobile device provided in this application includes the conveying mechanism of any of the technical solutions in the first aspect, it also possesses all the beneficial effects of the conveying mechanism in any of the technical solutions in the first aspect, which will not be elaborated further here.

[0030] Additional aspects and advantages of this invention will become apparent in the description that follows, or may be learned by practice of this invention. Attached Figure Description

[0031] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0032] Figure 1 One of the structural schematic diagrams of the conveying mechanism according to an embodiment of the present invention is shown;

[0033] Figure 2 A second schematic diagram of the conveying mechanism according to an embodiment of the present invention is shown;

[0034] Figure 3 A schematic diagram of the structure of an autonomous mobile device according to an embodiment of the present invention is shown;

[0035] Figure 4 A flowchart illustrating the operation of a conveying mechanism according to an embodiment of the present invention is shown.

[0036] in, Figures 1 to 3 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0037] 1 Autonomous moving device, 10 Conveying mechanism, 100 Conveying track, 1002 Base, 1004 Track, 101 Drive mechanism, 1012 Drive device, 1014 Transmission device, 102 Limiting component, 103 Buffer, 104 Support wheel, 105 Sensor, 106 Oil nozzle, 107 Drive shaft, 108 Coupling, 109 Synchronous belt. Detailed Implementation

[0038] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0039] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0040] The following reference Figures 1 to 4 This invention describes a conveying mechanism and an autonomous moving device proposed according to some embodiments of the present invention.

[0041] According to an embodiment of the first aspect of the present invention, such as Figure 1 and Figure 2As shown, the first aspect of this utility model discloses a conveying mechanism 10, including a conveying track 100, a driving mechanism 101, a limiting component 102, and a buffer 103. The driving mechanism 101 is disposed on the conveying track 100 and is used to drive the item to be transported to move along the conveying track 100. The limiting component 102 is disposed near one end of the conveying track 100, and the limiting component 102 is operable between a first position and a second position. When the limiting component 102 is in the first position, it can limit the item to be transported. The buffer 103 is disposed on the conveying track 100 and is used to apply a buffering force to the item to be transported moving on the conveying track 100.

[0042] The conveying mechanism 10 provided by this utility model includes a conveying track 100, a driving mechanism 101, a limiting component 102, and a buffer component 103. The conveying mechanism 10 is disposed on the conveying track 100, so that the driving mechanism 101 can drive the item to be transported to move along the conveying track 100, thereby realizing the transport of the item. Simultaneously, to prevent the item to be transported from falling off the end of the track 1004 during transport, a limiting component 102 can be provided at one end of the track 1004 to limit the item to be transported and prevent it from falling. Specifically, the item to be transported can be configured as a movable part, enabling it to move between a first position and a second position. When the limiting component 102 is in the first position, it can limit the item to be transported; when the limiting component 102 is in the second position, it cannot limit the item to be transported. This configuration facilitates the handover of goods between the conveying mechanism 10 and other equipment. For example, when other equipment needs to transport the item to be transported onto the conveying mechanism 10, the limiting component can be placed in the second position first, and then, when the item to be transported is transferred to the conveying mechanism 10, the limiting component can be placed in the first position to limit the item to be transported. This configuration satisfies the limitation of the item to be transported without affecting its transfer. Furthermore, when other equipment transfers the item to be transported from one end of the conveying track 100 to the conveying mechanism 10, the item may veer off the other end of the conveying track 100 due to inertia. Therefore, this application also provides a buffer 103. The buffer 103 applies a buffering force to the item to be transported to prevent it from veer off the other end of the conveying track 100, ensuring the stability and safety of the item during transport. Moreover, since this application uses a buffer 103, it ensures that the item to be transported comes to a slow stop on the conveying mechanism 10. Compared to setting a limiting element at the other end of the track 1004, this prevents damage to the item due to sudden stops, further ensuring the safety of the item.

[0043] In some embodiments, the conveying mechanism 10 may optionally include: support wheels 104, disposed near both ends of the conveying track 100, for providing auxiliary support for the items to be transported.

[0044] In these embodiments, support wheels 104 can also be provided at both ends near the conveying track 100. The support wheels 104 provide auxiliary support for the item to be transported, thereby preventing the item from nodding when other equipment interacts with the conveying mechanism 10 to receive the item. It is understood that the driving mechanism 101 will only move the item when it is on the driving mechanism 101. Before that, if the item is in contact with the conveying track 100, it may get stuck or nod due to its weight and friction. Therefore, providing support wheels 104 at both ends near the conveying track 100 for auxiliary support can ensure that the item does not nod.

[0045] In some embodiments, the buffer 103 is optionally located at the bottom of the item to be transported and contacts the bottom of the item to be transported.

[0046] In these embodiments, the buffer 103 can be placed at the bottom of the item to be transported and in contact with the bottom of the item to be transported, so that the item to be transported can be cushioned by the buffer 103.

[0047] In some embodiments, the buffer 103 is optionally located on the side of the item to be transported and contacts the side of the item to be transported.

[0048] In these embodiments, the buffer 103 can also be disposed on the side of the item to be transported and in contact with the side of the item to be transported, so that the item to be transported can be buffered by the buffer 103.

[0049] It is understandable that the buffer 103 can achieve buffering through contact with the item to be transported in various ways. For example, buffering can be achieved through the frictional force generated by the contact between the buffer 103 and the item to be transported. Alternatively, the contact between the buffer 103 and the item to be transported can cause the buffer 103 to deform, thereby generating an elastic force, which can then buffer the item to be transported.

[0050] In some embodiments, the conveying mechanism 10 may optionally include at least one sensor 105 disposed on the conveying track 100 for detecting the position of the item to be transported.

[0051] In these embodiments, in order to detect the position of the item to be transported, at least one sensor 105 can be provided on the transport track 100. In this way, the position of the item to be transported can be detected by at least one sensor 105 to prevent the item from being transported out of place.

[0052] In some embodiments, the sensor 105 may optionally cooperate with the limiting component 102. By cooperating with the limiting component 102, the limiting component 102 can operate between a first position and a second position based on the position of the item to be transported, thereby facilitating the handover and limiting of the item and achieving automation. For example, when the sensor 105 detects that the item to be transported is about to be transferred onto the conveyor mechanism 10, it can send a signal and then control the limiting component 102 to switch to the second position, allowing the item to be transported smoothly onto the conveyor mechanism 10. When the sensor 105 detects that the item to be transported has been completely transferred onto the conveyor mechanism 10, it sends another signal to control the limiting component 102 to switch to the first position, thus limiting the item to be transported.

[0053] In some embodiments, the conveying mechanism 10 may optionally include a control device connected to the sensor 105 and the limiting component 102 respectively, for controlling the limiting component 102 to move between a first position and a second position according to the detection signal of the sensor 105.

[0054] In some embodiments, optionally, there are two sensors 105, which are respectively disposed at both ends of the conveying track 100.

[0055] In these embodiments, in order to accurately detect the position of the item to be transported while saving costs, a sensor 105 can be set at each end of the transport track 100. In this way, when the item to be transported is handed over, the starting position and ending position of the item to be transported can be determined, which is beneficial to the control of the limiting component 102.

[0056] In some embodiments, the limiting component 102 is optionally disposed near one end of the conveying track 100, and the limiting component 102 is rotatable between a first position and a second position, or the limiting component 102 is slidable between a first position and a second position.

[0057] In these embodiments, the limiting component 102 can be positioned near one end of the conveying track 100. This allows the limiting component 102 to limit the transported item on the conveying track 100, preventing it from falling off one end of the conveying track 100. The limiting component 102 operates between a first position and a second position; specifically, it can rotate between the first and second positions, or it can slide between the first and second positions, thereby switching positions.

[0058] In some embodiments, the limiting component 102 may optionally rotate about the extension direction of the transport track 100.

[0059] In some embodiments, the conveying mechanism 10 may optionally include a driving member connected to the limiting component 102, capable of driving the limiting component 102 to move between a first position and a second position. By setting the driving member, the automatic movement of the limiting component 102 can be achieved, improving work efficiency.

[0060] In some embodiments, optionally, the conveying track 100 includes a base 1002 and a track 1004, the track 1004 being disposed on the base 1002, and the driving mechanism 101 including: a driving device 1012 disposed on the base 1002; and a transmission device 1014 disposed on the track 1004 and connected to the driving device 1012, wherein the driving device 1012 is used to drive the transmission device 1014 to move the item to be transported along the conveying track 100; wherein the transmission device 1014 includes at least one of a transmission chain, a transmission roller, and a transmission belt.

[0061] In these embodiments, the conveying track 100 includes a base 1002 and a track 1004, with the track 1004 disposed on the base 1002. The drive mechanism 101 includes a drive device 1012 and a transmission device 1014. The drive device 1012 is disposed on the base 1002. The transmission device 1014 is disposed on the track 1004 and connected to the drive device 1012. The drive device 1012 can drive the transmission device 1014 to move the item to be transported along the conveying track 100. The transmission device 1014 includes at least one of a drive chain, a drive roller, and a drive belt, thus enabling the transport of the item by placing it on the drive chain, drive roller, or drive belt.

[0062] In some embodiments, the track 1004 is optionally an aluminum alloy track.

[0063] In some embodiments, the drive device 1012 may be a drive motor.

[0064] In some embodiments, the drive device 1012 and the transmission device 1014 are optionally connected by a coupling, a timing belt 109 and a drive shaft 107.

[0065] In some embodiments, the conveying mechanism 10 may optionally include an oil nozzle 106 disposed on the track 1004 and opposite to the transmission device 1014, for replenishing lubricating oil to the transmission device 1014.

[0066] In these embodiments, an oil nozzle 106 can also be provided to replenish lubricating oil to the transmission device 1014, preventing the transmission device 1014 from jamming and improving the service life of the transmission device 1014.

[0067] In some embodiments, the buffer 103 may optionally include at least one of a hydraulic buffer, a rubber buffer, and a spring buffer.

[0068] In these embodiments, the buffer 103 includes at least one of a hydraulic buffer, a rubber buffer, and a spring buffer, and the specific type of buffer can be set according to actual needs.

[0069] In some embodiments, the conveying mechanism 10 is optionally a single-end loading and unloading conveying mechanism. That is, if the item to be transported is conveyed from the first end of the conveying track 100 to the conveying mechanism 10, then the item to be transported must also be conveyed away from the first end of the conveying track 100. At this time, the limiting component 102 can be set at the first end of the conveying track 100. In this way, when the item to be transported is conveyed from the first end of the conveying track 100 to the conveying mechanism 10, the limiting component 102 is in the second position, and after the conveying is completed, the limiting component 102 is in the first position, thereby limiting the item to be transported.

[0070] Optionally, in some embodiments, the buffer 103 applies a buffering force in the opposite direction to the direction of movement of the item being transported onto the track 1004. That is, when the item is transported onto the conveying mechanism 10, the buffer 103 applies a buffering force to prevent the item from being ejected from the conveying mechanism 10 due to excessive speed. However, if the item is transported from the conveying mechanism 10 to other equipment, the buffer 103 does not apply a buffering force.

[0071] According to an embodiment of the first aspect of the present invention, a conveying mechanism 10 is provided, comprising a speed-multiplying chain module (including a transmission chain), a blocking mechanism module (limiting component 102), a buffer module (buffer component 103), a material detection sensor, an aluminum alloy profile frame (track 1004), an oil nozzle 106, a transmission shaft 107, a servo motor (drive device 1012), a coupling 108, a synchronous belt 109, and a non-powered support wheel (support wheel 104).

[0072] The drive chain is placed on an aluminum alloy profile frame, which provides support. An oil nozzle 106 is installed at the front end of the module for lubrication. The drive shaft 107 provides power to rotate the chains on both sides. The servo motor is connected to a synchronous pulley via a coupling 108. Power is transmitted through a synchronous belt 109. At both ends of the module, two unpowered support wheels are installed to provide auxiliary support when materials are fed onto or removed from the module, preventing material from tipping over before contacting the chain.

[0073] The entire operation process of the conveyor mechanism 10 is as follows: Figure 4As shown, the process begins: conveying starts - the blocking mechanism lowers - the first sensor detects - the second sensor detects - the blocking mechanism rises - the conveying process ends. After the conveying process begins, the blocking plate of the blocking mechanism (limiting component 102) is normally in the raised state. When docking is needed, the blocking plate is lowered, and then the material is conveyed to the double-speed chain module via a chain. The material is detected sequentially by the first sensor 105 and the second sensor 105. After the material encounters the buffer (buffer 103), it will gradually stop under the action of the hydraulic buffer to prevent damage to the material from sudden stops or it from rushing out of the entire module due to excessive speed. During unloading, after the autonomous moving device transports the material to the designated position, it first lowers the blocking plate of the blocking mechanism, and then the conveyor chain delivers the material.

[0074] The entire mechanism is designed for single-sided loading and unloading, which can effectively handle loading and unloading and apply a certain buffering force during the process to prevent material damage.

[0075] like Figure 3 As shown, the second aspect of this utility model provides an autonomous mobile device 1, comprising: a conveying mechanism 10 as described in any embodiment of the first aspect.

[0076] The autonomous mobile device 1 provided in this application includes the conveying mechanism 10 in any embodiment of the first aspect. Since the autonomous mobile device 1 provided in this application includes the conveying mechanism 10 in any embodiment of the first aspect, it also possesses all the beneficial effects of the conveying mechanism 10 in any technical solution of the first aspect, which will not be elaborated further here.

[0077] In this utility model, the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" 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 this utility model according to the specific circumstances.

[0078] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. 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.

[0079] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A conveying mechanism, characterized in that, include: Conveyor track; A drive mechanism, disposed on the conveying track, is used to drive the item to be transported to move along the conveying track; A limiting component is disposed near one end of the conveying track. The limiting component is operable between a first position and a second position. When the limiting component is in the first position, it can limit the item to be transported. A buffer element is disposed on the conveying track to apply a buffering force to the item to be transported moving on the conveying track.

2. The conveying mechanism according to claim 1, characterized in that, Also includes: Support wheels are located near both ends of the conveying track to provide auxiliary support for the items to be transported.

3. The conveying mechanism according to claim 1, characterized in that, The buffer is located at the bottom of the item to be transported and is in contact with the bottom of the item to be transported; or The buffer is located on the side of the item to be transported and is in contact with the side of the item to be transported.

4. The conveying mechanism according to claim 1, characterized in that, Also includes: At least one sensor is disposed on the transport track for detecting the position of the item to be transported.

5. The conveying mechanism according to claim 4, characterized in that, The number of sensors is two, and the two sensors are respectively installed at both ends of the conveying track.

6. The conveying mechanism according to claim 1, characterized in that, The limiting component can rotate between the first position and the second position, or the limiting component can slide between the first position and the second position.

7. The conveying mechanism according to any one of claims 1 to 6, characterized in that, The conveying track includes a base and a track, the track being disposed on the base, and the driving mechanism includes: A driving device is disposed on the base; A transmission device is disposed on the track and connected to the drive device. The drive device is used to drive the transmission device to move the item to be transported along the conveying track. The transmission device includes at least one of a transmission chain, a transmission roller, and a transmission belt.

8. The conveying mechanism according to claim 7, characterized in that, Also includes: An oil nozzle, located on the track and positioned opposite the transmission device, is used to replenish lubricating oil to the transmission device.

9. The conveying mechanism according to any one of claims 1 to 6, characterized in that, The buffer component includes at least one of a hydraulic buffer component, a rubber buffer component, and a spring buffer component.

10. An autonomous mobile device, characterized in that, include: The conveying mechanism as described in any one of claims 1 to 9.

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