Carrying equipment

Abstract

The utility model provides carrying equipment. The carrying equipment comprises a machine body, walking wheels, a coupler and a measurer. The walking wheels are arranged on the machine body and used for rotating and walking on the walking area. The measurer is arranged on one side of the walking wheel, the coupler is arranged between the measurer and the walking wheel, and the coupler is connected with the walking wheel and the measurer, so that the coupler can be driven to synchronously rotate when the walking wheel walks and rotates, namely the rotation of the walking wheel and the rotation of the coupler are synchronous; the rotation of the coupler is measured through the measurer, so that the walking information of the walking wheel can be accurately detected, the working condition of the walking wheel and the transportation performance of the carrying equipment can be timely known according to the walking information of the walking wheel, and accurate positioning is realized; the problem of inaccurate data caused by incomplete synchronization and complex working conditions is avoided, and the whole equipment is few in structural parts, simple to assemble and low in cost.

Description

TECHNICAL FIELD

[0001] The utility model relates to transportation equipment technical field, concretely relates to a carrying equipment. BACKGROUND

[0002] Carrying equipment, such as forklift, is a common goods transportation equipment. Specifically, carrying equipment usually includes the machine main body of loading goods and the walking wheel arranged at the bottom of the machine main body, and the walking wheel rotates on the ground to drive the machine main body to move, so as to realize the transportation of goods between different places.

[0003] The walking information such as walking stroke of the walking wheel is related to the transportation performance of the carrying equipment, so how to measure the walking information of the walking wheel is the problem to be solved by the present application. SUMMARY

[0004] Therefore, the utility model embodiment is dedicated to providing a carrying equipment to solve the problem of how to measure the walking information of the walking wheel.

[0005] The utility model provides a carrying equipment, which comprises:

[0006] Machine main body

[0007] Walking wheel, which is arranged on the machine main body and is used for rotating on the walking area

[0008] Measuring device; and

[0009] Coupling, which is connected between the measuring device and the walking wheel, so as to detect and acquire the walking information of the walking wheel through the measuring device when the walking wheel rotates.

[0010] Optionally, the measuring device, the walking wheel and the coupling are coaxially arranged.

[0011] And / or, the measuring device is an encoder, and the rotating part of the encoder is connected with the coupling.

[0012] Optionally, the walking wheel comprises a walking wheel body and a fixing member connected with the walking wheel body, the walking wheel body is used for rotating on the walking area, the fixing member is located on the side of the walking wheel body close to the coupling and does not contact with the walking area, and the fixing member is connected with the coupling.

[0013] Optionally, the coupling comprises a connecting end and a plug-in end connected with the connecting end, the connecting end is connected with the walking wheel, one of the plug-in end and the measuring device has a socket, and the other of the plug-in end and the measuring device has a plug-in shaft, and the plug-in shaft is inserted into the socket.

[0014] Optionally, the walking wheel comprises a driven wheel for rotating walking on the walking area, and the coupling is connected with the driven wheel.

[0015] Or, the walking wheel comprises a driving wheel for rotating walking on the walking area, and the coupling is connected with the driving wheel.

[0016] Or, the walking wheel comprises a driving wheel and a driven wheel, both of which are for rotating walking on the walking area, and the coupling is connected with any one of the driving wheel and the driven wheel.

[0017] Optionally, the measurer and the coupling combine to form a measuring assembly.

[0018] The walking wheel comprises at least two, at least two of which are arranged on opposite sides of the machine body along the width direction, and the measuring assembly comprises at least two, at least two of which correspond to at least two of the walking wheels one by one.

[0019] Optionally, the carrying device further comprises a connecting bracket connected with the machine body, and the measurer is arranged on the connecting bracket.

[0020] Optionally, the connecting bracket is located on one side of the walking wheel, the measurer and the coupling are respectively located on two sides of the connecting bracket, and the coupling is located on the side of the connecting bracket close to the walking wheel.

[0021] The coupling is rotationally connected with the connecting bracket.

[0022] Optionally, a bearing is arranged between the connecting bracket and the coupling, an inner ring of the bearing is clamped on the coupling, and an outer ring of the bearing is clamped on the connecting bracket.

[0023] Optionally, the connecting bracket and the measurer are both located on the outer side of the walking wheel.

[0024] Optionally, a protective cover is arranged on the side of the connecting bracket away from the walking wheel, and the protective cover covers the outer side of the measurer.

[0025] Optionally, an observation port is arranged on the protective cover at a position corresponding to the measurer, and at least part of the measurer is exposed through the observation port.

[0026] This utility model provides a material handling device, including a machine body, wheels, a coupling, and a measuring device. The wheels are mounted on the machine body and are used to rotate and move within a designated walking area, thereby enabling the material handling device to move between different locations and transport goods. By connecting the measuring device and the wheels with a coupling, the wheels' rotation synchronously drives the coupling's rotation. The measuring device measures the rotation of the coupling, thus measuring the wheels' movement information. Furthermore, the coupling connects the measuring device and the wheels, ensuring synchronous rotation and achieving precise positioning. This avoids inaccurate data due to incomplete synchronization or complex operating conditions. The device also has fewer structural components, is simple to assemble, and has a lower cost. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the assembly of the handling equipment described in this embodiment of the utility model. Figure 1 ;

[0028] Figure 2 This is a schematic diagram of the assembly of the handling equipment described in this embodiment of the utility model. Figure 2 ;

[0029] Figure 3 This is a schematic diagram of the assembly of the handling equipment described in this embodiment of the utility model. Figure 3 ;

[0030] Figure 4 This is a partial exploded view of the handling equipment described in an embodiment of the present invention. Figure 1 ;

[0031] Figure 5 for Figure 4 A magnified view of the area at point I;

[0032] Figure 6 This is a partial exploded view of the handling equipment described in an embodiment of the present invention. Figure 2 .

[0033] The components include: 1. Machine body; 2. Walking wheels; 21. Walking wheel body; 22. Fixing component; 23. Driven wheel; 3. Connecting bracket; 4. Measuring instrument; 5. Coupling; 51. Connecting end; 52. Insertion end; 6. Bearing; 7. Protective cover; 71. Protective cavity; 72. First connecting part; 73. Observation port; 74. Protective base plate; 75. Protective side plate; 8. Measuring components. Detailed Implementation

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art based on the embodiments of the present application belong to the scope of protection of the present application.

[0035] Referring to Figures 1 to 3 The present embodiment provides a carrying device, which comprises a machine body 1, a traveling wheel 2, a coupling 5 and a measurer 4.

[0036] The traveling wheel 2 is arranged on the machine body 1 and is used to rotate and travel on a traveling area.

[0037] The coupling 5 is arranged between the measurer 4 and the traveling wheel 2 and is connected with the measurer 4 and the traveling wheel 2 respectively, so as to detect and obtain the traveling information of the traveling wheel 2 through the measurer 4 when the traveling wheel 2 rotates and travels.

[0038] Specifically, referring to Figures 1 to 3 The traveling wheel 2 can be arranged at the bottom of the machine body 1 and can rotate and travel on the traveling area, so as to drive the whole carrying device to travel and move between different places, thereby realizing the transportation operation of goods.

[0039] For example, the traveling area can be the ground.

[0040] For example, the traveling information can include at least one of the traveling distance, the rotating speed and the turning radius of the traveling wheel 2.

[0041] Specifically, referring to Figure 5 and Figure 6 The traveling wheel 2 is provided with the measurer 4 on one side, and the coupling 5 is connected between the measurer 4 and the traveling wheel 2. Therefore, when the traveling wheel 2 rotates and travels, the coupling 5 can be driven to rotate together, and the rotation of the coupling 5 is measured through the measurer 4, so as to realize the measurement of the traveling information such as the rotating speed, the traveling distance and the turning radius of the traveling wheel 2, thereby realizing accurate positioning and accurately obtaining the traveling information of the traveling wheel 2, and avoiding the problem of inaccurate data caused by incomplete synchronization and complex working conditions.

[0042] It should be noted that, during the traveling of the carrying device, slippage, bouncing and suspension may occur. Therefore, when the rotating speed or the traveling distance of the carrying device is calculated according to the related parameters of the driving mechanism, there is a certain error between the calculated data and the actual data of the carrying device. Therefore, in the present embodiment, the traveling information of the traveling wheel 2 is measured through the measurer 4, and the obtained traveling information is closer to the real information of the carrying device.

[0043] For example, the measuring device 4 can be an encoder to measure the rotational speed and travel distance of the walking wheel 2. The rotating part of the measuring device 4 can be the encoder shaft. In addition, the rotating part of the measuring device 4 can be fixed to the coupling 5 by snap-fit, plug-in, or screw connection.

[0044] For example, the handling equipment in this embodiment can be a freight transport vehicle, a logistics vehicle, or a forklift.

[0045] The handling equipment in this embodiment includes a machine body 1, wheels 2, a coupling 5, and a measuring device 4. The wheels 2 are mounted on the machine body 1 and are used to rotate and move within a designated walking area, thereby enabling the handling equipment to move between different locations and transport goods. A coupling 5 is connected between the measuring device 4 and the wheels 2, allowing the wheels 2 to rotate synchronously with the coupling 5. The measuring device 4 measures the rotation of the coupling 5, thus measuring the movement information of the wheels 2. This allows for timely assessment of the wheels 2's operating conditions and the handling equipment's transport performance, achieving precise positioning and avoiding inaccurate data due to incomplete synchronization or complex operating conditions. Furthermore, the entire equipment has fewer structural components, is simple to assemble, and has a lower cost.

[0046] Furthermore, compared to the method of setting additional auxiliary wheels on the handling equipment that can travel in the designated area and installing encoders on the auxiliary wheels to measure relevant information, which is prone to asynchronous movement between the auxiliary wheels and the traveling wheels 2, resulting in inaccurate measurement data, in this embodiment, the measuring device 4 and the traveling wheels 2 are connected by a coupling 5. This ensures that the rotation of the coupling 5 and the traveling wheels 2 is completely synchronized, thus ensuring that the measurement results of the measuring device 4 on the traveling wheels 2 are more accurate.

[0047] Reference Figure 4 and Figure 5 As shown, in some embodiments, the measuring device 4, the traveling wheel 2, and the coupling 5 are arranged coaxially.

[0048] This setup allows the traveling wheel 2 and coupling 5 to rotate synchronously. Then, by measuring the rotation of coupling 5 with measuring device 4, the traveling information of the traveling wheel 2 can be measured, thereby achieving accurate positioning and avoiding inaccurate data caused by incomplete synchronization and complex working conditions.

[0049] Reference Figure 5As shown in the drawings, in some embodiments, the walking wheel 2 comprises a walking wheel body 21 for rotating walking on the walking area, and a fixing member 22 connected with the walking wheel body 21. The fixing member 22 is located on the side of the walking wheel body 21 close to the shaft coupling 5 and does not contact with the walking area, and the fixing member 22 is connected with the shaft coupling 5.

[0050] That is, in order to facilitate the connection of the shaft coupling 5 and the walking wheel 2, the walking wheel 2 can be provided with the walking wheel body 21 and the fixing member 22 connected with the walking wheel body 21, and the shaft coupling 5 and the fixing member 22 are connected together, so as to realize the reliable connection of the shaft coupling 5 and the walking wheel body 21.

[0051] For example, the walking wheel body 21 and the fixing member 22 can be fixed by welding, clamping or screwing.

[0052] Further, the fixing member 22 is not in contact with the walking area, so as to avoid wear between the fixing member 22 and the walking area.

[0053] For example, the fixing member 22 can be a fixed disc as shown in Figure 2 and Figure 4 Alternatively, in other implementations, the fixing member 22 can also have other structural shapes, and the embodiments are not limited thereto.

[0054] Referring to Figure 5 As shown in the drawings, in some embodiments, the shaft coupling 5 comprises a connecting end 51 and a plug-in end 52 connected with the connecting end 51, the connecting end 51 is connected with the walking wheel 2, specifically, the outer diameter of the connecting end 51 is greater than the outer diameter of the plug-in end 52, the connecting end 51 and the plug-in end 52 are coaxially arranged, the connecting end 51 is connected with the fixing member 22 of the walking wheel 2, one of the plug-in end 52 and the measurer 4 has a plug hole, and the other of the plug-in end 52 and the measurer 4 has a plug-in shaft, the plug-in shaft is inserted into the plug hole.

[0055] Specifically, the plug-in shaft can be arranged on the plug-in end 52, and the plug hole can be arranged on the measurer 4, and the plug-in shaft is inserted into the plug hole, so as to realize the connection of the plug-in end 52 and the measurer 4. Alternatively, the plug hole can be arranged on the plug-in end 52, and the plug-in shaft can be arranged on the measurer 4, and the plug-in shaft is inserted into the plug hole, so as to realize the connection of the plug-in end 52 and the measurer 4.

[0056] Specifically, a plurality of first connecting holes arranged along the circumference of the connecting end 51 can be arranged on the connecting end 51, and a plurality of second connecting holes can be correspondingly arranged on the walking wheel 2, and fasteners are respectively inserted into the first connecting holes and the second connecting holes, so as to realize the reliable connection of the connecting end 51 and the walking wheel 2.

[0057] For example, the first connecting hole and the second connecting hole can each be a through hole, and the fastener can be a fastening pin. Alternatively, one of the first connecting hole and the second connecting hole can be a threaded hole, and the other can be a through hole, and the fastener can be a fastening screw.

[0058] With reference to Figure 3 As shown in the drawings, in some embodiments, the walking wheel 2 comprises a driven wheel 23, and the coupling 5 is connected with the driven wheel 23.

[0059] That is, the driven wheel 23 can drive the coupling 5 to rotate synchronously when the driven wheel 23 rotates for walking, and the rotation of the driven wheel 23 is synchronous with the rotation of the coupling 5. The rotation of the coupling 5 is measured by the measuring device 4, so that the walking information of the driven wheel 23 can be measured.

[0060] Specifically, the walking wheel 2 further comprises a driving wheel, and the driving wheel rotates under the driving of a driving mechanism. The driven wheel 23 rotates under the action of friction between the driven wheel 23 and the walking area. Therefore, even if the driving wheel slips or pops up, the driven wheel 23 will still rotate under the action of friction. It can be seen that the walking information of the driven wheel 23 is closer to the real information of the carrying device. Therefore, in the embodiment, the coupling 5 can be connected with the driven wheel 23, so that the walking information of the driven wheel 23 is used as the walking feedback data of the carrying device.

[0061] In some embodiments, the walking wheel 2 comprises a driving wheel, and the coupling 5 is connected with the driving wheel.

[0062] That is, the driving wheel can drive the coupling 5 to rotate synchronously when the driving wheel rotates for walking, and the rotation of the driving wheel is synchronous with the rotation of the coupling 5. The rotation of the coupling 5 is measured by the measuring device 4, so that the walking information of the driving wheel can be measured.

[0063] In some embodiments, the walking wheel 2 comprises a driving wheel and a driven wheel 23, and the driving wheel and the driven wheel 23 are both used for rotating for walking on the walking area. The coupling 5 is connected with any one of the driving wheel and the driven wheel 23.

[0064] For example, the coupling 5 can be connected with the driving wheel to rotate synchronously with the driving wheel. Alternatively, the coupling 5 can be connected with the driven wheel 23 to rotate synchronously with the driven wheel 23.

[0065] With reference to Figure 2 , Figure 3 and Figure 6As shown, the measurer 4 and the coupling 5 combine to form a measurement assembly 8. The traveling wheel 2 includes at least two, and the at least two traveling wheels 2 are arranged on opposite sides of the machine body 1 along the width direction (refer to the Y direction shown in Figure 2 and Figure 6 The measurement assembly 8 includes at least two, and the at least two measurement assemblies 8 correspond to the at least two traveling wheels 2 one by one.

[0066] In specific implementation, the traveling information of the at least two traveling wheels 2 when straight traveling and the traveling information of the at least two traveling wheels 2 when turning are measured by the at least two measurement assemblies 8, so as to facilitate subsequent data feedback and verification.

[0067] For example, the at least two traveling wheels 2 can be symmetrically arranged on opposite sides of the machine body 1 along the width direction (refer to the Y direction shown in Figure 2 and Figure 6

[0068] As shown in Figure 5 and Figure 6 In some embodiments, the carrying device further includes a connecting bracket 3, the connecting bracket 3 is connected with the machine body 1, and the measurer 4 is arranged on the connecting bracket 3, so as to reliably assemble the measurer 4 on the machine body 1.

[0069] As shown in Figure 5 and Figure 6 In some embodiments, the connecting bracket 3 is located on one side of the traveling wheel 2, the measurer 4 and the coupling 5 are respectively located on two sides of the connecting bracket 3, and the coupling 5 is located on the side of the connecting bracket 3 close to the traveling wheel 2. The coupling 5 is rotationally connected with the connecting bracket 3.

[0070] In specific implementation, the measurer 4 and the coupling 5 can be arranged on two sides of the connecting bracket 3, for example, can be arranged on two sides of the connecting bracket 3 along the axial direction of the traveling wheel 2, so as to effectively arrange the measurer 4 and the coupling 5 on both sides of the connecting bracket 3. Since the coupling 5 needs to be connected with the traveling wheel 2, the coupling 5 can be arranged on the side of the connecting bracket 3 close to the traveling wheel 2, so as to realize the connection operation of the coupling 5 and the traveling wheel 2.

[0071] Further, in the embodiment, the coupling 5 can be rotationally arranged on the connecting bracket 3, so that the coupling 5 can rotate relative to the connecting bracket 3, and the connecting bracket 3 can support the coupling 5, avoiding that the coupling 5 is directly suspended and affects the synchronous rotation of the measurer 4 and the traveling wheel 2.

[0072] As shown in Figure 5 and Figure 6 ​As shown, in some embodiments, a bearing 6 is arranged between the connecting bracket 3 and the shaft coupling 5, the inner ring of the bearing 6 is clamped on the shaft coupling 5, and the outer ring of the bearing 6 is clamped on the connecting bracket 3, so as to realize the rotational connection between the shaft coupling 5 and the connecting bracket 3 through the bearing 6.

[0073] Specifically, the position of the connecting bracket 3 corresponding to the shaft coupling 5 can be provided with a through hole, and the bearing 6 is located in the through hole, and the outer ring of the bearing 6 is clamped in the through hole.

[0074] Alternatively, in other implementations, the rotational connection between the shaft coupling 5 and the connecting bracket 3 can also be realized through a rotational hinge or the like structure.

[0075] Referring to Figures 5 to 6 As shown, in some embodiments, the connecting bracket 3 and the measurer 4 are both located on the outer side of the walking wheel 2.

[0076] Specifically, the width direction of the carrying device can refer to Figure 2 The Y direction shown, the connecting bracket 3 and the measurer 4 are both located on the side away from the center axis of the carrying device of the walking wheel 2, that is, on the outer side of the walking wheel 2, so that the external space of the walking wheel 2 can be effectively utilized to accommodate the connecting bracket 3 and the measurer 4, and the assembly operation of the connecting bracket 3 and the measurer 4 is more convenient.

[0077] Referring to Figure 5 and Figure 6 As shown, in some embodiments, the carrying device further comprises a protective cover 7, and the protective cover 7 is arranged on the outer side of the measurer 4, so as to protect the measurer 4 from collision to a certain extent.

[0078] Specifically, the protective cover 7 can be arranged on the side away from the walking wheel 2 of the connecting bracket 3. The protective cover 7 has a protective cavity 71 open towards the connecting bracket 3, and the measurer 4 is located in the protective cavity 71, so as to protect the measurer 4 from collision to a certain extent.

[0079] Exemplarily, the protective cover 7 can be made of plastic, or can also be made of alloy.

[0080] Referring to Figure 5 and Figure 6 As shown, in some embodiments, the protective cover 7 is provided with a first connecting portion 72, and the machine body 1 is provided with a second connecting portion, and the protective cover 7 is connected to the machine body 1 through the cooperation of the first connecting portion 72 and the second connecting portion, so as to realize the reliable connection of the protective cover 7 and the machine body 1.

[0081] Exemplarily, the first connecting portion 72 and the second connecting portion can both be connecting holes, and a connecting piece such as a fastening pin is arranged in the connecting holes, so as to realize the reliable connection of the protective cover 7 and the machine body 1.

[0082] Alternatively, one of the first connecting portion 72 and the second connecting portion can be a clamping protrusion, and the other can be a clamping hole matched with the clamping protrusion, so as to reliably connect the protective cover 7 and the machine body 1.

[0083] For example, the first connecting portion 72 and the second connecting portion can be provided in at least two, so as to further improve the connection reliability of the protective cover 7 and the machine body 1 by matching the at least two first connecting portions 72 with the at least two second connecting portions, respectively.

[0084] Referring to Figure 5 In some embodiments, the protective cover 7 includes a protective bottom plate 74 and a protective side plate 75 connected with the protective bottom plate 74, and the protective bottom plate 74 and the protective side plate 75 enclose a protective cavity 71. Part of the protective side plate 75 is arranged on the machine body 1 and connected with the machine body 1, so as to facilitate the connection operation between the protective cover 7 and the machine body 1.

[0085] For example, the protective bottom plate 74 and the protective side plate 75 can be integrally formed, so as to save manufacturing procedures and improve the structural strength of the entire protective cover 7 to some extent.

[0086] Referring to Figure 5 In some embodiments, the protective cover 7 is provided with an observation opening 73 corresponding to the measurer 4, which can expose at least part of the measurer 4.

[0087] In the embodiment, the measurer 4 can be arranged on the side of the connecting bracket 3 away from the walking wheel 2. By arranging the observation opening 73 on the protective cover 7, the user can observe the running condition of the measurer 4 through the observation opening 73 and can observe whether the measurer 4 is loose or not. In addition, the observation opening 73 can also serve as a clearance for accommodating the measurer 4, so as to reduce the transverse dimension of the entire carrying device to some extent.

[0088] In some embodiments, the connecting bracket 3 is provided with a third connecting portion, the machine body 1 is provided with a fourth connecting portion, and the connecting bracket 3 is connected to the machine body 1 through the matching of the third connecting portion and the fourth connecting portion, so as to reliably connect the connecting bracket 3 and the machine body 1.

[0089] For example, the third connecting portion and the fourth connecting portion can both be light holes, and a fastener such as a fastening pin is arranged in the light holes, so as to reliably connect the connecting bracket 3 and the machine body 1.

[0090] Alternatively, one of the third connecting portion and the fourth connecting portion can be a clamping protrusion, and the other can be a clamping hole matched with the clamping protrusion, so as to reliably connect the connecting bracket 3 and the machine body 1.

[0091] Exemplarily, the third connecting part and the fourth connecting part can be provided as at least two, so as to further improve the connection reliability of the connecting bracket 3 and the machine body 1 by cooperation of the at least two third connecting parts and the at least two fourth connecting parts respectively.

[0092] Referring to Figure 6 As shown, the connecting bracket 3 is a plate-shaped member extending along the radial direction of the walking wheel 2, that is, the plate-shaped member is arranged in parallel with the radial cross section of the walking wheel 2, so that the size of the entire carrying device in the width direction can be effectively reduced.

[0093] It should be noted that the measurement assembly 8 can include the connecting bracket 3, the protective cover 7 and the bearing 6 in addition to the measurer 4 and the shaft coupling 5, that is, one measurement assembly 8 can be arranged corresponding to each walking wheel 2 on both sides of the machine body 1 in the width direction, so as to measure the two walking wheels 2 by the corresponding measurement assemblies 8 respectively, so as to facilitate subsequent verification.

[0094] In this document, unless otherwise clearly specified and limited, the terms “mounting”, “connecting”, “connecting” should be understood in a broad sense, for example, it can be fixedly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances. In addition, the orientation or positional relationship indicated by the terms “upper”, “lower”, “left”, “right”, “front”, “back”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer” and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on this application.

[0095] In this document, relational terms such as “first” and “second”, and the like can only be used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations exist in any such actual relationship or order. Moreover, the terms “comprising”, “including” or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a list of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement “comprising a” does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0096] The above merely describes preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A handling device, characterized in that, include: Machine body (1); Walking wheels (2), which are mounted on the machine body (1) and are used to rotate and walk in the walking area; Measuring instrument (4); and A coupling (5) is connected between the measuring device (4) and the walking wheel (2) so that when the walking wheel (2) rotates and moves, the measuring device (4) can detect and obtain the walking information of the walking wheel (2).

2. The handling equipment according to claim 1, characterized in that, The measuring device (4), the walking wheel (2), and the coupling (5) are coaxially arranged; And / or, the measuring device (4) is an encoder, the rotating part of which is connected to the coupling (5).

3. The handling equipment according to claim 1, characterized in that, The walking wheel (2) includes a walking wheel body (21) and a fastener (22) connected to the walking wheel body (21); The walking wheel body (21) is used to rotate and walk on the walking area. The fixing member (22) is located on the side of the walking wheel body (21) close to the coupling (5) and does not contact the walking area. The fastener (22) is connected to the coupling (5).

4. The handling equipment according to claim 1, characterized in that, The coupling (5) includes a connecting end (51) and a plug end (52) connected to the connecting end (51). The connecting end (51) is connected to the walking wheel (2). One of the plug end (52) and the measuring device (4) has a socket. The other of the plug end (52) and the measuring device (4) has a plug shaft, which is inserted into the socket.

5. The handling equipment according to claim 1, characterized in that, The walking wheel (2) includes a driven wheel (23), which is used to rotate and walk in the walking area, and the coupling (5) is connected to the driven wheel (23); Alternatively, the walking wheel (2) includes a drive wheel for rotating and walking in the walking area, and the coupling (5) is connected to the drive wheel; Alternatively, the walking wheel (2) includes a driving wheel and a driven wheel (23), both of which are used to rotate and walk in the walking area, and the coupling (5) is connected to either the driving wheel or the driven wheel (23).

6. The handling equipment according to claim 1, characterized in that, The measuring device (4) and the coupling (5) are combined to form a measuring assembly (8); The walking wheels (2) include at least two, and the at least two walking wheels (2) are arranged on opposite sides of the machine body (1) in the width direction. The measuring components (8) include at least two, and the at least two measuring components (8) correspond one-to-one with the at least two walking wheels (2).

7. The handling equipment according to claim 1, characterized in that, The handling equipment also includes a connecting bracket (3), which is connected to the machine body (1), and the measuring device (4) is mounted on the connecting bracket (3).

8. The handling equipment according to claim 7, characterized in that, The connecting bracket (3) is located on one side of the walking wheel (2), the measuring device (4) and the coupling (5) are located on both sides of the connecting bracket (3), and the coupling (5) is located on the side of the connecting bracket (3) closer to the walking wheel (2); The coupling (5) is rotatably connected to the connecting bracket (3).

9. The handling equipment according to claim 8, characterized in that, A bearing (6) is provided between the connecting bracket (3) and the coupling (5). The inner ring of the bearing (6) is mounted on the coupling (5), and the outer ring of the bearing (6) is mounted on the connecting bracket (3).

10. The handling equipment according to claim 7, characterized in that, The connecting bracket (3) and the measuring device (4) are both located on the outside of the walking wheel (2).

11. The handling equipment according to claim 1, characterized in that, It also includes a protective cover (7), which is placed on the outside of the measuring instrument (4).

12. The handling equipment according to claim 11, characterized in that, The protective cover (7) is provided with an observation port (73) at a position corresponding to the measuring instrument (4), which allows at least part of the measuring instrument (4) to be exposed.

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