Carrying equipment

Abstract

The utility model provides carrying equipment. The carrying equipment comprises a machine body, walking wheels, auxiliary wheels and a velometer. The walking wheels are arranged on the machine body and used for rotating and walking on the walking area. The auxiliary wheel and the walking wheel are arranged in a non-coaxial mode, and the auxiliary wheel is in contact fit with the walking wheel so as to synchronously rotate along with the walking wheel. The speedometer is arranged on the machine body and connected with the auxiliary wheel, so that when the walking wheel rotates and walks in the walking area and drives the auxiliary wheel to rotate synchronously, the rotating speed of the auxiliary wheel is measured through the speedometer, and therefore the rotating speed of the walking wheel can be accurately measured. The auxiliary wheels and the walking wheels are arranged in a non-coaxial mode and make contact with the walking wheels to achieve synchronous rotation, so that the auxiliary wheels and the walking wheels do not need to be arranged to be coaxial to achieve synchronous rotation, and the problems that due to coaxial arrangement, the assembly difficulty is high, the part machining difficulty is high, and abnormal sound is likely to be generated can be effectively solved.

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 etc., is a common goods transportation equipment. Specifically, carrying equipment usually includes the machine main body of loading goods and the walking wheel set at the bottom of machine main body, and the walking wheel rotates on the ground to walk to drive the machine main body to move, thereby realizing the transportation of goods between different places.

[0003] Since the walking speed of walking wheel is related to the transportation performance of carrying equipment, how to measure the walking speed of 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 reliably measure the walking speed of 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 used for rotating and walking on the walking area;

[0008] Auxiliary wheel, which is arranged on the machine main body and used for rotating and walking on the walking area;

[0009] Speedometer, which is arranged on the machine main body and connected with the auxiliary wheel to measure the rotating speed of the auxiliary wheel when the auxiliary wheel rotates and walks.

[0010] Optionally, the auxiliary wheel and the walking area are arranged in a non-contact manner.

[0011] Optionally, the auxiliary wheel is located on the side of the walking wheel away from the walking area.

[0012] Optionally, the walking wheel comprises a driving wheel used for rotating and walking on the walking area, and the auxiliary wheel is in contact with the driving wheel.

[0013] Or, the walking wheel comprises a driven wheel used for rotating and walking on the walking area, and the auxiliary wheel is in contact with the driven wheel.

[0014] Or, the walking wheel comprises a driving wheel and a driven wheel, both of which are used to rotate and walk on the walking area, and any one of the driving wheel and the driven wheel is in contact with the auxiliary wheel.

[0015] Optionally, in the radial direction of the walking wheel, the auxiliary wheel is located outside the walking wheel.

[0016] And / or, the speed detector is an encoder, and a rotating part of the encoder is connected with the auxiliary wheel.

[0017] Optionally, the handling equipment comprises a connecting piece, which is arranged on the machine body and connected with the auxiliary wheel.

[0018] The connecting piece is capable of moving towards the direction close to the walking wheel to drive the auxiliary wheel to move into contact with the walking wheel.

[0019] Optionally, one end of the connecting piece is connected with the auxiliary wheel, and the other end of the connecting piece is rotatably connected with the machine body, so that when the connecting piece rotates towards the direction close to the walking wheel, the auxiliary wheel is driven to rotate into contact with the walking wheel.

[0020] Optionally, the other end of the connecting piece is rotatably connected with the machine body through a first bearing.

[0021] And / or, in the radial direction of the walking wheel, the connecting piece is located outside the walking wheel.

[0022] And / or, the speed detector is connected to one end of the connecting piece connected with the auxiliary wheel.

[0023] Optionally, a mounting base is arranged on the machine body at a position corresponding to the first bearing, one side of the mounting base towards the connecting piece is provided with a connecting part, the other end of the connecting piece is provided with a mounting hole, and the first bearing is sleeved between the mounting hole and the connecting part.

[0024] Optionally, a pulling piece is arranged between the connecting piece and the machine body, and the connecting piece is capable of moving towards the direction close to the walking wheel under the pulling force of the pulling piece.

[0025] Optionally, the pulling piece comprises a tension spring, one end of the tension spring is connected with the connecting piece, and the other end of the tension spring is connected with the machine body.

[0026] Optionally, the speed sensor and the auxiliary wheel are respectively disposed on opposite sides of the connector; and / or, the speed sensor is located on the side of the connector closer to the machine body, and a clearance space is provided on the machine body at a position corresponding to the speed sensor, with at least a portion of the speed sensor located within the clearance space;

[0027] And / or, the end of the connector that connects to the auxiliary wheel is provided with a through hole, a second bearing is provided in the through hole, and the speed measuring device is provided in the second bearing.

[0028] This utility model provides a handling device comprising a machine body, traveling wheels, auxiliary wheels, and a speed measuring device. The traveling wheels are mounted on the machine body and used for rotating and moving within a designated walking area, enabling the entire handling device to move between different locations and thus transport goods. The auxiliary wheels are mounted on a different axis from the traveling wheels and are in contact with them to rotate synchronously. Simultaneously, a speed measuring device is mounted on the machine body and connected to the auxiliary wheels. When the traveling wheels rotate and move within the designated walking area, driving the auxiliary wheels to rotate synchronously, the speed measuring device measures the rotational speed of the auxiliary wheels, thus achieving accurate measurement of the traveling wheel's rotational speed.

[0029] Furthermore, the auxiliary wheel and the traveling wheel of the handling equipment of this utility model are arranged on opposite axes, and the auxiliary wheel and the traveling wheel contact each other to achieve synchronous rotation. Therefore, it is not necessary to set the auxiliary wheel and the traveling wheel to be coaxial in order to achieve synchronous rotation. This can effectively avoid the problems of high assembly difficulty, high part processing difficulty and easy generation of abnormal noise caused by coaxial setting. Attached Figure Description

[0030] Figure 1 This is an assembly drawing of the handling equipment described in an embodiment of the present utility model;

[0031] Figure 2 This is a partial structural diagram of the handling equipment described in an embodiment of the present utility model;

[0032] Figure 3 for Figure 2 A schematic diagram of its breakdown.

[0033] The components include: 1. Machine body; 11. First bearing; 12. Mounting base; 121. Connecting part; 122. First connecting hole; 123. Fastener; 13. Clearance space; 2. Traveling wheel; 21. Driven wheel; 3. Auxiliary wheel; 4. Speed ​​sensor; 5. Connecting piece; 51. Mounting hole; 52. Through hole; 6. Pulling piece; 61. Tension spring; 7. Second bearing. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art based on the embodiments of the present utility model are within the protection scope of the present utility model.

[0035] Reference Figures 1 to 3 As shown, this embodiment provides a handling device, including a machine body 1, traveling wheels 2, auxiliary wheels 3, and a speed measuring device 4.

[0036] The walking wheels 2 are mounted on the machine body 1 and are used to rotate and move within the walking area.

[0037] The auxiliary wheel 3 is mounted on a different axis from the traveling wheel 2 and is in contact with the traveling wheel 2 so as to rotate synchronously with the traveling wheel 2. The speed measuring device 4 is mounted on the machine body 1 and is connected to the auxiliary wheel 3 so as to measure the rotational speed of the auxiliary wheel 3 when it rotates.

[0038] In specific implementation, refer to Figure 1 As shown, the walking wheels 2 can be set at the bottom of the machine body 1 and can rotate in the walking area to drive the entire handling equipment to move between different locations, thereby realizing the transportation operation of goods.

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

[0040] The auxiliary wheel 3 and the traveling wheel 2 are arranged on opposite axes. Specifically, the auxiliary wheel 3 can be placed on the outer side of the traveling wheel 2 in the radial direction to achieve an off-axis arrangement. The auxiliary wheel 3 and the traveling wheel 2 are in contact and fit together, which ensures that the auxiliary wheel 3 and the traveling wheel 2 rotate synchronously. Then, the rotation speed of the auxiliary wheel 3 can be measured by the speed measuring device 4 connected to the auxiliary wheel 3, and finally the rotation speed of the traveling wheel 2 can be obtained, so as to determine the motion state and working condition of the traveling wheel 2, as well as the transportation performance of the entire handling equipment.

[0041] It should be noted that, due to the possibility of slippage, bouncing, or suspension during the movement of the transport equipment, the calculated rotational speed based on the relevant parameters of the drive mechanism will differ somewhat from the actual rotational speed of the transport equipment. Therefore, in this embodiment, the rotational speed of the auxiliary wheel 3, which rotates synchronously with the traveling wheel, is measured by a speed measuring device 4. The resulting rotational speed is closer to the true rotational speed of the transport equipment.

[0042] For example, the handling equipment in this embodiment can be a freight transport vehicle, a logistics vehicle, or a forklift.

[0043] The handling equipment of this embodiment includes a machine body 1, traveling wheels 2, auxiliary wheels 3, and a speed measuring device 4. The traveling wheels 2 are mounted on the machine body 1 and used for rotating and moving within a designated walking area, thereby enabling the entire handling equipment to move between different locations and thus transport goods. The auxiliary wheels 3 are mounted on a different axis from the traveling wheels 2 and are in contact with the traveling wheels 2 to rotate synchronously with them. Simultaneously, a speed measuring device 4 is mounted on the machine body 1 and connected to the auxiliary wheels 3. When the traveling wheels 2 rotate and move within the designated walking area, driving the auxiliary wheels 3 to rotate synchronously, the speed measuring device 4 measures the rotational speed of the auxiliary wheels 3, thus achieving accurate measurement of the rotational speed of the traveling wheels 2.

[0044] Furthermore, in this embodiment, the auxiliary wheel 3 and the traveling wheel 2 of the handling device are arranged on opposite axes, and the auxiliary wheel 3 and the traveling wheel 2 rotate synchronously upon contact. Therefore, it is not necessary to set the auxiliary wheel 3 and the traveling wheel 2 to be coaxial in order to achieve synchronous rotation. This can effectively avoid the problems of high assembly difficulty, high part processing difficulty, and easy generation of abnormal noise caused by the coaxial setting.

[0045] Reference Figure 1 and Figure 2 As shown, in some embodiments, the auxiliary wheel 3 is arranged in a non-contact manner with the walking area.

[0046] This design prevents the auxiliary wheel 3 from coming into contact with the walking area and causing wear, which would affect the service life of the auxiliary wheel 3.

[0047] For example, the auxiliary wheel 3 can be located above the traveling wheel 2 or on the left or right side of the traveling wheel 2, etc., so that there is a gap between the auxiliary wheel 3 and the traveling area to ensure that no contact wear occurs between the two.

[0048] Reference Figure 1 and Figure 2 As shown, in some embodiments, the auxiliary wheel 3 is located on the side of the walking wheel 2 away from the walking area.

[0049] That is, the auxiliary wheel 3 is located above the traveling wheel 2 (see details). Figure 2 As shown in the vertical direction, this arrangement avoids increasing the size of the handling equipment along its width, thus avoiding increasing the width of the passageway for the handling equipment to travel, which is conducive to the miniaturization and narrow design of the handling equipment.

[0050] In some embodiments, the walking wheel 2 includes a drive wheel for rotating and walking in the walking area, and an auxiliary wheel 3 is in contact with the drive wheel.

[0051] By setting the auxiliary wheel 3 to contact and cooperate with the driving wheel, it can be ensured that the auxiliary wheel 3 and the driving wheel rotate synchronously. Then, the rotation speed of the auxiliary wheel 3 can be measured by the speed measuring device 4 connected to the auxiliary wheel 3, and finally the speed of the driving wheel can be obtained, so as to judge the motion state, working condition and transportation performance of the entire handling equipment.

[0052] In some embodiments, refer to Figure 2 and Figure 3 As shown, the walking wheel 2 includes a driven wheel 21, which is used to rotate and walk in the walking area, and the auxiliary wheel 3 is in contact with the driven wheel 21.

[0053] By setting the auxiliary wheel 3 to contact and engage with the driven wheel 21, it can be ensured that the auxiliary wheel 3 and the driven wheel 21 rotate synchronously. Then, the rotation speed of the auxiliary wheel 3 can be measured by the speed measuring device 4 connected to the auxiliary wheel 3, and finally the rotation speed of the driven wheel 21 can be obtained, so as to determine the motion state, working condition and transportation performance of the entire handling equipment.

[0054] Since the driving wheel is used to rotate under the drive of the drive mechanism, the driven wheel 21 rotates under the action of friction between the driven wheel 21 and the travel area. Even if the driving wheel slips or bounces up and hangs in the air, the driven wheel 21 will still rotate under the action of friction.

[0055] Therefore, the rotational speed obtained by measuring the rotational speed of the driven wheel 21 is closer to the actual rotational speed of the conveying equipment. Thus, in this embodiment, the auxiliary wheel 3 can be configured to engage with the driven wheel 21, thereby using the rotational speed of the driven wheel 21 as a parameter of the conveying equipment's rotational speed.

[0056] In some embodiments, the walking wheel 2 includes a driving wheel and a driven wheel 21, both of which are used to rotate and walk in the walking area, and either the driving wheel or the driven wheel 21 is in contact with the auxiliary wheel 3.

[0057] For example, the auxiliary wheel 3 can be configured to contact and cooperate with the driving wheel, or the auxiliary wheel 3 can be configured to contact and cooperate with the driven wheel 21, depending on the actual needs.

[0058] For example, the speed sensor 4 can be an encoder, which has a rotating part. Specifically, the rotating part of the encoder can be connected to the auxiliary wheel 3, so that it can rotate synchronously with the rotation of the auxiliary wheel 3. The rotational speed of the auxiliary wheel 3 can then be obtained by measuring the rotational speed of the rotating part. In addition, the rotating part of the encoder can be snapped or plugged into the auxiliary wheel 3.

[0059] Reference Figures 1 to 3As shown, in some embodiments, the handling device includes a connector 5, which is disposed on the machine body 1 and connected to the auxiliary wheels 3.

[0060] In other words, in order to ensure that the auxiliary wheel 3 can maintain reliable contact with the traveling wheel 2, a connector 5 can be provided on the machine body 1. The connector 5 is connected to the auxiliary wheel 3, and the connector 5 can move relative to the machine body 1. This movement can be, for example, rotation relative to the machine body 1 or movement relative to the machine body 1, thereby driving the auxiliary wheel 3 to move towards the traveling wheel 2 until it is in close contact with the traveling wheel 2, so as to ensure that the auxiliary wheel 3 can rotate synchronously with the traveling wheel 2.

[0061] For example, connector 5 can be a connecting plate or a connecting rod.

[0062] For example, the connector 5 may be made of an alloy or metal to ensure that the connector 5 has high structural strength.

[0063] For example, the auxiliary wheel 3 and the connector 5 can be connected together by means of screws or snap-fits.

[0064] Reference Figure 2 and Figure 3 As shown, in some embodiments, one end of the connector 5 is connected to the auxiliary wheel 3, and the other end of the connector 5 is rotatably connected to the machine body 1 so that when the connector 5 rotates toward the direction of the walking wheel 2, it drives the auxiliary wheel 3 to rotate to contact and engage with the walking wheel 2.

[0065] In other words, one end of the connector 5 is connected to the auxiliary wheel 3, while the other end of the connector 5 is rotatably connected to the machine body 1. Therefore, when there is a gap between the auxiliary wheel 3 and the traveling wheel 2, resulting in no tight contact between them, the connector 5 can rotate relative to the machine body 1, thereby driving the auxiliary wheel 3 located at one end of the connector 5 to rotate, and then the auxiliary wheel 3 can eventually rotate to contact and engage with the traveling wheel 2.

[0066] As can be seen from the above, in this embodiment, the connecting member 5 can be rotatably connected to the machine body 1, so that the connecting member 5 can rotate relative to the machine body 1, thereby driving the auxiliary wheel 3 to rotate and engage with the traveling wheel 2. Of course, in other implementations, the connecting member 5 can also be slidably connected to the machine body 1, so that the connecting member 5 can slide relative to the machine body 1 and drive the auxiliary wheel 3 to move and engage with the traveling wheel 2.

[0067] Reference Figure 2 and Figure 3As shown, in some embodiments, the machine body 1 and the other end of the connector 5 are rotatably connected by a first bearing 11.

[0068] For example, the first bearing 11 can be a deep groove ball bearing.

[0069] Alternatively, in other implementations, the connector 5 can be rotatably connected to the machine body 1 via a rotating hinge or ball joint.

[0070] For example, in the radial direction along the traveling wheel 2, the connecting member 5 is located outside the traveling wheel 2 and can move toward the traveling wheel 2 to drive the auxiliary wheel 3 to move to contact and engage with the traveling wheel 2.

[0071] This arrangement effectively utilizes the space outside the walking wheel 2 to arrange the connecting piece 5, so that after the connecting piece 5 is connected to the auxiliary wheel 3, it can drive the auxiliary wheel 3 to move until it contacts and engages with the walking wheel 2.

[0072] Specifically, the speed measuring device 4 is connected to one end of the connecting piece 5 that connects to the auxiliary wheel 3, so that the speed measuring device 4 can be connected to the auxiliary wheel 3 to measure the rotation speed of the auxiliary wheel 3 when it rotates.

[0073] Reference Figure 2 and Figure 3 As shown, in some embodiments, a mounting base 12 is provided on the machine body 1 at a position corresponding to the first bearing 11. A connecting part 121 is provided on the side of the mounting base 12 facing the connector 5. A mounting hole 51 is provided at the other end of the connector 5. The first bearing 11 is sleeved between the mounting hole 51 and the connecting part 121.

[0074] In other words, in order to facilitate the rotational connection between the machine body 1 and the connector 5, a mounting base 12 can be provided on the machine body 1, a connecting part 121 can be provided on the mounting base 12, and a mounting hole 51 can be provided on the connector 5. Specifically, the outer ring of the first bearing 11 is engaged in the mounting hole 51, and the inner ring of the first bearing 11 is engaged with the connecting part 121, thereby realizing the rotational cooperation between the connector 5 and the machine body 1.

[0075] For example, the connecting part 121 may specifically be a connecting rod or a connecting shaft.

[0076] For example, a first connecting hole 122 may be provided on the mounting base 12, and a second connecting hole may be provided on the machine body 1. Fasteners 123 are inserted into the first connecting hole 122 and the second connecting hole, thereby fixing the mounting base 12 to the machine body 1.

[0077] For example, fastener 123 can be a screw or a fastening pin.

[0078] Alternatively, the mounting base 12 can be fixed to the machine body 1 by snap-fit ​​to ensure a reliable connection between the two.

[0079] Reference Figure 2 and Figure 3 As shown, in some embodiments, a pulling member 6 is provided between the connector 5 and the machine body 1, and the connector 5 can move toward the direction of the walking wheel 2 under the pulling force of the pulling member 6.

[0080] In other words, by pulling the connecting piece 5 towards the direction of the traveling wheel 2 by the pulling piece 6, the auxiliary wheel 3 and the traveling wheel 2 can reliably contact and cooperate, which can save manpower and simplify the operation process.

[0081] In some embodiments, refer to Figure 2 As shown, the pulling member 6 includes a tension spring 61. One end of the tension spring 61 is connected to the connecting member 5, and the other end of the tension spring 61 is connected to the machine body 1. This allows the connecting member 5 to move towards the traveling wheel 2 under the elastic tension of the tension spring 61, so as to ensure that the auxiliary wheel 3 and the traveling wheel 2 can reliably contact and cooperate, and to ensure that the two can rotate synchronously.

[0082] Alternatively, in other implementations, the pull element 6 can be an electric actuator or a pneumatic actuator, etc.

[0083] Reference Figure 2 and Figure 3 As shown, in some embodiments, the speed sensor 4 and the auxiliary wheel 3 are respectively located on opposite sides of the connector 5.

[0084] This arrangement effectively utilizes the space on both sides of the connector 5 to arrange the speedometer 4 and the auxiliary wheel 3, thereby improving space utilization.

[0085] For example, the speed measuring device 4 and the auxiliary wheel 3 can be set on opposite sides of the connecting member 5 along the axial direction of the traveling wheel 2, so that the space on both sides of the connecting member 5 in the axial direction can be fully utilized to arrange the speed measuring device 4 and the auxiliary wheel 3 respectively.

[0086] In some embodiments, the speed detector 4 is located on the side of the connector 5 closer to the machine body 1, and a clearance space 13 is provided on the machine body 1 at a position corresponding to the speed detector 4, with at least a portion of the speed detector 4 located within the clearance space 13.

[0087] To facilitate contact and engagement between the auxiliary wheel 3 and the traveling wheel 2, the speed sensor 4 is positioned on the side of the connector 5 closest to the machine body 1. When the speed sensor 4 is positioned on the side of the connector 5 closest to the machine body 1, to avoid resulting in a large lateral dimension of the handling equipment, a clearance space 13 can be provided on the machine body 1 so that at least a portion of the speed sensor 4 is located within the clearance space 13.

[0088] Furthermore, the connecting piece 5 is provided with a through hole 52 at one end of the auxiliary wheel 3, and a second bearing 7 is provided inside the through hole 52, and the speed measuring device 4 is provided inside the second bearing 7.

[0089] Specifically, the outer ring of the second bearing 7 is fitted into the through hole 52, and the speed measuring device 4 has a rotating part. The rotating part of the speed measuring device 4 is fitted into the inner ring of the second bearing 7 so that the rotating part of the speed measuring device 4 can rotate relative to the connecting member 5.

[0090] For example, when the tachometer 4 is an encoder, the rotating part can specifically be the encoder shaft.

[0091] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection or an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, the terms "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0092] In this document, relational terms such as “first” and “second” are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0093] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications or equivalent substitutions made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A handling device, characterized in that, include: Machine body (1); Walking wheels (2), which are mounted on the machine body (1) and used to rotate and walk in the walking area; Auxiliary wheel (3) is arranged on a different axis from the traveling wheel (2) and is in contact with the traveling wheel (2) to rotate synchronously with the traveling wheel (2); as well as Speed ​​measuring device (4), which is connected to the auxiliary wheel (3) to measure the rotational speed of the auxiliary wheel (3) when the auxiliary wheel (3) rotates and moves.

2. The handling equipment according to claim 1, characterized in that, The auxiliary wheel (3) is positioned in a non-contact manner with the walking area.

3. The handling equipment according to claim 2, characterized in that, The auxiliary wheel (3) is located on the side of the walking wheel (2) away from the walking area.

4. The handling equipment according to claim 1, characterized in that, The walking wheel (2) includes a drive wheel, which is used to rotate and walk in the walking area, and the auxiliary wheel (3) is in contact with the drive wheel; Alternatively, the walking wheel (2) includes a driven wheel (21) for rotating and walking in the walking area, and the auxiliary wheel (3) is in contact with the driven wheel (21); Alternatively, the walking wheel (2) includes a driving wheel and a driven wheel (21), both of which are used to rotate and walk on the walking area, and either the driving wheel or the driven wheel (21) is in contact with the auxiliary wheel (3).

5. The handling equipment according to claim 1, characterized in that, In the radial direction along the traveling wheel (2), the auxiliary wheel (3) is located outside the traveling wheel (2); And / or, the speed measuring device (4) is an encoder, and the rotating part of the encoder is connected to the auxiliary wheel (3).

6. The handling equipment according to any one of claims 1 to 5, characterized in that, The conveying device includes a connector (5), which is disposed on the machine body (1) and connected to the auxiliary wheel (3); The connector (5) can move toward the direction of the walking wheel (2) to drive the auxiliary wheel (3) to move to contact and engage with the walking wheel (2).

7. The handling equipment according to claim 6, characterized in that, One end of the connector (5) is connected to the auxiliary wheel (3), and the other end of the connector (5) is rotatably connected to the machine body (1) so that when the connector (5) rotates toward the direction close to the walking wheel (2), it drives the auxiliary wheel (3) to rotate to contact and engage with the walking wheel (2).

8. The handling equipment according to claim 7, characterized in that, The other end of the connector (5) is rotatably connected to the machine body (1) via a first bearing (11); And / or, in the radial direction along the walking wheel (2), the connecting member (5) is located on the outside of the walking wheel (2); And / or, the speed measuring device (4) is connected to one end of the connector (5) that connects to the auxiliary wheel (3).

9. The handling equipment according to claim 8, characterized in that, A mounting base (12) is provided on the machine body (1) at a position corresponding to the first bearing (11). A connecting part (121) is provided on the side of the mounting base (12) facing the connector (5). A mounting hole (51) is provided at the other end of the connector (5). The first bearing (11) is sleeved between the mounting hole (51) and the connecting part (121).

10. The handling equipment according to claim 6, characterized in that, A pulling member (6) is provided between the connector (5) and the machine body (1), and the connector (5) can move toward the direction of the walking wheel (2) under the pulling force of the pulling member (6).

11. The handling equipment according to claim 10, characterized in that, The pulling member (6) includes a tension spring (61), one end of which is connected to the connecting member (5), and the other end of which is connected to the machine body (1).

12. The handling equipment according to claim 6, characterized in that, The speed measuring device (4) and the auxiliary wheel (3) are respectively disposed on opposite sides of the connector (5); and / or, the speed measuring device (4) is located on the side of the connector (5) closer to the machine body (1), and a clearance space (13) is provided on the machine body (1) at a position corresponding to the speed measuring device (4), and at least a portion of the speed measuring device (4) is located within the clearance space (13); And / or, the end of the connector (5) connected to the auxiliary wheel (3) is provided with a through hole (52), a second bearing (7) is provided in the through hole (52), and the speed measuring device (4) is provided in the second bearing (7).

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