A compact trolley

Abstract

This utility model discloses a compact material handling vehicle, relating to the field of material handling vehicle technology. It includes a chassis assembly, on which a traveling mechanism and a lifting mechanism are integrated. The lifting mechanism includes a power module, a crank, a swing arm, and a connecting rod structure. The power module is connected to the connecting rod structure via the crank and the swing arm, driving the lifting of a support seat connected to the top of the connecting rod structure. The connecting rod structure has an installation area for accommodating a controller. One end of the support seat is hinged to the top of the connecting rod structure, and the other end of the support seat is connected to the top of the connecting rod structure via a locking mechanism. This utility model provides a compact material handling vehicle, solving the problem that existing solutions generally lack compactness, resulting in a relatively large overall size, and also facilitating installation and maintenance.

Description

Technical Field

[0001] This utility model relates to the field of material handling vehicle technology, specifically to a compact material handling vehicle. Background Technology

[0002] In the field of material handling, existing lifting mechanisms for material handling vehicles often have significant limitations, primarily manifested in inconvenience during maintenance and repair, requiring substantial manpower and time. Furthermore, existing solutions are generally not compact enough, resulting in relatively large overall sizes. This not only limits the flexibility of material handling vehicles in confined spaces but also restricts their potential for miniaturization. To address these pain points, there is an urgent need to develop a new lifting mechanism and corresponding material handling vehicle solution. Its core objective is to significantly improve the ease of installation and maintenance, reducing the manpower required for subsequent operation and maintenance. In addition, this solution aims to achieve a more compact structural design, effectively reducing the overall size of the vehicle, creating favorable conditions for miniaturization and flexible application in diverse scenarios, and possessing good scalability and secondary development capabilities to meet the ever-evolving operational needs of the future. Utility Model Content

[0003] Technical problem to be solved by the utility model

[0004] The technical problem to be solved by this utility model is to provide a compact transport vehicle, which solves the problem that the existing solutions are generally not compact enough, resulting in a relatively large overall size, and is convenient for installation and maintenance.

[0005] Technical solution

[0006] To solve the above problems, the technical solution provided by this utility model is as follows:

[0007] A compact transport vehicle includes a chassis assembly on which a traveling mechanism and a lifting mechanism are integrated. The lifting mechanism includes a power module, a crank, a swing arm, and a connecting rod structure. The power module is connected to the connecting rod structure via the crank and the swing arm and drives a support seat connected to the top of the connecting rod structure to rise and fall. The connecting rod structure has an installation area for accommodating a controller. One end of the support seat is hinged to the top of the connecting rod structure, and the other end of the support seat is connected to the top of the connecting rod structure via a locking mechanism.

[0008] Space reuse and compactness: The power module, transmission mechanism (crank, swing arm, connecting rod) and controller are highly integrated on the chassis assembly. In particular, the controller installation area is set up by utilizing the internal space of the connecting rod structure, which effectively avoids the design of external controller or additional space occupation, greatly compressing the volume occupied by the mechanism in the horizontal and vertical directions, making the overall structure exceptionally compact.

[0009] High-efficiency power transmission and lifting: The power module serves as the driving source, which efficiently converts the rotational motion into the lifting motion of the linkage structure through the crank-swing arm mechanism, ultimately driving the support seat to complete the lifting or lowering of materials.

[0010] Modular and easy to maintain: One end of the support base is fixed with a hinge, while the other end is connected by a quick-operation locking mechanism. This design allows the support base to be flipped or moved around the hinge point simply by releasing the locking mechanism when maintenance or replacement of the support base, linkage structure, or lower components is required. This eliminates the need to disassemble the entire lifting mechanism or use complex tools, greatly simplifying the maintenance process and reducing labor and time costs.

[0011] Structural stability: The linkage structure itself provides excellent rigidity and guidance, ensuring smooth and wobbly movement of the support during lifting and lowering, thus improving the safety of handling operations. The two-point connection (hinged + locked) between the support and the top of the linkage also ensures its stability under load.

[0012] Optionally, the linkage structure includes a first swing arm group, a second swing arm group, a third swing arm group, a fourth swing arm group, a middle connecting rod, a fifth swing arm group, and a hinge seat, all symmetrically arranged. The first and second swing arm groups are hinged together, as are the third and fourth swing arm groups. A middle connecting rod is hinged to the hinge point of the first and second swing arm groups. The other end of the middle connecting rod is hinged to the hinge point of the third and fourth swing arm groups. The lower ends of the first and third swing arm groups are hinged to the chassis assembly. The upper ends of the second and fourth swing arm groups are hinged to the support seat. One end of the middle connecting rod is hinged to the swing arm. The ground part of the fourth swing arm group is circumferentially hinged to the hinge seat via the hinged fifth swing arm group.

[0013] High-efficiency force transmission and motion amplification: The two parallelogram (or near-parallelogram) mechanisms, consisting of the first to fourth swing arm groups, can efficiently amplify and convert the small stroke / swing angle input of the swing arm into a large stroke lifting motion of the support seat in the vertical direction through the connection of the central connecting rod and the power input.

[0014] Precise vertical guidance: The symmetrically arranged first / third swing arm group (the lower end is fixedly hinged to the chassis) and second / fourth swing arm group (the upper end is fixedly hinged to the support base) combine the parallelogram principle to ensure that the support base maintains a nearly pure vertical translational movement during the lifting process, avoiding tilting or swaying, and greatly improving the stability and positioning accuracy of handling.

[0015] Extremely compact design: Multiple boom assemblies can be tightly folded and unfolded during lifting. Especially when the mechanism is lowered to its lowest position, the boom assemblies can be stacked up to the maximum extent, significantly reducing the overall height (thickness) of the mechanism, which is the key to the miniaturization of the whole machine.

[0016] Optimized load distribution and structural strength: The symmetrically arranged swing arm assemblies evenly distribute the load to both sides of the structure, improving the rigidity and load-bearing capacity of the mechanism. The central connecting rod, as the core connecting component, balances the movement of the front and rear swing arm assemblies and transmits power.

[0017] Key Degrees of Freedom Control and Enhanced Stability: The additional mechanism consisting of the fifth swing arm assembly and the hinged seat constrains the motion trajectory of the upper part of the fourth swing arm assembly through circumferential hinges. This effectively prevents lateral instability or torsion that may occur during the movement of the mechanism, ensuring the rigidity and stability of the entire linkage system under complex stress conditions, while allowing the necessary degrees of freedom to adapt to geometric changes during the lifting process.

[0018] Alternatively, the other end of the swing arm is hinged to the crank, which is connected to the output shaft of the power module.

[0019] Power input interface: The crank, as a rigid connecting part, directly introduces the rotational motion and torque of the output shaft of the power module (such as an electric motor or hydraulic motor) into the lifting mechanism, and is the direct entry point for the mechanism to obtain power.

[0020] The conversion from rotary motion to oscillating motion: this is the core function of this structure. The power module outputs continuous rotary motion. The crank moves in a circular motion with the output shaft. One end of the swing arm is hinged to the end point of the crank (away from the axis), and the other end is (usually) hinged to (or constrained by) a subsequent connecting rod or a fixed fulcrum. This connection method forces the swing arm to convert the circular motion trajectory of the crank end point into a reciprocating oscillating motion of the swing arm around its own fulcrum. This is the first and fundamental motion transformation of the entire mechanism from rotary input to final linear lifting output.

[0021] Basic principles of motion stroke adjustment: The length of the crank (i.e., its radius of rotation) is a key parameter that determines the swing arm's swing amplitude (angular displacement). A longer crank can drive the swing arm's endpoint to produce a larger linear displacement (arc length) at the same output shaft rotation angle, providing a basis for further amplifying the lifting stroke in subsequent linkage mechanisms, and also providing design freedom for adjusting the final lifting height.

[0022] Reliable connection and adaptability: The rigid connection between the crank and the output shaft (such as key connection or flange connection) ensures efficient and reliable power transmission. The hinge (pin connection) between the crank and the rocker arm provides the necessary single-degree-of-freedom rotary joint, allowing the relative angles of the two to change freely during motion, adapting to the motion geometry, effectively transmitting push / pull forces, and constraining the circular motion into the desired oscillation.

[0023] Optionally, the locking mechanism includes a fixing nut and a fixing screw that cooperate with each other. The other end of the support is hinged to the connecting rod structure via a first pivot, and one end of the support is hinged via a second pivot. The first pivot is provided with a fixing screw, and the support is provided with a circular groove for rolling friction with the first pivot. The bottom of the circular groove is provided with a through hole for the fixing screw to pass through.

[0024] Quick Locking and Unlocking (Key to Maintenance): The engagement of the fixing screw and the fixing nut is the core locking element. By tightening or loosening the fixing screw, the connection or separation of one end of the support base from the top of the connecting rod structure (via the first pivot) can be achieved extremely easily. This greatly simplifies operations that require access to the lower connecting rod mechanism (such as for maintenance or replacement of parts); only this screw needs to be operated, without the need for complex tools or complete disassembly.

[0025] Providing a stable hinge point: The support base forms a fixed hinge at the other end with the top of the connecting rod structure via a second pivot, which is the fulcrum for the rotation of the support base. The first pivot constitutes the connection base at the other end of the support base, and it is itself fixed to the top of the connecting rod structure.

[0026] Allowing for restricted axial sliding: The key is the circular groove designed on the support. This groove fits onto the first rotating shaft, allowing the support to slide slightly (rolling friction) along the axis of the first rotating shaft when needed (e.g., due to thermal deformation, minor assembly errors). This prevents the structure from developing internal stress due to excessive constraint.

[0027] Load transfer and constraint of degrees of freedom: When the fixing screw is tightened, it presses the support (through the bottom of the circular groove) firmly against the first rotating shaft (or indirectly through other structures). In this way, apart from the rotational degree of freedom about the second rotating shaft (provided by the hinge at the other end), all other degrees of freedom (vertical movement, horizontal movement, torsion, etc.) between this end of the support and the top of the connecting rod structure are effectively constrained, ensuring the overall rigidity and stability of the support during load-bearing and operation.

[0028] Precise positioning and anti-disengagement: The fit between the inner wall of the circular groove and the outer circle of the first rotating shaft (rolling friction design), and the structure of the fixing screw passing through the through hole and finally tightening, together ensure the precise positioning of the support seat relative to the first rotating shaft (i.e. the top of the connecting rod structure) in the horizontal plane and prevent it from accidentally disengaging.

[0029] Optionally, the support base is provided with a groove for receiving the fixing nut.

[0030] The retaining nut is a key component of the locking mechanism. Traditional designs, where it's mounted on the support surface, inevitably create a protrusion. This groove completely embeds (sinks) the retaining nut into the support body, ensuring its upper surface is flush with or lower than the support's bearing surface, thus completely eliminating the protrusion. A flat support surface is fundamental for the safe and stable placement of materials (especially pallets, boxes, etc.). Without the interference of a protruding nut, materials can lie flat against the support surface, preventing instability, tilting, sliding, or even damage caused by localized protrusions (especially for materials requiring high bottom flatness). It also prevents the risk of operators or surrounding equipment being scratched by protruding parts.

[0031] Optionally, the chassis assembly includes a front section and a rear section, and the running gear includes a driven wheel and a driving wheel. The driving wheel is disposed between the front section and the rear section, and the driven wheel is symmetrically disposed between the front section and the rear section.

[0032] Structural division and layout optimization: The chassis assembly is divided into front and rear sections, which provides space and flexibility for the modular layout of internal mechanisms (such as lifting mechanism, power module, controller, etc.) and pipeline routing, and also facilitates manufacturing, assembly and maintenance.

[0033] Core drive positioning (center-mounted drive wheel): The core of this design is placing the sole drive wheel between the front and rear sections of the chassis. This ensures:

[0034] The driving force is applied close to the vehicle's center of gravity, which effectively reduces the "nose-up" or "nodding" phenomenon when the vehicle starts, brakes, and drives, thus improving driving stability.

[0035] Optimal traction transfer: The drive wheels are located below the center of the vehicle body, which allows for more efficient transfer of driving force to the ground, especially when climbing hills or under load.

[0036] Steering flexibility basis: Provides an ideal position for common differential steering or independent steering wheel designs (the drive wheels themselves can also serve as steering wheels, or cooperate with the front and rear driven wheels for steering).

[0037] Stable support and load distribution (symmetrical driven wheels): Driven wheels (follower wheels / support wheels) are symmetrically arranged at the front and rear of the chassis to provide three or more points of stable support.

[0038] Balanced load-bearing capacity: The symmetrical arrangement ensures that the load weight is evenly distributed to each support point, avoiding chassis twisting or local overload.

[0039] Increased support points: In conjunction with the drive wheel, at least three support points are formed (1 drive wheel + 1 front driven wheel + 1 rear driven wheel, usually more than 1 wheel per section), which greatly improves the static and dynamic stability of the vehicle and prevents rollover.

[0040] Reduced ground pressure: With multiple wheels distributing the weight, the pressure of each wheel on the ground is reduced, which is especially beneficial for driving on softer surfaces.

[0041] Compactness: This layout (drive wheel in the center, support wheels at the front and rear) has a clear structure and can effectively utilize the space at the front and rear of the chassis to arrange the support wheels, avoiding the mechanism from being too concentrated and helping to achieve the goal of compact design of the whole machine.

[0042] Alternatively, the driven wheel may be a swivel wheel.

[0043] The core feature of casters is their ability to rotate freely 360 degrees around their vertical mounting axis. This allows the casters to automatically and instantly adjust their rolling direction to match the direction of movement, regardless of which direction the transport vehicle needs to move (forward, backward, lateral, or any diagonal movement), eliminating the lateral friction resistance that traditional casters need to overcome when turning.

[0044] Alternatively, the chassis assembly may be a one-piece molded structure.

[0045] It significantly improves the overall structural strength, rigidity and stability of the chassis, while optimizing space utilization, simplifying assembly and enhancing reliability.

[0046] Beneficial effects

[0047] Compared with the prior art, the technical solution provided by this utility model has the following advantages:

[0048] The technical solution provided by this utility model, through high integration (chassis assembly, connecting rod embedded controller), ingenious connecting rod transmission design (crank-swing arm-connecting rod), and convenient support seat connection method (single hinge + single lock), perfectly achieves the design goals of compact structure and convenient installation and maintenance while realizing the core lifting function, effectively overcoming the shortcomings of the prior art. Its operational essence is to convert the rotational or linear motion of the power source into the linear lifting motion of the connecting rod through the crank and swing arm. Attached Figure Description

[0049] Figure 1 A schematic diagram of the structure of a compact transport vehicle proposed for an embodiment of this utility model;

[0050] Figure 2 A schematic diagram of the chassis assembly of a compact transport vehicle proposed for an embodiment of this utility model;

[0051] Figure 3 A schematic diagram of the structure of a controller for a compact transport vehicle proposed in an embodiment of this utility model;

[0052] Figure 4 A schematic diagram of the lifting mechanism of a compact transport vehicle proposed for an embodiment of this utility model;

[0053] Figure 5 A side view of the lifting mechanism of a compact transport vehicle according to an embodiment of the present invention;

[0054] Figure 6 A mechanical schematic diagram of the lifting mechanism of a compact transport vehicle proposed for an embodiment of this utility model;

[0055] Figure 7 A schematic diagram of the structure of the first and second shafts of a compact transport vehicle proposed for an embodiment of this utility model;

[0056] Figure 8 A schematic diagram of the structure of a support base for a compact transport vehicle proposed in an embodiment of this utility model;

[0057] 1. Chassis assembly; 101. Front section of chassis; 102. Rear section of chassis; 103. Driven wheel; 104. Drive wheel; 2. Lifting mechanism; 201. Power module; 202. Crank; 203. Swing arm; 204. Connecting rod structure; 2041. First swing arm assembly; 2042. Second swing arm assembly; 2043. Third swing arm assembly; 2044. Fourth swing arm assembly; 2045. Central connecting rod; 2046. Fifth swing arm assembly; 2047. Hinge seat; 205. Support seat; 2051. Cylindrical hole; 2052. Circular groove; 2053. Through hole; 206. Fixing nut; 207. First pivot; 208. Fixing screw; 209. Second pivot; 3. Controller. Detailed Implementation

[0058] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments.

[0059] Example

[0060] Combined with appendix Figure 1-4 A compact transport vehicle includes a chassis assembly 1, on which a traveling mechanism and a lifting mechanism 2 are integrated. The lifting mechanism 2 includes a power module 201, a crank 202, a swing arm 203, and a connecting rod structure 204. The power module 201 is connected to the connecting rod structure 204 through the crank 202 and the swing arm 203 and drives the support seat 205 connected to the top of the connecting rod structure 204 to rise and fall.

[0061] Combined with appendix Figure 3The linkage structure 204 has an installation area for accommodating the controller 3. One end of the support 205 is hinged to the top of the linkage structure 204, and the other end of the support 205 is connected to the top of the linkage structure 204 through a locking mechanism.

[0062] Combined with appendix Figure 4-6 The operating principle of lifting mechanism 2 follows the basic principle of crank 202 rocker / crank 202 slider mechanism, and the specific working process is as follows:

[0063] Power input: Power module 201 (usually an electric motor or hydraulic cylinder) starts, outputting rotary motion or linear thrust.

[0064] Motion conversion (I): The output of the power module 201 drives the crank 202 to rotate.

[0065] Motion conversion (II): The rotation of crank 202 drives the swing arm 203 connected to it to swing back and forth.

[0066] Motion Conversion (III) and Execution: The swing motion of the swing arm 203 is transmitted to the linkage structure 204. Driven by the swing arm 203, the linkage structure 204 converts the swing motion into a linear reciprocating motion in the vertical direction.

[0067] Load lifting: The top of the linkage structure 204 is connected to the support base 205. As the linkage structure 204 rises or falls, the support base 205 also rises or falls synchronously, thereby realizing the lifting or lowering operation of the material placed on the support base 205.

[0068] Maintenance operation: When maintenance is required, the locking mechanism is operated to release the connection between the support base 205 and the top end of the connecting rod structure 204, so that the support base 205 can rotate or be lifted around its hinge point (the other end), exposing the lifting mechanism 2 (connecting rod, swing arm 203, crank 202, power module 201) and the controller 3 area integrated in the connecting rod, which facilitates inspection and replacement of parts.

[0069] The linkage structure 204 includes a first rotating arm group 2041, a second rotating arm group 2042, a third rotating arm group 2043, a fourth rotating arm group 2044, a middle connecting rod 2045, a fifth rotating arm group 2046, and a hinge seat 2047, all symmetrically arranged. The first rotating arm group 2041 and the second rotating arm group 2042 are hinged together, as are the third rotating arm group 2043 and the fourth rotating arm group 2044. The middle connecting rod 2045 is hinged to the hinge point of the first rotating arm group 2041 and the second rotating arm group 2042. The other end of the middle connecting rod 2045 is hinged to the hinge point of the third swing arm group 2043 and the fourth swing arm group 2044. The lower ends of the first swing arm group 2041 and the third swing arm group 2043 are hinged to the chassis assembly 1. The upper ends of the second swing arm group 2042 and the fourth swing arm group 2044 are hinged to the support seat 205. One end of the middle connecting rod 2045 is hinged to the swing arm 203. The ground part of the fourth swing arm group 2044 is circumferentially hinged to the hinge seat 2047 through the hinged fifth swing arm group 2046.

[0070] Power input and initial drive: The power module 201 drives the crank 202 to rotate, causing the swing arm 203 to swing. The swinging end of the swing arm 203 directly drives one end of the connecting rod 2045, causing it to move.

[0071] Core motion transmission and amplification: After the central connecting rod 2045 is driven by the swing arm 203, its motion is transmitted to the hinge point (let's say point C) of the first swing arm group 2041 and the second swing arm group 2042, and the hinge point (let's say point F) of the third swing arm group 2043 and the fourth swing arm group 2044. Since points C and F are rigidly connected by the central connecting rod 2045, they are forced to move synchronously. The lower ends (points E and D) of the first swing arm group 2041 and the third swing arm group 2043 are fixedly hinged to the chassis. The upper ends (points G and J) of the second swing arm group 2042 and the fourth swing arm group 2044 are fixedly hinged to the support base 205. When point C (the hinge point of the first and second swing arm groups) is pushed / pulled by the connecting rod 2045, since point D is fixed, the first swing arm group 2041 will rotate around point D, forcing the second swing arm group 2042 to move accordingly, thereby driving the J point at its top (i.e., the connection point of the support seat 205) to rise and fall. Similarly, the movement of point F (the hinge point of the third and fourth swing arm groups) drives the fourth swing arm group 2044 to move through the rotation of the third swing arm group 2043 around the fixed point E, causing the G point at its top (another connection point of the support seat 205) to rise and fall synchronously. Since the connecting rod 2045 connects points F and C, and the two swing arm groups are symmetrically arranged, this ensures that points G and J (the four actual connection points of the support seat 205) always remain parallel and move synchronously, thereby realizing the vertical raising and lowering of the support seat 205.

[0072] The displacement of the connecting rod 2045 in the drive of the swing arm 203 is relatively small, but through the lever arm (length of the swing arm) formed by the first / second swing arm group and the third / fourth swing arm group, this displacement is significantly amplified and converted into a large lifting stroke of the support seat 205.

[0073] The function of the fifth swing arm assembly 2046: The upper part of the fourth swing arm assembly 2044 (near point G) is circumferentially hinged to the hinge seat 2047 via the fifth swing arm assembly 2046. This design allows the upper part of the fourth swing arm assembly 2044 to move along a controlled arc path during lifting (determined by the length of the fifth swing arm assembly 2046 and the position of the hinge seat 2047). This absorbs the small lateral displacement components caused by changes in geometry during the mechanism's movement, preventing excessive constraint forces or jamming within the structure, while also constraining the movement trajectory of the fourth swing arm assembly 2044, enhancing overall stability, especially under eccentric loads.

[0074] The other end of the swing arm 203 is hinged to the crank 202, which is connected to the output shaft of the power module 201.

[0075] Power start: Power module 201 starts, and its output shaft begins to rotate.

[0076] Circular motion input: Since crank 202 is rigidly fixed on the output shaft of power module 201, crank 202 performs a complete circular motion synchronously with the output shaft. The motion trajectory of the end point of crank 202 away from the center of rotation (called crank 202 pin or hinge point) is a circle.

[0077] Motion conversion occurs: One end of the swing arm 203 is connected to the crank 202 pin, which makes circular motion, via a hinge (pin). As the crank 202 pin moves along its circular trajectory, it continuously pushes or pulls one end of the swing arm 203 that is hinged to it.

[0078] Oscillating motion output: The other end of the swing arm 203 is connected to the connecting rod 2045 (as before, usually hinged to the subsequent connecting rod 2045, or there is a fixed frame hinge point as the rocker fulcrum). Under the push-pull action of the crank 202 pin, one end of the swing arm 203 is forced to follow the movement of the crank 202 pin. Because the other end of the swing arm 203 is constrained (whether by the constraint of the subsequent connecting rod or the fixed fulcrum), the entire swing arm 203 cannot follow the crank 202 in a circular motion, but is forced to reciprocate in a fan-shaped oscillation around its other end constraint point (equivalent or actual rocker fulcrum). One rotation of the crank 202 drives the swing arm 203 to complete a complete reciprocating oscillation cycle (from the maximum oscillation angle to the minimum oscillation angle and back).

[0079] Driven by the subsequent mechanism: The swing motion (angular displacement) at the other end of the swing arm 203 is transmitted to the subsequent components connected to it (such as the middle link 2045), thereby driving the complex linkage system composed of multiple swing arm groups, and finally converting the swing into the vertical lifting of the support seat 205.

[0080] Combined with appendix Figure 7 , 8 The locking mechanism includes a fixing nut 206 and a fixing screw 208 that cooperate with each other. The other end of the support base 205 is hinged to the connecting rod structure 204 through the first rotating shaft 207. One end of the support base 205 is hinged through the second rotating shaft 209. The first rotating shaft 207 is provided with a fixing screw 208. The support base 205 is provided with a circular groove 2052 for rolling friction with the first rotating shaft 207. The bottom of the circular groove 2052 is provided with a through hole 2053 for the fixing screw 208 to pass through.

[0081] The locking mechanism operates on the basis of a precision sliding pair with threaded fastening:

[0082] Locked state (working state):

[0083] The fixing screw 208 passes through the through hole 2053 at the bottom of the circular groove 2052 of the support base 205.

[0084] The fixing screw 208 is screwed into the fixing nut 206 that it mates with (the fixing nut 206 is usually fixed on top of the connecting rod structure 204 or integrated with the first rotating shaft 207).

[0085] As the fixing screw 208 is tightened, its screw head (or washer) presses against the bottom of the circular groove 2052 (part of the support 205), thereby firmly pressing the support 205 against the first rotating shaft 207 (or the fixing base connected to the first rotating shaft 207).

[0086] At this point, one end of the support base 205 is hinged via the second pivot 209, and the other end is rigidly fixed via the pressed circular groove 2052 and the first pivot 207 (although slight axial sliding is allowed). The support base 205 and the top of the connecting rod structure 204 form a solidly connected whole.

[0087] Unlocked State (Maintenance State): Loosen and remove the retaining screw 208. Once the retaining screw 208 is released, its clamping force on the bottom of the groove 2052 of the support 205 disappears. At this time, this end of the support 205 is fitted onto the first shaft 207 only through the groove 2052. Since there is a rolling friction fit between the groove 2052 and the first shaft 207 (possibly using a bearing or a smooth hard surface), the support 205 can be pulled a short distance along the axis of the first shaft 207 relatively easily (determined by the length of the groove 2052), or more importantly, the support 205 can be rotated upward or sideways about the hinge point of the second shaft 209 at the other end, thereby exposing the lifting mechanism 2 components below for maintenance.

[0088] The diameter of the through hole 2053 at the bottom of the circular groove 2052 is larger than the diameter of the fixing screw 208 (but smaller than the screw head), ensuring that the screw can be freely inserted and removed, while providing the necessary clearance for the support 205 to slide along the axis of rotation.

[0089] The support base 205 is provided with a groove for accommodating the fixing nut 206. During the manufacturing process of the support base 205, a groove (or countersunk hole, recess) with a shape and size matching the fixing nut 206 is pre-machined at the location where the fixing nut 206 needs to be installed. The depth of this groove is at least equal to or slightly greater than the thickness of the fixing nut 206.

[0090] Embedded assembly (installation stage): When assembling the locking mechanism, the retaining nut 206 is placed into this pre-machined groove. The retaining nut 206 is fully accommodated in the space of the groove, and its upper surface is not higher than (usually lower than or flush with) the bearing surface of the support 205.

[0091] Combined with appendix Figure 2 The chassis assembly 1 includes a front section 101 and a rear section 102. The running mechanism includes a driven wheel 103 and a driving wheel 104. The driving wheel 104 is located between the front section 101 and the rear section 102, and the driven wheel 103 is symmetrically located between the front section 101 and the rear section 102.

[0092] Power input and drive: The walking power module 201 (usually an electric motor, possibly integrated into the drive wheel 104 or connected via a drive shaft) drives the drive wheel 104 to rotate. The drive wheel 104 generates a driving force (traction force) that propels the vehicle forward or backward through friction with the ground.

[0093] Vehicle motion: Under the driving force generated by the drive wheel 104, the entire chassis assembly 1 (along with all its components and loads) begins to move in the direction of the driving force.

[0094] Driven wheel 103 follows and supports: The driven wheel 103, which is set in the front section 101 and the rear section 102 of the chassis, does not have driving force itself.

[0095] When the chassis moves under the drive of the drive wheel 104, the driven wheels 103 are subjected to push / pull forces applied by the chassis.

[0096] Since the driven wheels 103 can rotate freely (usually mounted on the frame via bearings), they passively roll on the ground following the direction of the chassis's movement, providing support and sharing the load.

[0097] The symmetrical arrangement ensures that the vehicle is balanced on both sides when traveling straight; when turning, depending on the design of the steering mechanism (such as differential, Ackermann steering or independent steering), these driven wheels 103 will adjust their rolling direction accordingly to adapt to the turning path.

[0098] Steering Achievement: Steering is typically achieved through one of the following methods: Differential Steering: The drive wheel 104 is a dual-wheel configuration (one on each side) equipped with a differential, achieving steering by controlling the speed difference between the left and right wheels. Independent Steering Wheels: The drive wheel 104 itself can rotate around a vertical axis (such as an omnidirectional wheel or a drive wheel equipped with a steering servo), directly controlling its direction. Assisted Steering with Driven Wheels 103: Some driven wheels 103 (such as the front or rear wheels) are designed as steerable wheels, working in conjunction with the drive wheels to achieve steering. Regardless of the method, the centrally located drive wheel 104 provides a good fulcrum and torque balance for steering.

[0099] Driven wheel 103 is a swivel wheel. Driven wheel 103 includes a swivel bracket (steering seat) mounted under the chassis (front or rear section) via a vertical pivot (or ball bearing). This pivot allows the entire wheel assembly to rotate freely 360 degrees around a vertical axis (Z-axis) (revolution); and a roller (wheel body) mounted on the swivel bracket via a horizontal axle. This axle allows the roller to rotate freely around its own horizontal axis (Y-axis) (rotation).

[0100] The chassis assembly 1 is a one-piece molded structure. The chassis functions as a single, continuous mechanical unit. It forms the basic frame of the entire transport vehicle, and all other components (wheels, lifting mechanism 2, power system, etc.) are directly or indirectly mounted or connected to this overall frame.

[0101] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A compact transport vehicle, characterized in that, The system includes a chassis assembly, on which a walking mechanism and a lifting mechanism are integrated. The lifting mechanism includes a power module, a crank, a swing arm, and a connecting rod structure. The power module is connected to the connecting rod structure through the crank and the swing arm and drives a support seat connected to the top of the connecting rod structure to rise and fall. The connecting rod structure has an installation area for accommodating a controller. One end of the support seat is hinged to the top of the connecting rod structure, and the other end of the support seat is connected to the top of the connecting rod structure through a locking mechanism.

2. A compact transport vehicle according to claim 1, characterized in that, The linkage structure includes a first rotating arm group, a second rotating arm group, a third rotating arm group, a fourth rotating arm group, a middle connecting rod, a fifth rotating arm group, and a hinge seat, all symmetrically arranged. The first and second rotating arm groups are hinged together, as are the third and fourth rotating arm groups. A middle connecting rod is hinged to the hinge point of the first and second rotating arm groups. The other end of the middle connecting rod is hinged to the hinge point of the third and fourth rotating arm groups. The lower ends of the first and third rotating arm groups are hinged to the chassis assembly. The upper ends of the second and fourth rotating arm groups are hinged to the support seat. One end of the middle connecting rod is hinged to the swing arm. The ground part of the fourth rotating arm group is circumferentially hinged to the hinge seat via the hinged fifth rotating arm group.

3. A compact transport vehicle according to claim 2, characterized in that, The other end of the swing arm is hinged to the crank, which is connected to the output shaft of the power module.

4. A compact transport vehicle according to claim 1, characterized in that, The locking mechanism includes a fixing nut and a fixing screw that cooperate with each other. The other end of the support base is hinged to the connecting rod structure through a first rotating shaft. One end of the support base is hinged through a second rotating shaft. The first rotating shaft is provided with a fixing screw. The support base is provided with a circular groove for rolling friction with the first rotating shaft. The bottom of the circular groove is provided with a through hole for the fixing screw to pass through.

5. A compact transport vehicle according to claim 4, characterized in that, The support base is provided with a groove for accommodating the fixing nut.

6. A compact transport vehicle according to claim 1, characterized in that, The chassis assembly includes a front section and a rear section, and the running mechanism includes a driven wheel and a driving wheel. The driving wheel is located between the front section and the rear section, and the driven wheel is symmetrically located between the front section and the rear section.

7. A compact transport vehicle according to claim 6, characterized in that, The driven wheel is a swivel wheel.

8. A compact transport vehicle according to any one of claims 1 to 7, characterized in that, The chassis assembly is a one-piece molded structure.

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