Trolley and trolley system

Abstract

The utility model discloses a carrier and carries system relates to carrier technical field, and the carrier includes the vehicle body, elevating seat, two elevating drive mechanisms and battery, and elevating seat installs in the vehicle body and is used for carrying goods, two elevating drive mechanisms are connected with elevating seat respectively, elevating drive mechanism includes first drive subassembly, transmission shaft and elevating subassembly, and elevating subassembly connects elevating seat and transmission shaft respectively, and first drive subassembly is connected with transmission shaft and is used for driving transmission shaft rotation, to drive elevating seat relative vehicle body elevating through elevating subassembly, battery installs in the vehicle body and is configured to power supply first drive subassembly, wherein, battery is located between two transmission shafts, and two first drive subassembly is located at the both sides of battery respectively. The carrier of the utility model can optimize the layout between battery and first drive subassembly, reduce the deviation value of the gravity center of carrier whole relative structure center, thereby improve the operation stability of carrier and reduce the abrasion of walking wheel.

Description

Technical Field

[0001] This utility model relates to the field of transport vehicle technology, and in particular to a transport vehicle and transport system. Background Technology

[0002] With the development of the logistics industry, automated guided vehicles (AGVs) are used in warehousing and logistics systems to transport goods in order to improve warehousing efficiency. These AAVs have a lifting function, enabling them to lift goods and change vehicle orientation. In existing technologies, AAVs typically use a motor combined with gear or chain drives to synchronously move two lifting mechanisms to achieve the lifting function. However, to ensure synchronization, the motor is usually positioned between the two lifting mechanisms. This causes the AAV's battery to deviate too far from the center of gravity, resulting in a significant shift in the AAV's overall center of gravity. Consequently, the AAV is prone to veering off course and its wheels experience severe wear. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a transport vehicle that optimizes the layout between the battery and the first drive assembly, reduces the deviation of the overall center of gravity of the transport vehicle from the structural center, thereby improving the operational stability of the transport vehicle and reducing the wear of the wheels.

[0004] This utility model also provides a handling system having the above-mentioned handling vehicle.

[0005] A transport vehicle according to a first aspect of the present invention includes a vehicle body; a lifting seat mounted on the vehicle body and used to carry goods; two lifting drive mechanisms respectively connected to the lifting seat; each lifting drive mechanism includes a first drive component, a transmission shaft, and a lifting component, the lifting component being connected to the lifting seat and the transmission shaft respectively, the first drive component being connected to the transmission shaft and used to drive the transmission shaft to rotate, so as to drive the lifting seat to lift relative to the vehicle body through the lifting component; a battery mounted in the vehicle body and configured to power the first drive component; wherein the battery is located between the two transmission shafts, and the two first drive components are located on both sides of the battery.

[0006] The transport vehicle according to the first aspect of this utility model has at least the following beneficial effects: It achieves the function of lifting goods or reversing the vehicle body by driving the lifting seat to rise and fall through two lifting drive mechanisms. In each of the two lifting drive mechanisms, the transmission shaft is directly driven to rotate through its respective first drive component, and the lifting component is moved through the transmission shaft to drive the lifting seat to rise and fall, thereby eliminating the need for a transmission mechanism connecting the two transmission shafts. This allows the battery to be arranged between the two transmission shafts, with the two first drive components located on either side of the battery, thereby adjusting the battery's position on the vehicle body and optimizing the layout between the battery and the two first drive components. This makes the overall center of gravity of the transport vehicle closer to its structural center, reducing the deviation of the overall center of gravity of the transport vehicle from its structural center, thereby improving the operational stability of the transport vehicle and reducing the wear of the wheels.

[0007] According to some embodiments of the present invention, the two drive shafts are arranged in parallel, the vehicle body has a first central axis, the first central axis is arranged along the direction of the rotation axis of the drive shaft, and the two drive shafts are arranged symmetrically about a vertical plane passing through the first central axis.

[0008] According to some embodiments of the present invention, the transport vehicle further includes a walking device, which includes a second walking wheel set, a second drive shaft, and a third drive assembly. The second walking wheel set, the second drive shaft, and the third drive assembly are respectively mounted on the lifting seat. The second drive shaft is respectively connected to the second walking wheel set and the third drive assembly. The second walking wheel set is configured to enable the transport vehicle to move along a first direction, which is perpendicular to the first central axis. Along the first direction, the third drive assembly is located on one side of the first drive assembly opposite to the battery, and the center of mass of the battery is located on one side of the third drive assembly on the first central axis.

[0009] According to some embodiments of the present invention, in the lifting drive mechanism closer to the third drive component along the first direction, the first drive component is located on the side of the drive shaft facing the battery; in the lifting drive mechanism farther from the third drive component, the first drive component is located on the side of the drive shaft away from the battery.

[0010] According to some embodiments of the present invention, the vehicle body has a second central axis, which is arranged along the first direction. Along the direction of the first central axis, the centers of mass of the two first drive components are respectively located on both sides of the second central axis.

[0011] According to some embodiments of the present invention, the walking device further includes a first walking wheel set, a first drive shaft, and a second drive assembly. The first walking wheel set, the first drive shaft, and the second drive assembly are respectively mounted on the vehicle body. The first drive shaft is respectively connected to the first walking wheel set and the second drive assembly. The first walking wheel set is configured to enable the transport vehicle to move along a second direction, which is perpendicular to the first direction. Along the second direction, the second drive assembly is located on one side of the second central axis, and the center of mass of the third drive assembly and the center of mass of the battery are located on the other side of the second central axis.

[0012] According to some embodiments of the present invention, along the second direction, the distance between the center of mass of the second drive component and the second central axis is greater than twice the distance between the center of mass of the battery and the second central axis.

[0013] According to some embodiments of the present invention, the second drive component is located on the first central axis.

[0014] According to some embodiments of the present invention, the lifting assembly includes a swing arm, the swing arm includes a first end and a second end, the first end is fixedly connected to the transmission shaft, the second end is rotatably engaged with the lifting seat, and the rotation axis of the second end is parallel to the transmission shaft.

[0015] According to some embodiments of the present invention, the lifting seat is provided with a mounting groove, the mounting groove is configured as an elongated groove, and the length direction of the elongated groove is perpendicular to the lifting direction of the lifting seat, and the second end is configured to be able to slide relative to the length direction of the elongated groove.

[0016] According to some embodiments of the present invention, the lifting assembly further includes a roller, which is rotatably mounted on the second end and is accommodated in the elongated groove and can slide along the elongated groove.

[0017] According to some embodiments of the present invention, the transport vehicle further includes a guide assembly, which includes a guide block and a slider. The guide direction of the guide block is set along the lifting direction of the lifting seat. The slider is connected to the lifting seat and slides with the guide block along the guide direction.

[0018] A transport system according to a second aspect of the present invention includes a first track, a second track, and a transport vehicle according to a first aspect of the present invention, wherein the first track is perpendicular to the second track, and the transport vehicle is configured to move on the first track or the second track.

[0019] The handling system according to the second aspect of this utility model has at least the following beneficial effects: Because the handling system uses the aforementioned handling vehicle, it achieves the function of lifting goods or reversing the vehicle body by driving the lifting seat to rise and fall through two lifting drive mechanisms. In each of the two lifting drive mechanisms, the transmission shaft is directly driven to rotate through its respective first drive component, and the lifting component is moved through the transmission shaft to drive the lifting seat to rise and fall, thus eliminating the need for a transmission mechanism connecting the two transmission shafts. This allows the battery to be arranged between the two transmission shafts, with the two first drive components located on either side of the battery, thereby adjusting the battery's position on the vehicle body and optimizing the layout between the battery and the two first drive components. This makes the overall center of gravity of the handling vehicle closer to its structural center, reducing the deviation of the overall center of gravity of the handling vehicle from its structural center, thereby improving the operational stability of the handling vehicle and reducing the wear of the wheels.

[0020] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of the transport vehicle in an embodiment of this utility model; Figure 2 This is a schematic diagram of the internal structure of the transport vehicle in an embodiment of this utility model; Figure 3 This is a top view of the internal structure of the transport vehicle in an embodiment of this utility model; Figure 4 This is an exploded view of the transport vehicle in an embodiment of this utility model; Figure 5 yes Figure 4 Enlarged view of point A in the image; Figure 6 This is a schematic diagram of the connection between the vehicle body and the lifting drive mechanism in an embodiment of this utility model; Figure 7 yes Figure 6 Enlarged view of point B in the image; Figure 8 This is a partial structural schematic diagram of the handling system in an embodiment of this utility model.

[0022] Figure label: Vehicle body 100; Battery 110; Lifting seat 200; mounting slot 210; tray 220; Lifting drive mechanism 300; first drive assembly 310; motor 311; reducer 312; transmission shaft 320; lifting assembly 330; swing arm 331; first end 3311; second end 3312; roller 332; Guide assembly 400; guide block 410; guide groove 411; slider 420; Detection component 500; sensor 510; sensing unit 520; Walking device 600; first walking wheel set 610; second walking wheel set 620; second drive assembly 630; first drive shaft 640; third drive assembly 650; second drive shaft 660; Shelf 700; First rail 710; Second rail 720; Walking aisle 730; Storage aisle 740; First central axis Z1; Second central axis Z2. Detailed Implementation

[0023] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0024] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0025] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0026] In the description of this utility model, unless otherwise explicitly defined, terms such as setting, installing, connecting, assembling, and cooperating should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0027] With the development of the logistics industry, in order to improve warehousing efficiency, warehousing and logistics systems use automated guided vehicles (AGVs) to transport goods. Among them, the AAVs have a lifting function, which can lift the goods and change the direction of the vehicle.

[0028] In related technologies, existing pallet trucks typically use a motor combined with gear or chain drive to drive two sets of lifting mechanisms to move synchronously and achieve the lifting function. However, to ensure synchronization, the motor is usually placed between the two sets of lifting mechanisms, which causes the pallet truck's battery to be too far off-center from the center of the truck, resulting in the overall center of gravity of the truck being too far off-center. This makes the truck prone to deviation and causes severe wear on the wheels.

[0029] Therefore, referring to Figures 1 to 8 As shown, the first aspect of this utility model provides a transport vehicle, which is applied in a transport system. Generally speaking, the transport system also includes a shelf 700, and the transport vehicle can run on the shelf 700 to realize automatic transport of goods. Reference Figures 1 to 3 As shown, the transport vehicle includes a vehicle body 100, a lifting platform 200, two lifting drive mechanisms 300, and a battery 110. The lifting platform 200 is slidably mounted on the vehicle body 100 in the vertical direction and can move relative to the vehicle body 100 in the vertical direction; the lifting direction of the lifting platform 200 is the vertical direction. Two support plates 220 are mounted on the top of the lifting platform 200. These two support plates 220 move up and down with the lifting platform 200 and are used to support goods for lifting. The two lifting drive mechanisms 300 are respectively mounted on the vehicle body 100 and connected to the lifting platform 200, so that the lifting platform 200 can be stably driven to rise and fall relative to the vehicle body 100 through the cooperation of the two lifting drive mechanisms 300.

[0030] Reference Figures 2 to 4 As shown, the lifting drive mechanism 300 specifically includes a first drive assembly 310, a drive shaft 320, and a lifting assembly 330. The drive shaft 320 is arranged horizontally and rotatably mounted on the vehicle body 100 via bearings. The lifting assembly 330 is connected to both the drive shaft 320 and the lifting seat 200. When the drive shaft 320 rotates, it drives the lifting assembly 330 to move, thereby causing the lifting seat 200 to move vertically. The first drive assembly 310 is mounted on the vehicle body 100 and connected to the drive shaft 320 to drive its rotation. Therefore, by driving the drive shaft 320 to rotate via the first drive assembly 310, the lifting seat 200 can be moved vertically, thus lifting the cargo.

[0031] Reference Figures 2 to 4As shown, it can be understood that in the two lifting drive mechanisms 300, the two first drive components 310 drive the two transmission shafts 320 to rotate respectively, and the two transmission shafts 320 drive their respective lifting components 330 to move, so that all the lifting components 330 work together to drive the lifting seat 200 to move in the vertical direction.

[0032] Therefore, the two drive shafts 320 are directly driven by the two first drive components 310 respectively, eliminating the transmission mechanism connecting the two drive shafts 320, effectively improving the transmission efficiency between the first drive component 310 and the drive shaft 320, simplifying the overall structure of the lifting drive mechanism 300, effectively reducing transmission errors and failure rates, thereby improving the stability and reliability of the lifting process.

[0033] Understandably, since the two drive shafts 320 are not directly connected by a transmission mechanism, on the one hand, the assembly process can be optimized to a certain extent, reducing the number of steps in assembling the transmission mechanism; on the other hand, it avoids the assembly requirements that the two drive shafts 320 need to have high positional accuracy for connection with the transmission mechanism, thereby reducing the positional accuracy between the two drive shafts 320, thereby reducing the machining accuracy, effectively reducing the assembly difficulty and improving production efficiency.

[0034] Reference Figures 2 to 4 As shown, each lifting drive mechanism 300 includes two lifting components 330. In each lifting drive mechanism 300, the two lifting components 330 are respectively connected to both ends of the drive shaft 320, and the two lifting components 330 are respectively connected to the lifting seat 200. Therefore, when the lifting drive mechanism 300 is running, the four lifting components 330 move and act together on the lifting seat 200, thereby increasing the number of points of action on the lifting seat 200 and improving the lifting stability of the lifting seat 200.

[0035] Reference Figures 2 to 4 As shown, it can be understood that the horizontal direction perpendicular to the drive shaft 320 is defined as the first direction, and the direction of the rotation axis of the drive shaft 320 is defined as the second direction. The battery 110 is mounted on the vehicle body 100 and is used to power the first drive assembly 310. Specifically, the battery 110 is located between the two drive shafts 320, and the two first drive assemblies 310 are respectively located on opposite sides of the battery 110 along the first direction.

[0036] Therefore, by having each of the two lifting drive mechanisms 300 directly drive the transmission shaft 320 to rotate via its respective first drive assembly 310, the transmission mechanism connecting the two transmission shafts 320 is eliminated. This allows for adjustment of the battery 110's position on the vehicle body 100, optimizing the layout between the battery 110 and the two first drive assemblies 310. This makes the overall center of gravity of the transport vehicle closer to its structural center, reducing the deviation of the transport vehicle's overall center of gravity from its structural center, thereby improving the transport vehicle's operational stability and reducing wear on the wheels.

[0037] Reference Figure 3 As shown, it can be understood that the vehicle body 100 has a first axle axis Z1 arranged along the second direction, that is, the first axle axis Z1 is arranged along the rotation axis of the drive shaft 320. The vehicle body 100 also has a second axle axis Z2 arranged along the first direction. The intersection of the first axle axis Z1 and the second axle axis Z2 can be understood as the structural center of the transport vehicle.

[0038] Reference Figure 3 As shown, it can be understood that the battery 110 and the two first drive assemblies 310 are the heaviest components in the transport vehicle. The two drive shafts 320 are arranged in parallel and symmetrically about a vertical plane passing through the first axis Z1. Therefore, by optimizing the layout of the two lifting drive mechanisms 300 on the vehicle body 100, and thereby adjusting the positions of the battery 110 and the two first drive assemblies 310, the overall center of gravity of the battery 110 and the two first drive assemblies 310 is brought closer to the first axis Z1. This helps to reduce the deviation of the overall center of gravity of the transport vehicle from the structural center, improves the operational stability of the transport vehicle, and reduces the wear of the wheels.

[0039] Reference Figures 1 to 4 As shown, the transport vehicle also includes a traveling device 600, which includes a first traveling wheel set 610 and a second traveling wheel set 620. The first traveling wheel set 610 is mounted on the vehicle body 100 and includes multiple first traveling wheels. In this embodiment, there are eight first traveling wheels, divided into two groups and symmetrically arranged on both sides of the vehicle body 100 along a first direction. The lowest points of the eight first traveling wheels are on the same horizontal plane, and the four first traveling wheels on the same side are spaced apart along a second direction, with the rotation axes of the first traveling wheels arranged along the first direction.

[0040] Reference Figures 1 to 4As shown, it can be understood that the second traveling wheel set 620 is installed on the lifting seat 200. Similarly, the second traveling wheel set 620 includes multiple second traveling wheels. In this embodiment, the number of second traveling wheels is eight. The eight second traveling wheels are divided into two groups and installed on both sides of the lifting seat 200 along the second direction and arranged symmetrically. The lowest points of the eight second traveling wheels are located on the same horizontal plane. The four second traveling wheels on the same side are arranged at intervals along the first direction, and the rotation axis of the second traveling wheels is arranged along the second direction.

[0041] Reference Figures 2 to 4 As shown, the walking device 600 also includes a second drive assembly 630, a first drive shaft 640, a third drive assembly 650, and a second drive shaft 660. The battery 110 also supplies power to the second drive assembly 630 and the third drive assembly 650. The second drive assembly 630 and the first drive shaft 640 are respectively mounted on the vehicle body 100. The second drive assembly 630 is connected to two adjacent first wheels of the first wheel assembly 610 via the first drive shaft 640, and the two adjacent first wheels are connected by gear transmission. The third drive assembly 650 and the second drive shaft 660 are respectively mounted on the lifting platform 200. Similarly, the third drive assembly 650 is connected to two adjacent second wheels of the second wheel assembly 620 via the second drive shaft 660, and the two adjacent second wheels are connected by gear transmission. Therefore, by driving the first wheels to rotate via the second drive assembly 630, the transport vehicle can be moved in the second direction; by driving the second wheels to rotate via the third drive assembly 650, the transport vehicle can be moved in the first direction. It is easy to understand that the second drive assembly 630 and the third drive assembly 650 are both relatively heavy components in the transport vehicle.

[0042] Referring to Figure 3, it can be understood that, along the first direction, the third drive assembly 650 is located on the side of one of the first drive assemblies 310 facing away from the battery 110. The center of mass of the battery 110 deviates from the first axis Z1 in the direction away from the third drive assembly 650. The center of mass of the battery 110 is usually located at the structural center of the battery 110. Of course, the position of the center of mass of the battery 110 can also be directly measured by a mass center of mass comprehensive tester. Similarly, the positions of the centers of mass of the first drive assembly 310, the second drive assembly 630, and the third drive assembly 650 can also be directly measured by a mass center of mass comprehensive tester. Since the third drive assembly 650 and the third drive assembly 650 are far from the first axis Z1, the center of gravity of the transport vehicle will deviate from the first axis Z1 in the first direction. Therefore, by deviating the center of mass of the battery 110 from the first axis Z1 in the direction away from the third drive assembly 650, the weight of the third drive assembly 650 is balanced, and the center of gravity of the transport vehicle is brought closer to the first axis Z1.

[0043] Reference Figure 3 As shown, it can be understood that in the lifting drive mechanism 300 near the third drive assembly 650 along the first direction, the first drive assembly 310 is located on the side of the drive shaft 320 facing the battery 110. Therefore, space can be made on the side of the drive shaft 320 away from the battery 110 to install the third drive assembly 650.

[0044] Reference Figure 3 As shown, it can be understood that since the first drive component 310 in the lifting drive mechanism 300 near the third drive component 650 occupies part of the space between the two drive shafts 320, in the lifting drive mechanism 300 away from the third drive component 650 along the first direction, the first drive component 310 is located on the side of the drive shaft 320 away from the battery 110, thereby freeing up space on the side of the drive shaft 320 facing the battery 110 for installing the battery 110, which is a reasonable layout.

[0045] Reference Figure 3 As shown, it can be understood that, along the first direction, in the two lifting drive mechanisms 300, the two first drive components 310 are respectively located on the side of the two drive shafts 320 away from the third drive component 650. Similarly, the weight of the third drive component 650 is further balanced by the two first drive components 310, so that the center of gravity of the transport vehicle is closer to the first axis Z1.

[0046] Reference Figure 3 As shown, it can be understood that a portion of the structure of the second drive assembly 630 is located on one side of the first axis Z1 along the first direction, and another portion of the structure is located on the other side of the first axis Z1, meaning that the first axis Z1 passes through the second drive assembly 630. Typically, the center of mass of the second drive assembly 630 is located on the first axis Z1. Therefore, the center of mass of the second drive assembly 630 is positioned on the first axis Z1.

[0047] Therefore, in the first direction, by optimizing the layout of the heavier battery 110, the two first drive components 310, the second drive component 630, and the third drive component 650 relative to the first axis Z1, the center of gravity of the heavier battery 110, the two first drive components 310, the second drive component 630, and the third drive component 650 as a whole is closer to the first axis Z1. This helps to reduce the deviation of the center of gravity of the transport vehicle as a whole from the first axis Z1, improve the running stability of the transport vehicle, and reduce the wear of the wheels.

[0048] Reference Figure 3As shown, it can be understood that, along the second direction, the centers of mass of the two first drive components 310 are located on both sides of the second axis Z2, which can balance the weight of the two first drive components 310 and make the center of gravity of the transport vehicle closer to the second axis Z2.

[0049] Reference Figure 3 As shown, it can be understood that, along the second direction, the second drive assembly 630 is located on one side of the second axis Z2, while the center of mass of the third drive assembly 650 and the center of mass of the battery 110 are located on the other side of the second axis Z2. Furthermore, along the second direction, the distance between the center of mass of the second drive assembly 630 and the second axis Z2 is greater than twice the distance between the center of mass of the battery 110 and the second axis Z2. On the one hand, this increases the space between the battery 110 and the second drive assembly 630, allowing for the arrangement of other electrical components and wiring on the vehicle body 100. On the other hand, since the combined weight of the battery 110 and the third drive assembly 650 is much greater than the weight of the second drive assembly 630, increasing the distance between the center of mass of the second drive assembly 630 and the second axis Z2 allows the second drive assembly 630 to balance the combined weight of the third drive assembly 650 and the battery 110, bringing the center of gravity of the transport vehicle closer to the second axis Z2.

[0050] Therefore, in the second direction, by optimizing the layout of the heavier battery 110, the two first drive components 310, the second drive component 630, and the third drive component 650 relative to the second axis Z2, the center of gravity of the heavier battery 110, the two first drive components 310, the second drive component 630, and the third drive component 650 is closer to the second axis Z2. This helps to reduce the deviation of the overall center of gravity of the transport vehicle from the second axis Z2, improve the running stability of the transport vehicle, and reduce the wear of the wheels.

[0051] Therefore, by optimizing the layout of the heavier battery 110, the two first drive components 310, the second drive component 630, and the third drive component 650 in the first and second directions respectively, the center of gravity of the heavier battery 110, the two first drive components 310, the second drive component 630, and the third drive component 650 as a whole is closer to the structural center of the transport vehicle. This helps to reduce the deviation of the overall center of gravity of the transport vehicle from the structural center, improve the running stability of the transport vehicle, and reduce the wear of the wheels.

[0052] Reference Figure 2As shown, the first drive assembly 310 includes a motor 311 and a reducer 312. The output end of the motor 311 is connected to the input end of the reducer 312, and the output end of the reducer 312 is connected to the drive shaft 320. This reduces the output speed of the first drive assembly 310 and increases the output torque, achieving speed reduction and torque increase. This, in turn, reduces the speed of the drive shaft 320, facilitating the control of the lifting seat 200's lifting and lowering. Simultaneously, it increases the output torque of the drive shaft 320, thereby increasing the load-bearing capacity of the lifting seat 200 and broadening its applicability. The structural composition of the second drive assembly 630 and the third drive assembly 650 can refer to the structural composition of the first drive assembly 310, and will not be repeated here.

[0053] Reference Figure 2 As shown, it can be understood that since the first drive assembly 310 directly drives the transmission shaft 320 to rotate, the transmission efficiency is high. Therefore, under the premise that the output capacity (such as output torque) of the transmission shaft 320 is the same, the power of the motor 311 can be reduced. Even if two motors 311 are used, the total power of the two motors 311 is reduced, which helps to reduce costs.

[0054] Understandably, to ensure the smooth lifting of the lifting platform 200 under the drive of the two lifting drive mechanisms 300, the transport vehicle also includes a controller, such as a PLC (Programmable Logic Controller). Correspondingly, the motor 311 is configured as a servo motor, which is equipped with an encoder. The encoder of the servo motor is connected to the controller via an EtherCAT bus. Therefore, when the lifting drive mechanism 300 is running, the controller controls the two motors 311 to run synchronously, which in turn controls the two drive shafts 320 to rotate synchronously. This synchronous rotation includes rotation in the same direction and simultaneous start of rotation. Thus, the two drive shafts 320 can drive multiple lifting components 330 to move synchronously, thereby enabling the lifting platform 200 to rise and fall smoothly and stably lift the goods.

[0055] Reference Figure 4 and Figure 5As shown, the lifting assembly 330 includes a swing arm 331, which is elongated. The two ends of the swing arm 331 along its length are defined as a first end 3311 and a second end 3312. The first end 3311 of the swing arm 331 is fixedly connected to the end of the drive shaft 320. The second end 3312 of the swing arm 331 extends radially outward along the drive shaft 320 and is rotatably engaged with the lifting seat 200. For example, the second end 3312 of the swing arm 331 is connected to the lifting seat 200 via a rotating shaft or bearing, or via a rotating roller 332. It is readily understood that the axis of rotation of the second end 3312 of the swing arm 331 is parallel to the drive shaft 320. Therefore, when the motor 311 drives the transmission shaft 320 to rotate through the reducer 312, the transmission shaft 320 drives the swing arm 331 to rotate, causing the second end 3312 of the swing arm 331 to rotate around the transmission shaft 320. This results in the second end 3312 of the swing arm 331 being displaced in the vertical direction, which in turn drives the lifting seat 200 to move vertically. The structure is simple. Reference Figures 2 to 5 As shown, to avoid the lifting seat 200 shifting horizontally during lifting, which could affect the lifting of goods or cause the transport vehicle to occupy too much space, the transport vehicle also includes a guide assembly 400. The guide assembly 400 is used to guide the lifting seat 200 vertically. Specifically, the guide assembly 400 includes guide blocks 410 and sliders 420. In this embodiment, the guide assembly 400 includes four guide blocks 410, all of which are fixedly installed on the vehicle body 100. Two guide blocks 410 are located on one side of the vehicle body 100 along the axial direction of the drive shaft 320, and the other two guide blocks 410 are located on the other side of the vehicle body 100 along the axial direction of the drive shaft 320. The two guide blocks 410 on the same side are arranged at intervals in a horizontal direction perpendicular to the drive shaft 320, and the two guide blocks 410 are located on opposite sides of the two drive shafts 320. The guide blocks 410 on both sides of the vehicle body 100 along the axial direction of the drive shaft 320 are symmetrically arranged, and the two guide blocks 410 on the same side are also symmetrically arranged.

[0056] Reference Figure 3 and Figure 5 As shown, it can be understood that, in the horizontal cross-section, the guide block 410 has an L-shaped outline. The L-shaped guide block 410 has guide grooves 411 arranged in the vertical direction. Thus, the guiding direction of the guide block 410 is vertical, that is, the direction of the guide block 410 is the same as the lifting direction of the lifting seat 200. The guide grooves 411 of the two guide blocks 410 located on the same side of the vehicle body 100 are arranged opposite each other.

[0057] Reference Figure 2 and Figure 3 As shown, it can be understood that the guide assembly 400 includes four sliders 420, which are fixedly installed on both sides of the lifting seat 200 along the axial direction of the drive shaft 320. Two sliders 420 are installed on each side of the lifting seat 200. The four sliders 420 are slidably installed in the guide grooves 411 of the four guide blocks 410. Therefore, through the cooperation of the four guide blocks 410 and the four sliders 420, it can be ensured that the lifting seat 200 moves in the vertical direction without horizontal displacement, which helps to improve the stability of the lifted goods.

[0058] Reference Figure 4 and Figure 5 As shown, it can be understood that during the rotation of the swing arm 331 around the drive shaft 320, the second end 3312 of the swing arm 331 experiences both vertical displacement and horizontal position. To avoid interference between the movement of the swing arm 331 and the movement of the lifting seat 200, the lifting seat 200 is provided with four mounting slots 210, each corresponding to one of the four second ends 3312 of the swing arm 331. The mounting slots 210 are configured as elongated slots, with their length direction perpendicular to the lifting direction (i.e., vertical direction) of the lifting seat 200. In this embodiment, the length direction of the elongated slot is also perpendicular to the drive shaft 320. The second end 3312 of the swing arm 331 is accommodated in the mounting slot 210 and rotates with the lifting seat 200, and the second end 3312 of the swing arm 331 can slide along the mounting slot 210. Therefore, during the process of the drive shaft 320 driving the swing arm 331 to rotate and drive the lifting seat 200 to rise and fall, the second end 3312 of the swing arm 331 generates displacement in the vertical direction to drive the lifting seat 200 to move in the vertical direction. At the same time, the second end 3312 of the swing arm 331 slides along the mounting groove 210 to avoid interference between the movement of the swing arm 331 and the movement of the lifting seat 200. The structure is reasonable, simple, and easy to produce and assemble.

[0059] Reference Figure 4 and Figure 5 As shown, the lifting assembly 330 also includes a roller 332, which is rotatably mounted on the second end 3312 of the swing arm 331, and the axis of rotation of the roller 332 is parallel to the drive shaft 320. The roller 332 is accommodated in the mounting groove 210 and can slide along the mounting groove 210. Therefore, when the lifting seat 200 is driven to rise or fall, the rolling of the roller 332 can reduce the friction between the roller 332 and the lifting seat 200, which helps to improve the smoothness of the lifting seat 200's rise and fall.

[0060] In other embodiments, the lifting assembly 330 includes a cam or eccentric wheel connected to the end of the drive shaft 320, and the cam or eccentric wheel abuts against the downward-facing wall surface of the lifting seat 200. It is readily understood that the distance between the outer peripheral wall of the cam or eccentric wheel and the rotation axis of the drive shaft 320 is not equal at various points along the circumference of the drive shaft 320. Therefore, when the cam or eccentric wheel rotates with the drive shaft 320, the distance between the downward-facing wall surface of the lifting seat 200 and the rotation axis of the drive shaft 320 continuously changes in the vertical direction, thereby driving the lifting seat 200 to rise and fall.

[0061] In other embodiments, the lifting assembly 330 includes a rack and a gear. The rack is fixedly mounted on the lifting base 200 and arranged in the vertical direction, while the gear is fixedly mounted on the drive shaft 320 and meshes with the rack. Therefore, when the drive shaft 320 drives the gear to rotate, the lifting base 200 can be driven to rise or fall by the engagement of the gear and the rack.

[0062] It is understood that, along the lifting direction of the lifting seat 200, the lifting seat 200 has at least a first position and a second position. Specifically, the height of the second position is greater than the height of the first position. That is, when the lifting seat 200 is in the second position, its height relative to the vehicle body 100 is greater than when the lifting seat 200 is in the first position. Generally speaking, the first position is the lowest position within the lifting stroke range of the lifting seat 200, that is, the lifting seat 200 is in the reset state when it is in the first position.

[0063] It is easy to understand that after the lifting drive mechanism 300 continues to run, there may be a positional deviation between the two drive shafts 320. The positional deviation means that the initial position of the two drive shafts 320 in the rotation direction is different, which will cause the multiple lifting components 330 to move asynchronously, and thus cause the lifting seat 200 to jam or fail to lift.

[0064] Therefore, referring to Figure 6 and Figure 7 As shown, the lifting drive mechanism 300 also includes a detection component 500. Specifically, the detection includes a sensor 510 and a sensing unit 520. The sensor 510 is mounted on the vehicle body 100 and located below the drive shaft 320, while the sensing unit 520 is mounted on the drive shaft 320 and can rotate with it. The sensing unit 520 and the sensor 510 are in responsive cooperation, and there are positions on the movement trajectory of the sensing unit 520 where the sensing unit 520 and the sensor 510 are arranged correspondingly so that the sensor 510 is triggered by the sensing unit 520.

[0065] It is understood that in this embodiment, the sensing unit 520 is configured as a sensing plate and fixedly mounted on the drive shaft 320, and correspondingly, the sensor 510 is configured as a laser sensor and fixedly mounted on the vehicle body 100. When the sensing plate blocks the laser beam emitted by the laser sensor, the laser sensor is triggered by the sensing plate.

[0066] Understandably, sensor 510 is electrically connected to the controller, which is configured to control the operation of two motors 311 based on signals from sensor 510. The two sensors 510 are configured to be triggered by two sensing units 520 respectively when the lifting platform 200 is in the first position. That is, when the lifting platform 200 resets to the lowest position (i.e., the first position), the two sensors 510 are triggered, indicating that both drive shafts 320 have reset normally without deviation. Therefore, when the lifting platform 200 needs to be raised again, the controller controls the two motors 311 to operate synchronously based on signals from the two sensors 510, thereby ensuring that multiple lifting components 330 move synchronously, allowing the lifting platform 200 to rise stably to lift the goods.

[0067] It is easy to understand that when at least one of the two sensors 510 is not triggered, the controller will not control the two motors 311 to operate if it does not receive signals from the two sensors 510. The controller can report the fault to the user (such as controlling the alarm sound, controlling the alarm light to illuminate, or controlling the display screen to show a fault indication, etc.) and control the machine to stop until the fault is eliminated. Therefore, by cooperating with the controller, the two detection components 500 can ensure the stable lifting of the lifting platform 200 and provide stability for lifting goods.

[0068] Reference Figure 8 As shown, the handling system of the second aspect embodiment of this utility model includes a first track 710, a second track 720, and a handling vehicle of the first aspect embodiment of this utility model. Multiple first tracks 710 and multiple second tracks 720 are present and form a shelf 700. Specifically, the shelf 700 includes multiple storage spaces, each storage space consisting of two first tracks 710 and multiple second tracks 720. The first tracks 710 are arranged along a first direction, and two first tracks 710 are arranged parallel to each other, forming a walking channel 730 along the first direction. The upper surfaces of the two first tracks 710 are coplanar, and the plane containing them is the first driving plane. Multiple second tracks 720 are arranged along a second direction and are parallel to each other. Every two second tracks 720 form a storage channel 740 along the second direction. The upper surfaces of the multiple second tracks 720 are coplanar, and the plane containing the upper surfaces of every two second tracks 720 is the second driving plane. Multiple storage channels 740 are located on the same side of the travel aisle 730 along the width direction, and multiple storage channels 740 intersect with the travel aisle 730 respectively, so that the transport vehicle can change direction between the travel aisle 730 and the storage channels 740.

[0069] Reference Figure 2 and Figure 8 As shown, it can be understood that the transport vehicle is configured to move on either the first track 710 or the second track 720. Specifically, the first set of wheels 610 is used to cooperate with the second track 720 to allow the transport vehicle to move along a second direction on the second track 720 (or storage channel 740), i.e., when the transport vehicle moves along the second direction, the first wheels contact the second travel plane and roll on the second track 720. Similarly, the second set of wheels 620 is used to cooperate with the first track 710 to allow the transport vehicle to move along a first direction on the first track 710 (or travel channel 730), i.e., when the transport vehicle moves along the first direction, the second wheels contact the first travel plane and roll on the first track 710. In other words, when the transport vehicle moves on the travel channel 730, the second travel wheel set 620 contacts the first track 710 and the second travel wheel rolls on the first track 710; when the transport vehicle moves on the storage channel 740, the first travel wheel set 610 contacts the second track 720 and the first travel wheel rolls on the second track 720.

[0070] Reference Figure 2 and Figure 8 As shown, it can be understood that when the transport vehicle moves to the intersection of the travel channel 730 and the storage channel 740, and the second travel wheel set 620 is in contact with the first track 710, when the first drive assembly 310 drives the lifting seat 200 to move upward and makes the height position of the second travel wheel set 620 higher than the height position of the first travel wheel set 610, the second travel wheel set 620 disengages from the first travel plane (i.e., it is not in contact with the first track 710), and the first travel wheel of the first travel wheel set 610 contacts the second track 720. At this time, the height position of the lifting seat 200 is the second position, so that the transport vehicle can move along the second track 720. In other words, the transport vehicle switches from the first track 710 to the second track 720, that is, the transport vehicle reverses direction.

[0071] Similarly, when the first traveling wheel set 610 is in contact with the second track 720, when the first drive assembly 310 drives the lifting seat 200 to move downward and makes the height position of the second traveling wheel set 620 lower than the height position of the first traveling wheel set 610, the first traveling wheel set 610 disengages from the second traveling plane (i.e., it is not in contact with the second track 720), and the second traveling wheel of the second traveling wheel set 620 contacts the first track 710. At this time, the height position of the lifting seat 200 is the first position, so that the transport vehicle can move along the first track 710. In other words, the transport vehicle is switched from the second track 720 to the first track 710, and the direction of the transport vehicle is also changed.

[0072] Therefore, in addition to lifting goods, the lifting platform 200 can also change the direction of the transport vehicle, improve the mobility of the transport vehicle, and facilitate the transport of goods to the target location.

[0073] Reference Figure 2 and Figure 8 As shown, it can be understood that, generally speaking, the lifting platform 200 also includes a third position in the lifting direction, and the height of the third position is greater than the height of the second position. That is, when the lifting platform 200 is in the second position, the transport vehicle is on the second track 720. When the first drive assembly 310 drives the lifting platform 200 to move further upward, the lifting platform 200 can move to the third position. At this time, the height of the second travel wheel set is still higher than the height of the first travel wheel set 610, so the transport vehicle is still on the second track 720. It is easy to understand that when the lifting platform 200 moves from the second position to the third position, it can lift the goods on the lifting platform 200 so as to place the goods on the bracket in the storage channel 740, or lift the goods placed on the bracket in the storage channel 740 so as to retrieve the goods. It is easy to understand that when there is cargo on the pallet 220 of the lifting platform 200, the cargo will not come into contact with the first rail 710 or the second rail 720, regardless of whether the lifting platform 200 is in the first position, the second position or the third position, so as to prevent the cargo from obstructing the movement of the transport vehicle.

[0074] It is easy to understand that the center of gravity of the pallet truck is closer to the structural center of the pallet truck. This reduces the wear on the wheels and also reduces the wear on the first track 710 and the second track 720, effectively protecting the rack 700.

[0075] Since the handling system adopts all the technical solutions of the handling vehicle in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments.

[0076] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A transport vehicle, characterized in that, include: Vehicle body; A lifting platform is installed on the vehicle body and used to carry goods; Two lifting drive mechanisms are respectively connected to the lifting base; The lifting drive mechanism includes a first drive assembly, a transmission shaft, and a lifting assembly. The lifting assembly is connected to the lifting seat and the transmission shaft respectively. The first drive assembly is connected to the transmission shaft and is used to drive the transmission shaft to rotate, so as to drive the lifting seat to lift relative to the vehicle body through the lifting assembly. A battery is installed in the vehicle body and configured to power the first drive assembly; The battery is located between the two drive shafts, and the two first drive components are located on both sides of the battery.

2. The transport vehicle according to claim 1, characterized in that: The two drive shafts are arranged in parallel, the vehicle body has a first central axis, the first central axis is arranged along the direction of the rotation axis of the drive shafts, and the two drive shafts are arranged symmetrically about a vertical plane passing through the first central axis.

3. The transport vehicle according to claim 2, characterized in that: The transport vehicle further includes a walking device, which includes a second set of wheels, a second drive shaft, and a third drive assembly. The second set of wheels, the second drive shaft, and the third drive assembly are respectively mounted on the lifting seat. The second drive shaft is connected to the second set of wheels and the third drive assembly. The second set of wheels is configured to enable the transport vehicle to move along a first direction, which is perpendicular to the first central axis. Along the first direction, the third drive assembly is located on one side of the first drive assembly opposite to the battery. The center of mass of the battery is located on the side of the first central axis opposite to the third drive assembly.

4. The transport vehicle according to claim 3, characterized in that: Along the first direction, in the lifting drive mechanism closer to the third drive assembly, the first drive assembly is located on the side of the drive shaft facing the battery; in the lifting drive mechanism farther from the third drive assembly, the first drive assembly is located on the side of the drive shaft away from the battery.

5. The transport vehicle according to claim 3, characterized in that: The vehicle body has a second central axis, which is arranged along the first direction. Along the direction of the first central axis, the centers of mass of the two first drive components are located on both sides of the second central axis.

6. The transport vehicle according to claim 5, characterized in that: The walking device further includes a first walking wheel set, a first drive shaft, and a second drive assembly. The first walking wheel set, the first drive shaft, and the second drive assembly are respectively mounted on the vehicle body. The first drive shaft connects the first walking wheel set and the second drive assembly. The first walking wheel set is configured to enable the transport vehicle to move along a second direction, which is perpendicular to the first direction. Along the second direction, the second drive assembly is located on one side of the second central axis, and the center of mass of the third drive assembly and the center of mass of the battery are located on the other side of the second central axis.

7. The transport vehicle according to claim 6, characterized in that: Along the second direction, the distance between the center of mass of the second drive assembly and the second central axis is greater than twice the distance between the center of mass of the battery and the second central axis.

8. The transport vehicle according to claim 6, characterized in that: The second drive component is located on the first central axis.

9. The transport vehicle according to claim 1, characterized in that: The lifting assembly includes a swing arm, which has a first end and a second end. The first end is fixedly connected to the drive shaft, and the second end is rotatably engaged with the lifting seat. The rotation axis of the second end is parallel to the drive shaft.

10. The transport vehicle according to claim 9, characterized in that: The lifting seat is provided with a mounting groove, which is configured as an elongated groove, and the length direction of the elongated groove is perpendicular to the lifting direction of the lifting seat. The second end is configured to slide relative to the elongated groove along its length direction.

11. The transport vehicle according to claim 10, characterized in that: The lifting assembly also includes a roller, which is rotatably mounted on the second end and is accommodated in the elongated groove and can slide along the elongated groove.

12. The transport vehicle according to any one of claims 9 to 11, characterized in that: The transport vehicle also includes a guide assembly, which includes a guide block and a slider. The guide block is positioned along the lifting direction of the lifting seat. The slider is connected to the lifting seat and slides in cooperation with the guide block along the guide direction.

13. A handling system, characterized in that, The system includes a first track, a second track, and a transport vehicle as described in any one of claims 1 to 12, wherein the first track is perpendicular to the second track, and the transport vehicle is configured to move on either the first track or the second track.

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