Handling device

Abstract

The utility model provides a kind of carrying equipment, comprising: chassis component, comprising: first chassis;Second chassis, first chassis pivoted connection in second chassis;Marching wheel group, at least one drive wheel is included in marching wheel group, and drive wheel is set to first chassis or second chassis;Connecting assembly, connecting assembly has the first connecting position with first chassis connection, and the second connecting position with second chassis connection, at least one of first connecting position and second connecting position is formed with chassis component sliding hinge point connection;Lifting assembly, comprising: scissor mechanism, the lower part of scissor mechanism is slidably connected with connecting assembly;Wherein, first connecting position and second connecting position are located on the both sides of the axle of drive wheel respectively.

Description

Technical Field

[0001] This utility model relates to the field of logistics technology, and in particular to a handling device. Background Technology

[0002] Material handling equipment with lifting capabilities is widely used in the logistics industry. Currently, common such equipment typically includes a chassis assembly and a lifting assembly directly mounted on the chassis assembly. Among these, the scissor lift mechanism is a particularly common lifting method. This mechanism comprises multiple sets of links pivotally connected in the middle, forming a clamp-like structure. One end of the lowest link group is pivotally connected to the chassis, forming a fixed end; the other end is slidably and pivotally connected to the chassis, forming a free end.

[0003] During operation, the actuator drives the free end to translate along the chassis, thereby adjusting the scissor lift mechanism between the lifting and lowering positions. However, the change in the position of the free end directly causes a shift in the center of gravity of the entire lifting assembly and the load it carries, resulting in a dynamic change in the force distribution of the load on the chassis assembly. This dynamic change further alters the load distribution on the travel wheels of the chassis assembly, ultimately leading to problems such as drive wheel slippage, reduced maneuverability, and even overturning of the entire machine during movement. Utility Model Content

[0004] To address at least one of the above-mentioned and other technical problems in the prior art, this utility model provides a handling device in which the lifting component is indirectly connected to the chassis component via a connecting component.

[0005] To address at least one of the above-mentioned and other technical problems in the prior art, this utility model provides a handling device in which the lifting component is indirectly connected to the chassis component via a connecting component.

[0006] This utility model provides a handling device, comprising: a chassis assembly, including: a first chassis; a second chassis, the first chassis being pivotally connected to the second chassis; a traveling wheel assembly, the traveling wheel assembly including at least one drive wheel, the drive wheel being disposed on the first chassis or the second chassis; a connecting assembly, the connecting assembly having a first connecting position connected to the first chassis and a second connecting position connected to the second chassis, at least one of the first connecting position and the second connecting position forming a sliding hinge connection with the chassis assembly; and a lifting assembly, including: a scissor mechanism, the lower part of the scissor mechanism being slidably connected to the connecting assembly; wherein the first connecting position and the second connecting position are respectively located on both sides of the axle of the drive wheel.

[0007] According to an embodiment of the present invention, one of the first connection position and the second connection position is connected to the chassis assembly by a fixed hinge point, and the other of the first connection position and the second connection position is connected to the chassis assembly by a sliding hinge point.

[0008] According to an embodiment of the present invention, the connecting component includes at least two first connecting plates, which extend along a first direction and are arranged side by side at intervals along a second direction, wherein the first direction and the second direction form an angle.

[0009] According to an embodiment of the present invention, the first connecting plate is provided with a first slide rail; the free end of the scissor mechanism is pivotally connected to the first sliding member, and the first sliding member is slidably connected to the first slide rail; the fixed end of the scissor mechanism is connected to the connecting assembly at a fixed hinge point.

[0010] According to an embodiment of the present invention, the chassis assembly further includes: a first hinge shaft disposed on the first chassis, wherein the first connecting end of the first connecting plate is pivotally connected to the first chassis via the first hinge shaft, and the portion of the first connecting end connected to the first hinge shaft defines the first connecting position; and / or, a fixed support disposed on the second chassis, wherein one of the second connecting end of the first connecting plate and the fixed support is provided with a slider, and the other of the second connecting end and the fixed support is provided with a slide groove that is slidably connected to the slider, the slide groove extending along the first direction, and the portion of the slide groove connected to the slider defining the second connecting position.

[0011] According to an embodiment of the present invention, the handling device further includes a support assembly, which includes: at least one elastic element, wherein the at least one elastic element is disposed on the connecting assembly; or, at least two elastic elements, wherein the at least two elastic elements are spaced apart along a second direction on the connecting assembly; wherein, when the scissor mechanism is in the lifting position, the elastic element is in its original state, and when the scissor mechanism is in the falling position, the elastic element is compressed to a compressed state by the scissor mechanism.

[0012] According to an embodiment of the present invention, the support component further includes: a guide member, sleeved inside the elastic member, and the upper end of the guide member is connected to the upper end of the elastic member; wherein, when the scissor mechanism is in the lifting position, the guide member is separated from the scissor mechanism, and when the scissor mechanism is in the falling position, the guide member abuts against the scissor mechanism to compress the elastic member.

[0013] According to an embodiment of the present invention, the connecting assembly further includes: at least two second connecting plates, each of the second connecting plates being disposed on one of the first connecting plates and connected to the second connecting end, and at least a portion of the second connecting plate protruding from the first connecting plate in the height direction;

[0014] A beam-shaped member is disposed between at least two of the aforementioned second connecting plates.

[0015] According to an embodiment of the present invention, the scissor mechanism includes: a first link and a second link, the first link and the second link being pivotally connected at their middle portions and arranged crosswise; and a third link, disposed between two opposing first links, and / or, the third link being disposed between two opposing second links.

[0016] According to an embodiment of the present invention, the handling device further includes a hinge mechanism, comprising: a first hinge disposed on the first chassis; and a second hinge, one end of which is disposed on the second chassis, and the other end of which extends to the first chassis and is pivotally connected to the first hinge.

[0017] According to the illustrative embodiment of the present invention, the lifting component of the handling equipment is indirectly mounted to the chassis assembly via an independent connecting component. This ensures that the load of the lifting component and the goods it carries primarily acts on the connecting component, rather than being directly transmitted to the chassis assembly. In the chassis assembly comprising a first chassis and a second chassis, the connecting component is connected to the chassis only through two fixed points: a first connecting position and a second connecting position. Therefore, regardless of how the scissor mechanism is adjusted between the lifting and lowering positions, the load can only be transmitted to the chassis assembly through the aforementioned fixed connecting positions. This structure effectively constrains the force transmission path, thereby significantly maintaining the stability of the load on the chassis assembly during the lifting of goods and avoiding equipment operation problems caused by changes in load distribution.

[0018] Furthermore, since the first and second connection positions are located on opposite sides of the drive wheel axle, when the force exerted by the scissor lift mechanism on the connecting components changes, this change will be synchronously transmitted to both connection positions. The torque trends generated by the two can largely cancel each other out, thereby significantly suppressing the pitch tendency of the chassis around the axle and providing continuous and stable positive pressure to the drive wheel. Attached Figure Description

[0019] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:

[0020] Figure 1 This diagram illustrates the usage state of the handling device in a low-position state according to an illustrative embodiment of the present invention.

[0021] Figure 2 This diagram illustrates the usage state of the handling equipment in a high-position state according to an illustrative embodiment of the present invention.

[0022] Figure 3 yes Figure 1 A partial enlarged view of the connection component portion of the schematic embodiment shown;

[0023] Figure 4 yes Figure 2 A partial enlarged view of the first and second hinges of the illustrative embodiment shown;

[0024] Figure 5 yes Figure 3 A partial enlarged view of the first connecting plate of the connecting assembly shown;

[0025] Figure 6 yes Figure 5 A partially enlarged view of the sliding fit between the first connecting plate and the fixed support shown;

[0026] Figure 7 yes Figure 1 A partial enlarged view of the support component portion of the illustrative embodiment shown;

[0027] Figure 8 yes Figure 7 The diagram shows the usage state of the support components supporting the scissor lift mechanism.

[0028] Figure 9 yes Figure 2 A partially enlarged view of the second actuator in the schematic embodiment shown.

[0029] In the accompanying drawings, the meanings of the reference numerals are as follows:

[0030] 10. Chassis assembly; 11. First chassis; 12. Second chassis; 13. Drive wheel; 14. Driven wheel; 15. First hinge pin; 16. Fixed support; 161. Slider; 17. First actuating part; 18. First hinge; 181. Second hinge pin; 19. Second hinge;

[0031] 20. Connecting assembly; 21. First connecting plate; 211. First connecting end; 212. Second connecting end; 213. First slide rail; 22. Second connecting plate; 23. Beam-shaped component;

[0032] 30. Lifting assembly; 31. Bearing component; 32. Scissor lift mechanism; 321. First link; 322. Second link; 323. Third link; 33. First sliding member; 34. Second actuating part; 341. Second motor; 342. Second slide rail; 343. Lead screw; 344. Second sliding member; 35. Guide plate;

[0033] 40. Support component; 41. Guide component; 42. Elastic component; 43. Limiting boss;

[0034] 50. Detection component; 51. Support; 52. Detection section. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0036] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0037] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0038] When using expressions such as "at least one of A, B, and C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C. Similarly, when using expressions such as "at least one of A, B, or C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C.

[0039] It should also be noted that the directional terms mentioned in the embodiments, such as "up," "down," "front," "back," "left," and "right," are only for reference in the accompanying drawings and are not intended to limit the scope of protection of this utility model. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or constructions will be omitted where they may cause confusion in understanding this utility model. Lifting and handling equipment has been widely used in the logistics field. Among them, the scissor lift mechanism, as a common lifting structure, usually includes multiple sets of links pivotally connected in the middle, forming a clamp-like layout. One end of the lowermost link group is fixedly connected to the chassis by pivoting, forming a fixed end; the other end is slidably and pivotally connected to the chassis, forming a free end that can translate along the chassis.

[0040] During the lifting process, the actuator in the lifting assembly drives the free end to slide relative to the chassis. By changing the distance between the free end and the fixed end, the scissor lift mechanism switches between the lifting and lowering positions. However, because the position of the free end relative to the chassis changes continuously during sliding, the center of force of the entire lifting assembly and the load it carries shifts, causing a dynamic change in the force distribution of the load on the chassis assembly. This dynamically changing load distribution further affects the load distribution on the travel wheels of the chassis, especially causing significant fluctuations in the normal force on the power drive wheels. This change can easily lead to drive wheel slippage, decreased handling performance, and even, in extreme cases, equipment tipping over, seriously affecting the stability and safety of the handling process.

[0041] In view of this, how to provide a handling equipment that maintains the stability of the load on the chassis components and avoids operational problems caused by changes in load distribution has become an urgent technical problem to be solved.

[0042] Figure 1 The diagram illustrates the usage state of the handling device in a low-position state according to an illustrative embodiment of the present invention. Figure 2 The diagram illustrates the usage state of the handling device in a high position according to an illustrative embodiment of the present invention.

[0043] This utility model provides a handling device, referring to... Figure 1 and Figure 2As shown, the system includes a chassis assembly 10, a set of traveling wheels, a connecting assembly 20, and a lifting assembly 30. The chassis assembly 10 includes a first chassis 11 and a second chassis 12. The first chassis 11 is pivotally connected to the second chassis 12. The traveling wheel set includes at least one drive wheel 13, which is disposed on either the first chassis 11 or the second chassis 12. The connecting assembly has a first connection position connected to the first chassis 11 and a second connection position connected to the second chassis 12, with at least one of the first and second connection positions forming a sliding hinge connection with the chassis assembly 10. The lifting assembly 30 includes a scissor mechanism 32, the lower part of which is slidably connected to the connecting assembly 20. The first and second connection positions are located on opposite sides of the axle of the drive wheel 13.

[0044] According to an embodiment of the present invention, referring to Figure 1 and Figure 2 As shown, one of the first and second connection positions forms a fixed hinge connection with the chassis assembly 10, and the other of the first and second connection positions forms a sliding hinge connection with the chassis assembly 10. It should be understood that the embodiments of this utility model are not limited thereto.

[0045] For example, both the first connection position and the second connection position can form a sliding hinge connection with the chassis assembly 10.

[0046] In this implementation, the lifting assembly 30 and the load of the goods it carries first act on the connecting assembly 20, and then the connecting assembly 20 transmits the load to the chassis assembly 10 through the aforementioned fixed connection positions (i.e., the first connection position and the second connection position). This achieves effective isolation between the load and the chassis assembly 10. Since the connection position between the connecting assembly 20 and the chassis assembly 10 remains fixed, during the lifting process of the goods (such as... Figure 1 and Figure 2 As shown, the load on the chassis assembly 10 is applied at essentially constant points (i.e., the first connection position and the second connection position). Therefore, the force changes caused by the translation of the free end relative to the fixed end will be contained and balanced within the connecting assembly 20, and will not be significantly transmitted to the chassis assembly 10. Thus, the connecting assembly 20 can significantly maintain the load stability of the chassis assembly 10 during lifting, thereby effectively avoiding problems such as unstable operation, slippage, or decreased handling performance of the handling equipment caused by dynamic changes in load distribution.

[0047] Furthermore, by setting the first and second connection positions on both sides of the drive wheel 13, the connecting assembly 20 and the chassis together form a stable support frame around the drive wheel 13. The connecting assembly 20 transmits the load of the lifting assembly 30 and the cargo it carries to the chassis through the two connection positions. Since these two connection positions are located on both sides of the axle of the drive wheel 13, opposite torques can be generated relative to the axle center (i.e., the axis of the axle). When the free end of the scissor mechanism 32 moves relative to the fixed end, causing a change in its force on the connecting assembly 20, this change is simultaneously transmitted to the two connection positions. At this time, the torque trends generated at the two connection positions can largely cancel each other out, thereby significantly suppressing the pitch tendency of the chassis around the axle, and effectively controlling the center of gravity offset of the drive wheel 13 axle in the front-rear direction to a low level.

[0048] In some illustrative embodiments, reference is made to Figure 1 and Figure 2 As shown, the lifting assembly 30 of the handling equipment is indirectly mounted to the chassis assembly 10 via a separate connecting assembly 20. This indirect mounting means that the lifting assembly 30 uses the connecting assembly 20 as an intermediate structure to connect with the chassis assembly 10; there is no direct physical connection between the lifting assembly 30 and the chassis assembly 10. Furthermore, the connecting assembly 20, as an intermediate structure, forms a fixed connection with the chassis assembly 10 only through a first connection position and a second connection position. Apart from these connection positions, a significant gap is maintained between the remaining portion of the connecting assembly 20 and the chassis assembly 10.

[0049] It should be noted that the designations "first connection position" and "second connection position" are only used to distinguish the different connection points between the connecting component 20 (i.e., the first connecting plate 21) and the chassis, and do not constitute a limitation on the number of connection positions. Specifically, the connecting component 20 and the first chassis 11 may have one or more first connection positions, and the connecting component 20 and the second chassis 12 may also have one or more connection positions.

[0050] In some illustrative embodiments, reference is made to Figure 1 and Figure 2 As shown, the chassis formed by the first chassis 11 and the second chassis 12 generally includes, but is not limited to, a plate-like structure configured in a racetrack shape. The racetrack-like shape can be understood as the chassis having a significant length and width in a top-view plane, with the length exceeding the width. Furthermore, to optimize the turning and maneuvering capabilities of the handling equipment in narrow spaces (such as aisles between shelves) and reduce the risk of collisions or interference with the surrounding environment, the chassis also features arc-shaped transition structures at both ends along its length. It should be understood that the embodiments of this utility model are not limited to this.

[0051] For example, the chassis formed by the first chassis 11 and the second chassis 12 can also be configured as a rectangular, elliptical, circular, polygonal or other arbitrary shape plate structure, which should be adapted to meet the corresponding transportation requirements.

[0052] Figure 3 yes Figure 1 A partial enlarged view of the connection component portion of the illustrative embodiment shown. Figure 4 yes Figure 2 A partial enlarged view of the first and second hinges of the illustrative embodiment shown.

[0053] According to an embodiment of the present invention, referring to Figure 3 and Figure 4 As shown, the handling equipment also includes a hinge mechanism. The hinge mechanism includes a first hinge 18 and a second hinge 19. The first hinge 18 is disposed on the first chassis 11, one end of the second hinge 19 is disposed on the second chassis 12, and the other end of the second hinge 19 extends to the first chassis 11 and is pivotally connected to the first hinge 18.

[0054] In some illustrative embodiments, reference is made to Figure 3 and Figure 4 As shown, the first chassis 11 and the second chassis 12 are rotatably connected along their length by a hinge structure. Specifically, a first hinge 18 is disposed on the first chassis 11, and a second hinge 19 is disposed on the second chassis 12. The first hinge 18 and the second hinge 19 are pivotally connected by a second hinge pin 181, thus allowing the second hinge pin 181 to rotate relative to the first hinge pin 15, thereby enabling the first chassis 11 to swing relative to the second chassis 12 along its height. Furthermore, the second hinge 19 is provided with a through groove, into which the end of the first hinge 18 extending from the first chassis 11 extends and is connected via the second hinge pin 181.

[0055] It should be noted that there is a gap between the second hinge 19 and the bottom of the through groove, which allows the second hinge 19 to swing relative to the first hinge 18 within the through groove.

[0056] Based on this, the first hinge 18 and the second hinge 19 are pivotally connected via a second hinge pin 181, allowing the first chassis 11 to swing relative to the second chassis 12 in the height direction. Furthermore, the second hinge 19 is provided with a through groove, into which the first hinge 18 extends from the end of the first chassis 11 and is connected to the second hinge 19 via the second hinge pin 181 within the through groove. A gap is maintained between the end of the first hinge 18 and the bottom of the through groove, providing the necessary space for the first hinge 18 to swing within the through groove.

[0057] Furthermore, the end of the second hinge 19 facing the first hinge 18 also has a concave limiting surface, which provides mechanical interference when the first chassis 11 and the second chassis 12 rotate relative to each other, thereby limiting their swing angle and preventing excessive relative movement between them. In this way, when the handling equipment is on an uneven working surface (such as the ground), the pivotally connected first chassis 11 and second chassis 12 can make the front and rear ends of the chassis as a whole at different heights, so as to prevent one of the travel wheels from being suspended in the air, thereby improving the adaptability of the handling equipment to the working surface and improving the stability of the walking process.

[0058] According to the embodiments of this utility model, continue to refer to Figure 3 As shown, the connecting assembly 20 includes at least two first connecting plates 21. The at least two first connecting plates 21 extend along a first direction and are arranged side-by-side at intervals along a second direction, with the first direction and the second direction forming an angle. The first direction may be the length direction in which the first chassis 11 and the second chassis 12 collectively form the chassis, and the second direction may be the width direction of the chassis.

[0059] According to the embodiments of this utility model, continue to refer to Figures 1 to 3 As shown, the first connecting plate 21 is provided with a first slide rail 213. The free end of the scissor mechanism 32 is pivotally connected to the first sliding member 33, and the first sliding member 33 is slidably connected to the first slide rail 213. The fixed end of the scissor mechanism 32 is connected to the connecting assembly 20 at a fixed hinge point.

[0060] In some illustrative embodiments, reference is made to Figure 3 As shown, the connecting assembly 20 includes two first connecting plates 21. These two first connecting plates 21 are arranged parallel to each other along the width direction (i.e., the second direction) of the chassis (which can be understood as the entire chassis formed by the first chassis 11 and the second chassis 12), and the two first connecting plates 21 are also arranged along the length direction of the chassis. Furthermore, the portions of the two first connecting plates 21 located above the first chassis 11 can be considered as first connecting ends 211; similarly, the portions of the first connecting plates 21 located above the second chassis 12 can be considered as second connecting ends 212.

[0061] Similarly, in some other illustrative embodiments (not shown in the figures), the first direction also includes the width direction of the chassis, and the second direction correspondingly includes the length direction of the chassis. That is, the two first connecting plates 21 can also be arranged side by side along the length direction of the chassis and extend along the width direction of the chassis. Accordingly, the drive wheels 13 should be adapted to be arranged on both sides of the length direction of the chassis, and the extension direction of the axle of the drive wheels 13 should be parallel to the width direction of the chassis. In this embodiment, other technical means are similar to those in the above embodiments, and therefore will not be described again.

[0062] In some illustrative embodiments, reference is made to Figure 1 and Figure 2 As shown, the chassis assembly also includes a first actuator. The output end of the first actuator 17 is connected to the drive wheel 13 to output torque to the drive wheel 13.

[0063] In some illustrative embodiments, reference is made to Figure 1 and Figure 2 As shown, the travel wheel assembly includes at least two drive wheels 13, each drive wheel 13 being connected to the output end of a first actuation unit 17. The first actuation unit 17 includes a first motor. Further, the travel wheel assembly configured in the chassis assembly 10 may include one drive wheel assembly and two driven wheel assemblies. Specifically, the drive wheel assembly is located at the middle of the chassis along its length, while the two driven wheel assemblies are respectively located on the first chassis 11 and the second chassis 12.

[0064] In some illustrative embodiments, reference is made to Figure 1 and Figure 2 As shown, the aforementioned drive wheel assembly includes two drive wheels 13, each drive wheel 13 being connected to the output shaft of a first motor (power transmission is achieved, for example, through a gear set and / or a reducer). By controlling the two first motors to output the same or different speeds, straight-line and turning movements of the transport equipment can be achieved. Furthermore, each of the two driven wheel assemblies includes two driven wheels 14, which can be omnidirectional wheels to support the transport equipment while working with the drive wheels 13 to achieve relatively flexible attitude adjustment and steering assistance. It should be understood that the embodiments of this utility model are not limited thereto.

[0065] For example, the chassis assembly 10 may be provided with one, two, three, four, five, six or any other number of drive wheels 13 and / or driven wheels 14, and the drive wheels 13 and / or driven wheels 14 may be reasonably arranged along the length direction, width direction or circumferential direction of the chassis for different chassis shapes.

[0066] According to an embodiment of the present invention, the scissor lift mechanism 32 includes a first link 321, a second link 322, and a third link 323. The first link 321 and the second link 322 are pivotally connected at their middle portions and are arranged crosswise. The third link 323 is disposed between two opposing first links 321, and / or, the third link 323 is disposed between two opposing second links 322.

[0067] In some illustrative embodiments, reference continues. Figure 1 and Figure 2As shown, the lifting assembly 30 includes at least two scissor mechanisms 32, which are sequentially connected along the height direction. Each scissor mechanism 32 has a first link 321 and a second link 322, which are pivotally connected and cross each other at their middle portions. The lower end of the lower first link 321 is pivotally connected to the second connecting plate 22, and the upper end of the first link 321 is pivotally connected to the lower end of the upper second link 322. The upper end of the upper second link 322 is pivotally connected to the bottom of the support member 31. The lower end of the lower second link 322 is slidably and pivotally connected to the first connecting end 211, and the upper end of the lower second link 322 is pivotally connected to the lower end of the upper first link 321. The upper end of the upper first link 321 is connected to the output end of the second actuation unit 34 (which will be described in detail in the following embodiments). Furthermore, the third link 323 is disposed between the two opposing first links 321 and the two opposing second links 322. It should be understood that the embodiments of this utility model are not limited to the specific connection methods described above.

[0068] For example, the lifting assembly 30 may include only one scissor mechanism 32, which has a first link 321 and a second link 322, which are pivotally connected and cross each other at their middle portions. The lower end of the first link 321 is pivotally connected to the second connecting plate 22, and the upper end of the first link 321 is pivotally connected to the support member 31. The lower end of the second link 322 is slidably and pivotally connected to the first connecting end 211, and the upper end of the second link 322 is slidably and pivotally connected to the bottom of the support member 31. One end of the second link 322 is connected to the output end of the second actuation unit 34.

[0069] Alternatively, the lifting assembly 30 may also include one, two, three, four, five, or any other number of scissor mechanisms 32, wherein the scissor mechanisms 32 located at the uppermost and lowermost parts may form a free end and a fixed end, while the other scissor mechanisms 32 located in the middle serve as follow-up transmission mechanisms to transmit the relative swinging motion between the first link 321 and the second link 322.

[0070] Figure 5 yes Figure 3 A partial enlarged view of the first connecting plate of the connecting assembly shown. Figure 6 yes Figure 5 The enlarged view shows a partial view of the sliding fit between the first connecting plate and the fixed support.

[0071] According to an embodiment of the present invention, referring to Figure 5 and Figure 6As shown, the chassis assembly 10 also includes a first hinge pin 15 and a fixed support 16. The first hinge pin 15 is disposed on the first chassis 11, and a first connecting end 211 is pivotally connected to the first chassis 11 via the first hinge pin 15. The portion of the first connecting end 211 connected to the first hinge pin 15 defines a first connection position. And / or, the fixed support 16 is disposed on the second chassis 12. One of the second connecting end 212 and the fixed support 16 is provided with a slider 161, and the other of the second connecting end 212 and the fixed support 16 is provided with a groove that is slidably connected to the slider 161. The groove extends along a first direction, and the portion of the groove connected to the slider 161 defines a second connection position. The second connection position includes, but is not limited to, being configured to be higher than the first connection position.

[0072] According to an embodiment of the present invention, referring to Figure 5 As shown, the first connecting plate 21 is configured to extend along the length of the chassis and extend to both the first chassis 11 and the second chassis 12. Specifically, the upper surface of the first chassis 11 has a downwardly recessed receiving groove, and the first connecting end 211 formed by the first connecting plate 21 protrudes downward and is located within this receiving groove. Further, the first connecting end 211 has a through hole extending along the width of the chassis. A first hinge shaft 15 is disposed within the receiving groove, with its axial ends each connected to the groove wall and passing through the first connecting end 211, allowing the first connecting plate 21 (i.e., the first connecting end 211) to rotate about the axis of the first hinge shaft 15.

[0073] According to an embodiment of the present invention, referring to Figure 6 As shown, the second connecting end 212 of the first connecting plate 21 is provided with a groove extending through the width direction of the chassis. Furthermore, the groove extends along the length direction of the chassis to form a strip-shaped hole. Correspondingly, the second chassis 12 is provided with an upwardly protruding fixed support 16, and a slider 161 is provided within the fixed support 16, which can slide along the extension direction of the strip-shaped hole.

[0074] In this implementation, when the scissor mechanism 32 moves between the lifting and lowering positions, the horizontal component of its force acts on the first connecting plate 21. A sliding groove at the rear end of the first connecting plate 21 and a slider 161 on the fixed support 16 form a sliding engagement. Because the slider 161 is constrained by the sliding groove, this horizontal component is converted into a torque that drives the first connecting plate 21 to rotate about its front end, the first hinge axis 15. The first hinge axis 15 and the receiving groove on the chassis form a fixed rotation fulcrum, while the engagement structure of the sliding groove at the rear end of the first connecting plate 21 and the slider 161 allows it to have a certain degree of adaptive motion freedom in the length and height directions of the chassis. Thus, the torque driving the first connecting plate 21 to rotate is ultimately transmitted to the first chassis 11 and the second chassis 12 through the first hinge axis 15 and the fixed support 16, respectively, thereby effectively maintaining the stability of the positive pressure on the drive wheel 13.

[0075] Figure 7 yes Figure 1 A partial enlarged view of the support component portion of the illustrative embodiment shown. Figure 8 yes Figure 7 The diagram shows the usage status of the support components supporting the scissor lift mechanism.

[0076] According to an embodiment of the present invention, referring to Figure 7 and Figure 8 As shown, the connecting assembly 20 further includes at least two second connecting plates 22 and a beam-shaped member 23. Each second connecting plate 22 is disposed on a first connecting plate 21 and connected to a second connecting end 212, with at least a portion of the second connecting plate 22 protruding from the first connecting plate 21 in the height direction. The beam-shaped member 23 is disposed between at least two second connecting plates 22.

[0077] According to an embodiment of the present invention, referring to Figure 7 and Figure 8 As shown, the second connecting plate 22 is detachably disposed on the first connecting plate 21. Alternatively, the second connecting plate 22 and the first connecting plate 21 are integrally formed.

[0078] In some illustrative embodiments, reference is made to Figure 7 and Figure 8As shown, the connecting assembly 20 also includes two second connecting plates 22. Specifically, each of the two second connecting plates 22 is disposed at a second connecting end 212 of a first connecting plate 21. Further, in a side view along the width direction of the chassis, the second connecting plate 22 may, but is not limited to, be configured as an L-shaped plate structure, the lower end of which may be connected to the first connecting plate 21 via connectors (such as screws, bolts, rivets, etc.), or may be integrally formed with the first connecting plate 21 for fixed connection. This allows the second connecting plate 22 to serve as the mounting base for the connecting assembly 20 to be assembled with the scissor lift mechanism 32 and / or the support assembly 40, as will be described in detail in the following embodiments.

[0079] According to an illustrative embodiment of the present invention, the handling device further includes a support assembly 40. The support assembly 40 includes at least one elastic element 42. The lower end of the at least one elastic element 42 is connected to the connecting assembly 20. When the scissor mechanism 32 is in the lifting position, the elastic element 42 is in its original state; when the scissor mechanism 32 is in the lowering position, the elastic element 42 is compressed by the scissor mechanism into a compressed state.

[0080] According to another illustrative embodiment of the present invention, referring to Figure 7 and Figure 8 As shown, the support component 40 includes at least two elastic elements 42, which are spaced apart from each other along the second direction on the connecting component 20.

[0081] According to an embodiment of the present invention, referring to Figure 7 and Figure 8 As shown, the support assembly 40 also includes a guide member 41. The guide member 41 is sleeved within the elastic member 42, and the upper end of the guide member 41 is connected to the upper end of the elastic member 42. Specifically, when the scissor mechanism 32 is in the lifting position, the guide member 41 is separated from the third link 323; when the scissor mechanism 32 is in the lowering position, the guide member 41 abuts against the third link 323 to compress the elastic member 42.

[0082] In some illustrative embodiments, reference is made to Figure 7 and Figure 8 As shown, the beam-shaped member 23 in the connecting assembly 20 includes, but is not limited to, a plate-like structure configured to extend along the width direction of the chassis. Both ends of the beam-shaped member 23 are respectively connected to the upper end of a second connecting plate 22, above which an elastic member 42 and a guide member 41 passing through the elastic member 42 are disposed. Furthermore, the support assembly 40 also includes a limiting boss 43 disposed on the upper end face of the beam-shaped member 23. The limiting boss 43 has a guide hole corresponding to a through hole opened on the beam-shaped member 23.

[0083] Based on this, the lower end of the guide member 41 is, but is not limited to, configured as a cylindrical structure, with its position aligned with the guide hole and the through hole provided in the beam member 23, so that when the guide member 41 is subjected to downward pressure, its lower end can pass through the guide hole and the through hole in sequence. The upper end of the guide member 41 and the lower end of the limiting boss 43 are respectively provided with shoulders extending radially outward. The two ends of the compression spring abut against the shoulders on the corresponding sides, so that when the downward pressure on the guide member 41 (e.g., the pressure from the third link 323 in the scissor mechanism 32) disappears, it can be reset to the initial position retracted into the guide hole under the action of the compression spring.

[0084] Furthermore, the support assembly 40 includes, but is not limited to, two elastic elements 42 (as well as the aforementioned guide element 41 and limiting boss 43) spaced apart along the second direction (i.e., the width direction of the chassis). This allows for better distribution of force on the third link 323 when the scissor lift mechanism 32 is in the retracted position, ensuring more stable support by the support assembly 40. Of course, the support assembly 40 can also have 3, 4, 5, or any other arbitrary number of elastic elements 42.

[0085] In this implementation, the configured support component 40 can play a multifaceted role when the scissor mechanism 32 is in the retracted position.

[0086] First, the support assembly 40 is positioned above the second connecting plate 22, remaining isolated from the base assembly, thus forming an additional support point beyond the free and fixed ends of the scissor mechanism 32. This structure helps to more effectively distribute the load borne by the connecting assembly 20, improving the overall force distribution. Second, when the scissor mechanism 32 is in the lowered position, the elastic element 42 continuously applies an upward supporting force to the third link 323 in the scissor mechanism 32, thereby supporting part of the weight of the scissor mechanism 32 and the loaded cargo. At the instant the scissor mechanism 32 starts from the lowered position and transitions to the raised position, the elastic potential energy stored in the elastic element 42 can be converted into an upward thrust, providing initial assistance to the mechanism, effectively reducing the starting torque and instantaneous current of the second motor 341, and alleviating its operating load. Finally, during the process of the scissor mechanism 32 falling back from the raised position to the lowest point, the elastic element 42 acts as a buffer, absorbing the kinetic energy at the end of the mechanism's movement, helping to suppress vibration, reduce operating noise, and minimize potential impact damage to the mechanical structure.

[0087] Figure 9 yes Figure 2 A partially enlarged view of the second actuator in the schematic embodiment shown.

[0088] According to the embodiments of this utility model, continue to refer to Figure 1 , Figure 2 and Figure 9As shown, the lifting assembly 30 also includes a carrier 31 and a second actuating part 34. The carrier 31 is disposed on the upper part of the scissor mechanism 32 and is used to carry goods. The second actuating part 34 is configured to move the scissor mechanism 32 between a lifting position that raises the carrier 31 and a lowering position that lowers the carrier 31, so that the goods rise or fall with the carrier 31.

[0089] In some illustrative embodiments, reference is made to Figure 1 , Figure 2 and Figure 9 As shown, the lifting assembly 30 includes a second actuating part 34 and a scissor mechanism 32. The second actuating part 34 is used to drive the scissor mechanism 32 to extend and retract, thereby enabling the carrier 31 to rise and fall. Specifically, the scissor mechanism 32 includes at least two pairs of first connecting rods 321 and second connecting rods 322 pivotally connected at their centers. A pair of first connecting rods 321 and second connecting rods 322 are symmetrically arranged along the width direction of the chassis, and opposite first connecting rods 321 and opposite second connecting rods 322 are respectively connected by third connecting rods 323.

[0090] The lower end of the first connecting rod 321 at the bottom is pivotally connected to the second connecting plate 22, forming the fixed end of the scissor mechanism 32; the lower end of the second connecting rod 322 at the bottom is pivotally connected to the first sliding member 33, which is slidably disposed on the first slide rail 213 of the first connecting plate 21, forming the free end of the scissor mechanism 32.

[0091] Correspondingly, the two pairs of first connecting rods 321 and second connecting rods 322 located at the top are also symmetrically arranged along the width direction of the chassis and are laterally connected by third connecting rods 323 respectively. The top first connecting rods 321 and second connecting rods 322 are pivotally connected in the middle. Specifically, the lower end of the top first connecting rod 321 is pivotally connected to the upper end of the lower second connecting rod 322; the lower end of the top second connecting rod 322 is pivotally connected to the upper end of the lower first connecting rod 321; the upper end of the top second connecting rod 322 is pivotally connected to the bottom of the support member 31 and connected to the second sliding member 344 of the second actuation part 34, forming another free end; the upper end of the top first connecting rod 321 forms another fixed end and is pivotally connected to the support member 31.

[0092] Based on the above structure, the second actuation unit 34 can be installed in either the chassis or the carrier 31. By driving either free end, the scissor mechanism 32 can be moved between the lifting position and the lowering position, thereby realizing the lifting and lowering of the carrier 31 and the cargo it carries.

[0093] According to an embodiment of the present invention, referring to Figure 9 As shown, the second actuating part 34 is disposed on the bottom surface of the support member 31. Alternatively, the second actuating part 34 is disposed on the chassis.

[0094] According to an embodiment of the present invention, referring to Figure 9 As shown, the second actuation unit 34 includes a lead screw 343, a second slide rail 342, a second motor 341, and a second sliding member 344. The lead screw 343 extends along a first direction. The second slide rail 342 is parallel to the lead screw 343. The output end of the second motor 341 is connected to the lead screw 343 to output torque to the lead screw 343. The second sliding member 344 is rotatably disposed between two opposing first connecting rods 321, or rotatably disposed between two opposing second connecting rods 322. The second sliding member 344 is slidably disposed on the second slide rail 342 and threadedly connected to the lead screw 343.

[0095] In some illustrative embodiments, reference is made to Figure 9 As shown, the support member 31 includes, but is not limited to, being configured as a plate-like structure, with its upper end surface forming a platform for supporting goods. Furthermore, the second actuating part 34 includes, but is not limited to, being disposed on the lower end surface of the support member 31.

[0096] In some illustrative embodiments, reference is made to Figure 9 As shown, the handling equipment also includes a detection component 50, which specifically includes a bracket 51 and a detection unit 52. The bracket 51 connects the mounting end of the detection unit 52 to the lower end face of the carrier 31, and the detection end of the detection unit 52 passes through the carrier 31 and is exposed on the upper end face of the carrier 31. The detection unit 52 is used to detect whether there is cargo on the upper end face of the carrier 31, and may include, but is not limited to, photoelectric sensors. Thus, when cargo is located on the carrier 31 and the detection end of the photoelectric sensor is blocked, it can be considered that the carrier 31 carries cargo and is placed flat on the carrier 31; otherwise, there is no cargo or the placed cargo is tilted. Of course, the aforementioned sensor can also be a weighing sensor, a contact sensor, or other sensor devices suitable for determining whether the carrier 31 carries cargo. Furthermore, the front and rear ends of the carrier 31 are also provided with upwardly bent guide plates 35 to guide and restrict the movement of cargo when the carrier 31 supports cargo.

[0097] In some illustrative embodiments, reference is made to Figure 9 As shown, the power source for the second actuation unit 34 can be a second motor 341. In detail, the lead screw 343 is driven to the output shaft of the second motor 341. For example, it can be coaxially connected by a coupling, or the power can be transmitted by a transmission mechanism such as a belt, pulley, or gear set, so as to transmit the output torque of the motor to the lead screw 343.

[0098] In some illustrative embodiments, reference is made to Figure 9As shown, the lower end face of the support member 31 is provided with a second slide rail 342 arranged along the extension direction of the lead screw 343 (e.g., the length direction of the chassis). The second sliding member 344 is slidably mounted between the two second slide rails 342 and engages with the external thread of the lead screw 343 through its internal thread, thereby being driven to move when the lead screw 343 rotates. Furthermore, both ends of the second sliding member 344 along the width direction of the chassis are pivotally connected to the two uppermost second connecting rods 322 respectively. When the second motor 341 starts and drives the lead screw 343 to rotate, the second sliding member 344 is constrained by the second slide rails 342, and its rotational freedom around the axis of the lead screw 343 is restricted, so it can only perform linear reciprocating motion along the second slide rails 342. This linear motion causes the upper end (i.e., the free end) of the second link 322 to move closer to or further away from the first link 321 (i.e., the fixed end), thereby driving the entire scissor mechanism 32 to switch between the lifting position and the lowering position, ultimately achieving smooth lifting and lowering of the carrier 31 and the goods above it. Thus, by placing the second actuating part 34 on the carrier 31, it is beneficial to save the limited space defined by the chassis. It should be understood that the embodiments of this utility model are not limited thereto.

[0099] For example, the second actuating part 34 may also be provided on the chassis to drive the first sliding member 33 mentioned above.

[0100] For example, in addition to using the second motor 341 as a power source, the second actuation unit 34 may also use a cylinder, hydraulic cylinder, electric push rod, or other linear actuators suitable for making the second sliding member 344 reciprocate along the second slide rail 342.

[0101] It should also be noted that the directional terms mentioned in the embodiments, such as "up," "down," "front," "back," "left," and "right," are only for reference in the accompanying drawings and are not intended to limit the scope of protection of this utility model. Throughout the drawings, the same elements are identified by the same or similar reference numerals. Conventional structures or constructions will be omitted where they may cause confusion in understanding this utility model.

[0102] The embodiments of the present invention have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of the present invention is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the present invention, and all such substitutions and modifications should fall within the scope of the present invention.

Claims

1. A handling device, characterized in that, include: Chassis components (10), including: First chassis (11); The second chassis (12) is pivotally connected to the first chassis (11); The travel wheel assembly includes at least one drive wheel (13), which is disposed on the first chassis (11) or the second chassis (12); A connecting component (20) having a first connecting position for connecting to the first chassis (11) and a second connecting position for connecting to the second chassis (12), wherein at least one of the first connecting position and the second connecting position forms a sliding hinge connection with the chassis component (10); Lifting assembly (30), including: A scissor lift mechanism (32), the lower part of which is slidably connected to the connecting assembly (20); The first connection position and the second connection position are located on both sides of the axle of the drive wheel (13).

2. The handling equipment according to claim 1, characterized in that, One of the first connection position and the second connection position forms a fixed hinge connection with the chassis assembly (10), and the other of the first connection position and the second connection position forms a sliding hinge connection with the chassis assembly (10).

3. The handling equipment according to claim 1, characterized in that, The connection component (20) includes: At least two first connecting plates (21) extend along a first direction and are arranged side by side at intervals along a second direction, the first direction and the second direction forming an angle.

4. The handling equipment according to claim 3, characterized in that, The first connecting plate (21) is provided with a first slide rail (213); The free end of the scissor mechanism (32) is pivotally connected to the first sliding member (33), and the first sliding member (33) is slidably connected to the first slide rail (213). The fixed end of the scissor mechanism (32) is connected to the connecting assembly (20) at a fixed hinge point.

5. The handling equipment according to claim 4, characterized in that, The chassis assembly (10) also includes: A first hinge shaft (15) is disposed on the first chassis (11). The first connecting end (211) of the first connecting plate (21) is pivotally connected to the first chassis (11) through the first hinge shaft (15). The portion of the first connecting end (211) connected to the first hinge shaft (15) defines the first connecting position. And / or, a fixed support (16) is provided on the second chassis (12), and one of the second connecting end (212) of the first connecting plate (21) and the fixed support (16) is provided with a slider (161), and the other of the second connecting end (212) and the fixed support (16) is provided with a slide groove that is slidably connected to the slider (161), the slide groove extending along the first direction, and the portion of the slide groove connected to the slider (161) defining the second connection position.

6. The handling equipment according to claim 5, characterized in that, It also includes a support component (40), which comprises: At least one elastic element (42), wherein at least one said elastic element (42) is disposed on the connecting assembly (20); Alternatively, at least two of the elastic elements (42) are spaced apart in the connecting assembly (20) along the second direction; When the scissor mechanism (32) is in the lifting position, the elastic element (42) is in the original state. When the scissor mechanism (32) is in the falling position, the elastic element (42) is compressed to the compressed state by the scissor mechanism (32).

7. The handling equipment according to claim 6, characterized in that, The support component (40) also includes: A guide (41) is sleeved inside the elastic member (42), and the upper end of the guide (41) is connected to the upper end of the elastic member (42); When the scissor mechanism (32) is in the lifting position, the guide (41) is separated from the scissor mechanism (32). When the scissor mechanism (32) is in the falling position, the guide (41) abuts against the scissor mechanism (32) to compress the elastic member (42).

8. The handling equipment according to claim 7, characterized in that, The connection component (20) further includes: At least two second connecting plates (22), each of the second connecting plates (22) is disposed on a first connecting plate (21) and connected to a second connecting end (212), and at least a portion of the second connecting plate (22) protrudes from the first connecting plate (21) in the height direction; A beam-shaped member (23) is disposed between at least two of the second connecting plates (22).

9. The handling equipment according to claim 8, characterized in that, The scissor mechanism (32) includes: The first link (321) and the second link (322) are pivotally connected at the middle and are arranged in a cross configuration; A third link (323) is disposed between two opposing first links (321), and / or, the third link (323) is disposed between two opposing second links (322).

10. The handling equipment according to claim 1, characterized in that, Also includes: Hinge mechanism, including: The first hinge (18) is disposed on the first chassis (11); A second hinge (19) is provided at one end on the second chassis (12) and the other end of the second hinge (19) extends to the first chassis (11) and is pivotally connected to the first hinge (18).

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