Transport device and cargo transport method

Abstract

The present application embodiment discloses a conveying device and a cargo conveying method. The conveying device comprises a vehicle body and a conveying arm, wherein the conveying arm is provided within the vehicle body; the conveying arm comprises an arm body, and a lift mechanism is provided in the arm body; the conveying arm can protrude from the vehicle body in a horizontal direction to lift cargo through the lift mechanism and return to the vehicle body; wherein, during the process of the lift mechanism being lifted from a low position to a high position, the top portion of the lift mechanism moves in a horizontal direction toward the conveying arm toward the vehicle body.

Description

Technology Field

[0001] This application relates to the field of automatic guided transport technology, and in particular to a transport device and a cargo transport method. Background Technology

[0002] The transport device generally comprises a vehicle body and a transport arm provided on the vehicle body; the transport arm comprises an arm body and a lift mechanism and a support wheel provided on the arm body. The transport arm may be portrude from the vehicle body to lift a cargo via the lift mechanism, lower the lifted cargo onto the vehicle body, and transport the cargo to its destination by the vehicle body.

[0003] Among such transport devices, the process in which a transport arm protrudes from the vehicle body to transport cargo generally involves lifting the cargo; first, the cargo is lifted vertically upward to a preset height, then the vehicle body travels forward by a lift mechanism to beneath the lifted cargo, and finally, the lift mechanism lowers the lifted cargo onto the vehicle body. Since the process of the transport arm transferring cargo from the outside of the vehicle body to the vehicle body requires both a vertical lifting process and the vehicle body moving forward, the transport efficiency is low. The problem to be solved

[0004] In light of this, the embodiments of the present application provide a transport device and a cargo transport method. means of solving the problem

[0005] In a first embodiment, the present application embodiment provides a transport device comprising a vehicle body and a transport arm, wherein the transport arm is provided within the vehicle body; the transport arm comprises an arm body, and a lift mechanism is provided in the arm body; the transport arm can protrude in a horizontal direction from the vehicle body to lift a cargo through the lift mechanism and return to the vehicle body.

[0006] According to a specific implementation method of the embodiment of the present application, during the process of the lift mechanism being lifted from a low position to a high position, the top part of the lift mechanism moves in a horizontal direction toward the transport arm toward the vehicle body.

[0007] According to a specific embodiment of the present application, the lift mechanism includes a lifting drive mechanism and a foldable lift actuation mechanism; the lift actuation mechanism is connected to the lifting drive mechanism; when the lifting drive mechanism drives the lift actuation mechanism to perform a contraction operation, the lift actuation mechanism folds and contracts from a direction protruding in the horizontal direction from the vehicle body toward the transport arm; and when the lifting drive mechanism drives the lift actuation mechanism to perform a lifting and stretching operation, the upper part of the lift actuation mechanism moves in the horizontal direction toward the transport arm toward the vehicle body.

[0008] According to a specific implementation method of the embodiment of the present application, the lift performing mechanism includes a connecting rod mechanism and a pull rod; the bottom of the connecting rod mechanism is hinged to the arm body; the first end of the pull rod is hinged to the lifting driving mechanism and the second end is hinged to the connecting rod mechanism; the lifting driving mechanism pulls the pull rod, and the pull rod pulls the connecting rod mechanism to perform a contraction operation; the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform a stretching and lifting operation.

[0009] According to a specific embodiment of the present application, the pull rod comprises a first pull rod and a second pull rod, the first end of the first pull rod is hinged to the lifting drive mechanism, the second end is hinged to the first end of the second pull rod, and the second end of the second pull rod is hinged to the connecting rod mechanism; a first limiting block is provided at the second end of the first pull rod, and a second limiting block is provided at the first end of the second pull rod; and after the first pull rod and the second pull rod push the connecting rod mechanism from a maximum retracted state to a preset height, the first limiting block and the second limiting block oppose each other.

[0010] According to a specific embodiment of the present application, the lifting drive mechanism comprises a lifting drive motor, a power transmission mechanism connected to the lifting drive motor, and a slide block connected to the power transmission mechanism; the slide block is provided on the arm body and hinge-connected to the first end of the pull rod; and the lifting drive motor drives the slide block through the power transmission mechanism to move back and forth along the longitudinal direction of the arm body.

[0011] According to a specific embodiment of the present application, the power transmission mechanism includes a screw rod and a slide block nut, wherein the nut is threaded to the screw rod to form a screw rod-nut pair.

[0012] According to a specific implementation method of the present application embodiment, the vehicle body is provided with a suspension assist mechanism that assists the transport arm to suspend from the ground, and the arm body is provided with a support wheel.

[0013] According to a specific embodiment of the present application, the suspension assist mechanism includes a climb guide component provided in the vehicle body; wherein the carrying arm has a climb component capable of climbing according to the climb guide component; and the carrying arm and / or the vehicle body has a power device that provides climbing power to the climb component.

[0014] According to a specific implementation method of the present application embodiment, the climb guide component is provided on the bottom of the vehicle body and includes a guide plate having a predetermined inclination with respect to the ground; and the climb component of the transport arm is the support wheel.

[0015] According to a specific implementation method of the embodiment of the present application, the climb guide component includes a first climb guide component provided at the first end of the vehicle body and a second climb guide component provided at the second end of the vehicle body; and the climb component of the transport arm includes a first climb component capable of climbing according to the first climb guide component and a second climb component capable of climbing according to the second climb guide component.

[0016] The above power device is used to provide climbing power to the first climb part and / or the second climb part.

[0017] According to a specific embodiment of the present application, the first climb guide component is provided on the bottom of the vehicle body and includes a guide plate having a predetermined inclination with respect to the ground; the support wheel includes a first support wheel and a second support wheel installed spaced apart along the longitudinal direction of the arm body; the power device is provided on the transport arm and connected to the first support wheel; and the first climb component is the first support wheel;

[0018] As the first support wheel climbs according to the first climb guide component, the second climb component climbs according to the second climb guide component, thereby lifting the first support wheel and the second support wheel off the ground.

[0019] According to a specific embodiment of the present application, the second climb guide component includes a rolling body capable of rolling along the longitudinal direction of the arm body; the second climb component is a support block provided on the outer side of the arm body, and the bottom of the support block has an inclined surface that supports and cooperates with the second climb guide component.

[0020] According to a specific embodiment of the present application, the suspension assist mechanism includes a support portion provided on the vehicle body; wherein the lift mechanism includes a lifting drive mechanism and a lift performing mechanism; the lift performing mechanism is connected to the lifting drive mechanism; the lift performing mechanism is supported by the support portion on the vehicle body, and the lifting drive mechanism drives the lift performing mechanism to continuously perform a contraction motion, thereby lifting the support wheel off the ground.

[0021] According to a specific embodiment of the present application, the lift performing mechanism comprises an extendable lift mechanism and a lifting top plate provided at the top of the extendable lift mechanism; the lifting driving mechanism drives the lift performing mechanism to contract to a preset position, and the lifting top plate is supported by the support member on the vehicle body; and the lifting driving mechanism drives the lift performing mechanism to continuously contract, thereby lifting the support wheel from the ground.

[0022] According to a specific embodiment of the present application, the support member includes a first support member provided on the first side of the vehicle body and a second support member provided on the second side of the vehicle body; on both sides of the lifting top plate, a first projection block that supports and cooperates with the first support member and a second projection block that supports and cooperates with the second support member are provided; the lifting driving mechanism drives the lift performing mechanism to contract to a preset position, the first projection block is supported by the first support member, the second projection block is supported by the second support member, and the lifting driving mechanism drives the lift performing mechanism to continuously perform a contraction operation to lift the support wheel from the ground.

[0023] According to a specific embodiment of the present application, the vehicle body is provided with a carrying arm accommodation groove extending along the horizontal direction, and the carrying arm is provided in the carrying arm accommodation groove; a slide rail is provided between the carrying arm accommodation groove and the carrying arm; a slide rail guide and support structure is provided on the side of the carrying arm accommodation groove, and the slide rail guide and support structure cooperates with the slide rail to provide a horizontal guide and a vertical support for the slide rail; and the slide rail guide and support structure supports the slide rail to enable it to move up and down.

[0024] According to a specific embodiment of the present application, a longitudinal guide structure is provided on the side of the receiving groove of the conveying arm; the slide rail guide and support structure includes a base portion and a guide and support portion connected to the base portion, the base portion cooperates with the longitudinal guide structure in an up-and-down sliding manner or in an up-and-down rolling manner; and the guide and support portion cooperates with the slide rail to provide a transverse guide and a longitudinal support for the slide rail.

[0025] In a second aspect, the embodiment of the present application provides a cargo transport method comprising the steps of: moving a vehicle body to a predetermined position of cargo and a transport arm protruding from the vehicle body to the bottom of the cargo; a step in which a lift mechanism of the transport arm performs a lift operation to lift the cargo and return it to a predetermined position within the vehicle body; and a step in which the lift mechanism performs a retract operation to lower the lifted cargo onto the vehicle body.

[0026] According to a specific implementation method of the embodiment of the present application, during the process in which the lift mechanism lifts the cargo from a low position to a high position, the cargo moves in a horizontal direction in which the transport arm returns to the vehicle body.

[0027] According to a specific embodiment of the present application, during the process in which the lift mechanism lifts the cargo from a low position to a high position, the step of moving the cargo in a horizontal direction in the direction in which the transport arm returns to the vehicle body includes: when the lifting drive mechanism drives the lift execution mechanism to perform a lifting and stretching operation, the step of moving the cargo lifted to the top part of the lift execution mechanism in a horizontal direction in the direction in which the transport arm returns to the vehicle body.

[0028] According to a specific implementation method of the embodiment of the present application, the lift performing mechanism includes a connecting rod mechanism and a pull rod; wherein the step of the lifting driving mechanism driving the lift performing mechanism to perform lifting and stretching operations includes: the step of the lifting driving mechanism pushing the pull rod, and the step of the pull rod pushing the connecting rod mechanism to perform stretching and lifting operations.

[0029] According to a specific implementation method of the embodiment of the present application, the step of the lifting drive mechanism pushing the pull rod and the pull rod pushing the connecting rod mechanism to perform stretching and lifting operations includes: the step of the lifting drive motor driving the slide block through a power transmission mechanism to move the slide block, the slide block pushing the pull rod, and the pull rod pushing the connecting rod mechanism to perform stretching and lifting operations.

[0030] According to a specific embodiment of the present application, the step of the lift mechanism of the transport arm performing a lift operation to lift the cargo and returning to a preset position within the vehicle body includes: the step of the transport arm moving into the vehicle body during the process of the lift mechanism of the transport arm performing a lift operation to lift the cargo.

[0031] According to a specific implementation method of the present application embodiment, the step of moving the vehicle body to a predetermined cargo position and the carrying arm protruding from the vehicle body to the bottom of the cargo includes: the step of moving the vehicle body to a predetermined cargo position, and after the support wheel of the carrying arm is lowered from a suspended state to touch the ground, the carrying arm protrudes from the vehicle body to the bottom of the cargo.

[0032] According to a specific embodiment of the present application, the step of lowering the support wheel of the transport arm from a suspended state to the ground comprises: a step of driving the transport arm to drive a mechanism operation so that the support wheel of the transport arm travels a predetermined distance in a predetermined direction from the vehicle body and then lowers to the ground; or, a step in which the lift mechanism is in a retracted state, the lift mechanism is supported by the vehicle body, and the support wheel of the transport arm is in a suspended state; and a step in which the lift mechanism performs a lift operation so that the support wheel of the transport arm is lowered to the ground.

[0033] According to a specific embodiment of the present application, after the lift mechanism performs a retracting motion to lower the lifted cargo onto the vehicle body, the method further comprises: the step of the support wheel of the transport arm leaving the ground and suspending; and the step of the vehicle body driving to transport the cargo to a destination.

[0034] According to a specific embodiment of the present application, the step of the support wheel of the transport arm leaving the ground and suspending it comprises: the step of the transport arm continuing to travel within the vehicle body, climbing onto the vehicle body, and the support wheel of the transport arm leaving the ground and suspending it; or the step of the lift mechanism continuing to perform a contraction operation until it is supported by the vehicle body, and the lift mechanism further performing a contraction operation to lift the support wheel from the ground.

[0035] According to a specific embodiment of the present application, the step of the transport arm continuing to travel within the vehicle body, climbing onto the vehicle body, and the support wheel of the transport arm leaving the ground and suspending includes: the step of the transport arm continuing to travel within the vehicle body, wherein the support wheel of the first end of the transport arm climbs along the first climb guide part of the first end of the vehicle body, while the climb part of the second end of the transport arm climbs upward along the second climb guide part of the second end of the vehicle body.

[0036] According to a specific embodiment of the present application, the step of the support wheel of the first end of the transport arm climbing along the first guide part of the first end of the car body includes: the step of the support wheel of the first end of the transport arm climbing along a guide plate having a predetermined inclination with respect to the ground of the bottom of the first end of the car body; and the step of the climbing part of the second end of the transport arm climbing upward along the second climbing guide part of the second end of the car body includes: the step of the climbing guide surface of the bottom of the support block of the second end of the transport arm climbing upward along the rolling body of the second end of the car body. Effects of the invention

[0037] In an embodiment of the conveying device and conveying method of the present application, after the conveying arm protrudes from the vehicle body in a horizontal direction, the cargo is lifted through a lift mechanism, and during the process in which the lift mechanism lifts the cargo from a low position to a high position, the top part of the lift mechanism (i.e., the cargo being lifted) moves in a horizontal direction in which the conveying arm returns to the vehicle body. In other words, when the lift mechanism performs a lift operation, the top part of the lift mechanism moves along a curved trajectory, and there are two displacement components, a vertical and a horizontal one. The vertical displacement component is the lifting process from a low position to a high position, and the horizontal displacement component is the movement of the conveying arm in a horizontal direction in which it returns to the vehicle body. In this way, the lifting of the cargo and the conveying of the cargo toward the vehicle body can be implemented simultaneously during the lifting process of the lift mechanism, thereby improving the conveying efficiency of the cargo of the conveying arm. After the transport arm returns to the vehicle body, the transport arm can be suspended away from the ground through the suspension assist mechanism of the vehicle body, and the support wheel of the transport arm can be lifted away from the ground so as not to come into contact with the ground. In this way, during the process of the transport device moving, only the vehicle body comes into contact with the ground, and by the transport arm being suspended away from the ground, friction with the ground is reduced, and the driving resistance of the transport device is reduced, thereby making the driving faster. Brief explanation of the drawing

[0038] In order to more clearly explain the technical solutions among the embodiments of this specification, the drawings to be used in the description of the embodiments are briefly introduced below. The drawings in the description below are merely partial embodiments described in one or more embodiments of this specification, and it is obvious to a person skilled in the art that other drawings can be obtained based on these drawings without creative effort. FIG. 1 is a schematic diagram of the structure of a transport device according to an embodiment of the present application; FIG. 2 is a schematic diagram of the structure of the transport arm of FIG. 2 (with the lift mechanism in a retracted state); FIG. 3 is a schematic diagram of the structure of the transport arm of FIG. 2 (with the lift mechanism in a lifted state); FIG. 4 is a schematic diagram of a transport arm of an embodiment of the present application protruding from a vehicle body to perform lifting on a cargo; FIG. 5 is a schematic diagram of a transport device of an embodiment of the present application in which a transport arm is located on a vehicle body (the transport arm is in a state prior to climbing); FIG. 6 is a schematic diagram of a different state of the transport arm of the transport device of the present application embodiment before climbing the vehicle body; FIG. 7 is a schematic diagram of a transport arm in a suspended state after climbing from the vehicle body and leaving the ground among the transport devices of the embodiment of the present application; FIG. 8 is a schematic diagram of the structure of a transport device of another embodiment of the present application (with the transport arm attached to the car body); FIG. 9 is a schematic diagram of a structure in which a transport arm protrudes from the car body through a slide rail among the embodiments shown in FIG. 8; FIG. 10 is a schematic diagram showing the lift mechanism of the transport arm in the lifted state among the embodiments shown in FIG. 8; FIG. 11 is a schematic diagram of the structure in which the transport arm returns to the car body among the embodiments shown in FIG. 8; FIG. 12 is a schematic diagram of a structure in which a top plate within a lift mechanism of the embodiment shown in FIG. 8 is supported by a support member of a car body; FIG. 13 is a side schematic diagram of a structure in which a top plate within a lift mechanism of the embodiment shown in FIG. 8 is supported by a support member of a car body; FIG. 14 is a schematic diagram of the transport arm in FIG. 13 suspended off the ground; FIG. 15 is a schematic flowchart of a cargo transport method of an embodiment of the present application; FIG. 16 is a schematic diagram of a state in which the vehicle body moves near a preset position of the cargo and the transport arm protrudes from the vehicle body to the bottom of the cargo; FIG. 17 is a schematic diagram of a state in which a lift mechanism has lifted a pallet from a low position to a high position; FIG. 18 is a schematic diagram of a state in which a transport arm transports cargo to the top of the vehicle body; FIG. 19 is a schematic diagram of a lift mechanism performing a retraction motion to lower a lifted pallet onto a car body; FIG. 20 is a schematic diagram of a structure in which a pallet lifted by a lift mechanism is lowered onto a vehicle body, and then the transport arm climbs and leaves the ground to suspend; FIG. 21 is a schematic diagram of the flow of a cargo transport method of another embodiment of the present application. Specific details for implementing the invention

[0039] Hereinafter, embodiments of the present invention will be described in detail in conjunction with the drawings. It should be apparent that the described embodiments are merely some embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained without inventive effort by a person skilled in the art fall within the scope of protection of the present invention.

[0040] Referring to FIG. 1, the transport device (10) of the embodiment of the present application comprises: a vehicle body (20) and a transport arm (30), wherein the transport arm (30) is provided on the vehicle body (20); wherein the transport arm (30) comprises an arm body (301), wherein the arm body (301) is provided with a lift mechanism (303); wherein the transport arm (30) protrudes from the vehicle body (20) in a horizontal direction to lift cargo through the lift mechanism (303) and also returns to the vehicle body (20).

[0041] During the process in which the lift mechanism (303) lifts the cargo from a low position to a high position, the top part of the lift mechanism (303) moves in a horizontal direction toward the direction in which the transport arm (30) returns to the vehicle body (20).

[0042] In this embodiment, the transport device may be referred to as an automatic guide transport device, a transport robot, a transport AGV, or an Automated Guided Vehicle (AGV). An AGV refers to a transport vehicle equipped with an automatic guide device, such as electromagnetic or optical, capable of driving along a prescribed guide path, and equipped with safety protection and various transport loading functions. In addition to pallets, the transport device can transport various types of cargo, shelves, and cargo, and only requires a space below where a transport arm (30) can enter.

[0043] The vehicle body (20) may be equipped with an omnidirectional driving unit, a sensing unit, a battery, a charging unit, a control unit, a collision avoidance unit, a code reading unit, and a communication unit. Among these, the sensing unit may use sensors such as lasers, vision, infrared, and photoelectric sensors. The omnidirectional driving unit can realize various walking patterns such as straight lines, diagonal lines, and arcs, and different walking patterns can be implemented by replacing it with another walking unit.

[0044] A guide structure, such as a guide groove or a guide rail, that allows a transport arm (30) to enter and exit may be provided in the vehicle body (20). Referring to FIG. 1, in one example, a transport arm receiving groove (201) may be provided in the vehicle body (20), and a transport arm (30) may be provided in the transport arm receiving groove (201).

[0045] Two transport arm receiving grooves (201) may be provided in parallel in the vehicle body (20), and one transport arm (30) may be installed in each transport arm receiving groove (201), and the two transport arms (30) may work together.

[0046] In some embodiments, a support wheel is provided on the arm body (301), and the support wheel may be provided on the bottom of the arm body (301) and form support for the transport arm (30). The support wheel may be a drive wheel equipped with driving power or a caster wheel not equipped with driving power. A support wheel may be provided at one end of the arm body (301), and the other end of the arm body (301) may be supported by the vehicle body (20); referring to FIGS. 2 and 3, a support wheel (302a) and a support wheel (302b) may be installed at each end of the arm body (301), and when transporting cargo, both ends of the arm body (301) may be supported by the ground through the support wheel, and the support wheel (302a) may be a drive wheel and the support wheel (302b) may be a caster wheel.

[0047] The lift mechanism (303) is used to lift cargo or to lift a pallet loaded with cargo. Referring to FIG. 4, in one example, during the process of the lift mechanism (303) lifting the pallet (100) from a low position to a high position, the top part of the lift mechanism (303) moves in a horizontal direction toward the direction in which the transport arm (30) returns to the vehicle body (20), and the direction indicated by the arc arrow in FIG. 4 indicates the direction in which the lift mechanism (303) lifts the pallet (100) from a low position to a high position, and the direction indicated by the horizontal arrow is the direction in which the transport arm (30) returns to the vehicle body (20).

[0048] In this embodiment, after the transport arm (30) protrudes from the vehicle body (20) in a horizontal direction, and after the cargo is lifted through the lift mechanism (303), during the process in which the lift mechanism (303) lifts the cargo from a low position to a high position, the top part of the lift mechanism (303) (i.e., the cargo being lifted) moves in a horizontal direction toward the direction in which the transport arm (30) returns to the vehicle body (20). In other words, when the lift mechanism (303) performs a lift operation, the top part of the lift mechanism (303) moves along a curved trajectory, and there are two displacement components, a vertical and a horizontal one. The vertical displacement component is the lifting process from a low position to a high position, and the horizontal displacement component moves in a horizontal direction toward the direction in which the transport arm (30) returns to the vehicle body (20). In this way, during the lifting process of the lift mechanism (303), the lifting of the cargo and the transport of the cargo toward the vehicle body (20) can be implemented simultaneously. The transport efficiency of the transport arm for cargo can be improved.

[0049] The lift mechanism (303) can lift along a preset curved trajectory, and may be a lift mechanism equipped with driving force in the vertical direction and the horizontal direction, respectively, and may push the movement of the lift mechanism (303) in the horizontal direction by applying driving force in the horizontal direction while the lift mechanism (303) rises in the vertical direction. The lift mechanism (303) may be a bar-type nut lift mechanism, a multi-connecting rod lift mechanism, or a scissor-type lift mechanism.

[0050] In order for the lift mechanism (303) to have a tight structure in a non-lifted state and to be convenient for folding into the car body (20), the lift mechanism (303) may use a foldable lift mechanism, specifically, in some embodiments, the lift mechanism (303) may include a lifting drive mechanism and a foldable lift execution mechanism; and the lift execution mechanism is connected to the lifting drive mechanism.

[0051] When the lifting drive mechanism drives the lift execution mechanism to perform a contraction operation, the lift execution mechanism can fold and contract into the arm body (301) of the transport arm (30) from the direction protruding along the horizontal direction of the vehicle body (20) toward the transport arm (30), thereby making it convenient for the upper part of the lift execution mechanism to move toward the direction in which the transport arm (30) returns to the vehicle body (20) in the horizontal direction when the lifting drive mechanism drives the lift execution mechanism to perform a lifting and stretching operation.

[0052] In some embodiments, the lift performing mechanism may include a connecting rod mechanism and a pull rod; the bottom of the connecting rod mechanism is hinged to the arm body (301); the first end of the pull rod is hinged to the lifting driving mechanism and the second end is hinged to the connecting rod mechanism; the lifting driving mechanism pulls the pull rod, and the pull rod pulls the connecting rod mechanism to perform a contraction operation; the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform a stretching and lifting operation.

[0053] Referring to FIG. 3, in one example, the connecting rod mechanism comprises a lifting top plate (3031), a first connecting rod (3032), and a second connecting rod (3033), the bottom of the first connecting rod (3032) is hinged to an arm body (301) and the top is hinged to the lifting top plate (3031), the bottom of the second connecting rod (3033) is hinged to an arm body (301) and the top is hinged to the lifting top plate (3031); the lifting top plate (3031), the first connecting rod (3032), the second connecting rod (3033), and the arm body (301) form a parallel four connecting rod mechanism. The lifting top plate (3031) is used to lift cargo.

[0054] To make lifting the lifting top plate (3031) smoother and to make the support stronger, refer to FIG. 3, there may be two first connecting rods (3032), and two first connecting rods (3032) are installed in parallel; there may also be two second connecting rods (3033), and two second connecting rods (3033) are installed in parallel, and the lifting top plate (3031) is supported at four corners through four connecting rods.

[0055] There may be only one pull rod. One end of the pull rod is hinged to the lifting drive mechanism, and the other end is hinged to the first connecting rod (3032).

[0056] Referring to FIGS. 3 and 4, in some embodiments, the number of pull rods is two, and includes a first pull rod (3034) and a second pull rod (3035). The first end of the first pull rod (3034) is hinged to a lifting drive mechanism, the second end is hinged to the first end of the second pull rod (3035), and the second end of the second pull rod (3035) is hinged to a first connecting rod (3032). When the number of first connecting rods (3032) is two, each first connecting rod (3032) corresponds to two pull rods.

[0057] Referring to FIG. 5, when the connecting rod mechanism is in a maximum contracted state, the first pull rod (3034) is horizontally supported by the arm body (301), and there is a preset angle between the second pull rod (3035) and the first pull rod (3034), and the range of the preset angle may be greater than or equal to 150 degrees and less than or equal to 180 degrees, and in this way, the lifting drive mechanism can apply a lifting thrust to the connecting rod mechanism, making it convenient to convert the connecting rod mechanism from a contracted state to a stretched and lifted state with a small thrust.

[0058] A first position limiting block (not shown) may be provided at the second end of the first pull rod (3034), and a second position limiting block (not shown) may be provided at the first end of the second pull rod (3035). After the first pull rod (3034) and the second pull rod (3035) raise the connecting rod mechanism from a maximum contracted state to a preset height, the first position limiting block and the second position limiting block oppose each other to maintain a fixed angle between the first pull rod (3034) and the second pull rod (3035), and push the connecting rod mechanism to perform stable stretching and lifting along a curved trajectory.

[0059] Referring to FIG. 3, in some embodiments, the lifting drive mechanism may include a lifting drive motor (304), a power transmission mechanism (305) connected to the lifting drive motor (304), and a slide block (360) connected to the power transmission mechanism (305); the slide block (360) is provided on the arm body (301) and is also hinge-connected to the first end of the first pull rod (3034); The lifting drive motor (304) drives the slide block (360) through the power transmission mechanism (305) to move back and forth along the longitudinal direction of the arm body (301), thereby causing the movement of the first pull rod (3034) to drive the second pull rod (3035), and the second pull rod (3035) drives the first connecting rod (3032) to rotate the hinge connection point of the arm body (301).

[0060] The power transmission mechanism (305) illustrated in FIG. 3 includes a screw rod, and the slide block (360) includes a nut, which is threaded to the screw rod to form a screw rod-nut pair. Among other embodiments, the power transmission mechanism (305) may be a chain transmission mechanism or a pinion-rack transmission mechanism.

[0061] During the process of the slide block (360) pushing the first pull rod (3034), the hinge connection point between the slide block (360) and the first pull rod (3034) can always move along the horizontal direction. Referring to FIG. 3, an elongated slide groove (370) extending horizontally can be provided on the side of the arm body (301) of the transport arm (30), and one end of the hinge connection axis (308) between the slide block (360) and the first pull rod (3034) is provided in the slide groove (370), and the position limiting of the hinge connection point between the slide block (360) and the first pull rod (3034) is performed through the slide groove (370), thereby allowing it to always move along the horizontal direction.

[0062] When the hinge connection point between the slide block (360) and the first pull rod (3034) moves along the horizontal direction, the hinge connection point between the slide block (360) and the first pull rod (3034) can be supported by the arm body (301) of the support arm, and in this way, stable support can be provided to the lift mechanism (303).

[0063] To facilitate hinge connection between the slide block (360) and the first pull rod (3034), a support block (309) may be installed on the side of the slide block (360), and the first end of the first pull rod (3034) may be hinge-connected to the support block (309). If two first pull rods (3034) are provided on both sides of the arm body (301), a support block (309) may be installed on each side of the slide block (360).

[0064] In some embodiments, a suspension assist mechanism is provided to assist the transport arm (30) on the vehicle body (20) to allow it to suspend away from the ground.

[0065] When transporting an item, the transport arm (30) protrudes below the item along the horizontal direction from the vehicle body (20), lifts the item through the lift mechanism (303), and returns to the vehicle body (20). After the lift mechanism (303) lowers the lifted item to the vehicle body (20), the suspension assist mechanism on the vehicle body (20) causes the transport arm (30) to leave the ground and suspend. In some other embodiments, after the transport arm (30) returns to the vehicle body (20), when the lift mechanism (303) lifts the item, the transport arm (30) leaves the ground and suspends through the suspension assist mechanism.

[0066] After the transport arm (30) returns to the vehicle body (20), the transport arm (30) is suspended away from the ground through a suspension assist mechanism on the vehicle body (20), so that the support wheel (302a) and support wheel (302b) of the transport arm (30) are lifted away from the ground and do not come into contact with the ground. In this way, during the process of the transport device (10) moving, only the vehicle body (20) comes into contact with the ground, and the transport arm (30) is suspended away from the ground, reducing friction with the ground, reducing the driving power of the transport device (10), and making the driving faster.

[0067] In some embodiments, the suspension assist mechanism may be a carrying arm climbing assist mechanism. Specifically, the suspension assist mechanism may include a climbing guide component provided in the vehicle body (20); correspondingly, the carrying arm (30) is provided with a climbing component capable of climbing according to the climbing guide component.

[0068] The climb guide component may be a guide plate, guide block, guide rail, guide wheel, guide rope, etc. The climb component may be a rollable rolling body, or a block body or plate body that is non-rollable and slides according to the climb guide component.

[0069] In order to push or pull the carrying arm (30) to climb along the climb guide part, the carrying device (10) is further equipped with a power device that provides climbing power to the climb part. The power device may include a drive motor, a reduction mechanism connected to the drive motor, and a power transmission mechanism connected to the reduction mechanism, and the power transmission mechanism and the carrying arm (30) are connected to each other. The power transmission mechanism may be a traction rope, a transmission belt, a chain, a pinion, and / or a rack, etc.

[0070] The power unit may be provided in the transport arm (30) and may be provided in the vehicle body (20), and may be provided in the transport arm (30) and the vehicle body (20), respectively.

[0071] In some embodiments, the climb guide component may be provided at the bottom of the vehicle body (20) and may include a guide plate having a predetermined inclination with respect to the ground; and the support wheel of the transport arm (30) may be used as a climb component in addition to the driving and supporting component of the transport arm (30).

[0072] When the support wheel and the guide plate come into contact, the power device provides climbing power (e.g., causing the arm body (301) of the transport arm (30) to move forward through pushing or pulling) so that the support wheel climbs along the guide plate to the car body (20), thereby enabling the support wheel to leave the ground and suspend.

[0073] Referring to FIGS. 5 through 7, in order to improve the climbing efficiency of the transport arm (30), in some embodiments, the climb guide component may include: a first climb guide component (401a) provided at the first end of the vehicle body (20) and a second climb guide component (401b) provided at the second end of the vehicle body (20); correspondingly, the climb component of the transport arm (30) includes: a first climb component (304a) that can be climbed according to the first climb guide component (401a), and a second climb component (304b) that can be climbed according to the second climb guide component (401b).

[0074] The above power device is used to provide climbing power to the first climb part (304a) and / or the second climb part (304b).

[0075] Here, the first climb guide component (401a) and the second climb guide component (401b) may be a guide plate, a guide block, a guide rail, a guide wheel, a guide rope, etc. The first climb component (304a) and the second climb component (304b) may be a rollable rolling body, or a block body or a plate body that is non-rollable and can slide according to the first climb guide component and the second climb guide component, respectively.

[0076] In this embodiment, the first climb part (304a) and the second climb part (304b) on the transport arm (30) are matched with the first climb guide part (401a) and the second climb guide part (401b) of the vehicle body (20), respectively, and can simultaneously perform an upward lifting action on the transport arm (30) at two different positions of the transport arm (30), thereby being advantageous for improving the climbing efficiency of the transport arm (30) and enabling the transport arm (30) to leave the ground and suspend within a short time.

[0077] Referring to FIG. 5, in some embodiments, the first climb guide component (401a) may include a guide plate (402) provided at the first end bottom of the vehicle body (20) and having a preset inclination with respect to the ground.

[0078] Referring to FIG. 6, the first support wheel (302a) can climb along the guide plate (402) as the first climb part (304a).

[0079] A power device is provided on a transport arm (30) and is also connected to a first support wheel (302a); in this embodiment, the power device and the first support wheel (302a) are connected to each other and provide climbing power for the first support wheel (302a). In addition to providing climbing power for the first support wheel (302a), the power device can also provide driving power for the first support wheel (302a) to travel on the ground, and thus, the power device can also be used as a power driving device for the first support wheel (302a), that is, through the power device, climbing power can be provided for the first support wheel (302a) and driving power can be provided for the first support wheel (302a) to travel on the ground. Of course, the embodiments of the present application are not limited thereto, and may be a power device that provides climbing power for the first support wheel (302a) and a drive device that provides driving power for driving the first support wheel (302a) on the ground, or may be two sets of independent power devices.

[0080] Referring to FIG. 5, when the support wheel is not performing a climbing motion, the bottom of the guide plate (402) maintains a constant height from the ground, thereby avoiding affecting the normal driving of the vehicle body (20). A rotation axis (202) may be provided in the vehicle body (20), and the guide plate (402) and the rotation axis (202) are connected to each other, and a torsion spring is installed on the rotation axis (202). When the support wheel (302a) is not performing a climbing motion, the guide plate (402) is inclined downward and maintains a constant height from the ground. When the support wheel (302a) contacts the guide plate (402) and continues to drive, the support wheel (302a) pushes the guide plate (402) to rotate, causing the bottom of the guide plate (402) to contact the ground, thereby providing strong support for the climbing of the support wheel (302a). After the support wheel (302a) climbs onto the car body, the guide plate (402) returns to its initial position under the action of the recovery force of the torsion spring, and the bottom of the guide plate (402) maintains a constant height with respect to the ground.

[0081] Referring to FIG. 7, after the support wheel (302a) climbs onto the vehicle body (20), the rotation axis (202) can be positioned behind the support wheel (302a), thereby preventing the support wheel (302a) from retracting to some extent and preventing the support wheel (302a) of the transport arm (30) from slipping off the vehicle body (20) and coming back to touch the ground due to causes such as the road surface being uneven or the acceleration or deceleration of the vehicle body (20) during the driving process of the vehicle body (20).

[0082] The second climb guide part (401b) may include a rolling body capable of rolling along the longitudinal direction of the arm body (301), such as a roller, a rolling ball, a rolling drum, etc.

[0083] Referring to FIG. 6, the second climb component (304b) is a support block (350) provided on the outside of the arm body (301), and the bottom of the support block (350) has an inclined surface that supports and cooperates with the second climb guide component (401b).

[0084] In some other embodiments, the second climb part (304b) may be a rolling body, such as a roller, rolling ball, or rolling drum, provided on the outside of the arm body (301).

[0085] In some other embodiments, the first climb guide component (401a) may include a first group guide plate provided on both sides of the first end of the transport arm receiving groove (201); the second climb guide component (401b) may include a second group guide plate provided on both sides of the second end of the transport arm receiving groove (201); the first group guide plate and the second group guide plate have guide slopes; the first climb component (304a) of the transport arm (30) is a first group support block provided on both sides of the first end of the arm body (301) of the transport arm (30); the second climb component (304b) of the transport arm (30) is a second group support block provided on both sides of the second end of the arm body (301) of the transport arm (30); and the bottoms of the first group support block and the second group support block have slopes that match the guide slopes of the first group guide plate and the second group guide plate.

[0086] When the first group support block approaches the first group guide plate and at the same time the second group support block approaches the second group guide plate, climbing power is provided for the transport arm (30) through a power device, and by the first group support block climbing along the first group guide plate and the second group support block climbing along the second group guide plate, the support wheel (302a) and support wheel (302b) of the transport arm (30) can be suspended away from the ground.

[0087] Referring to FIGS. 4 and FIGS. 6, in some embodiments, a slide rail (50) may be provided between the carrying arm receiving groove (201) and the carrying arm (30) to make the protruding distance of the carrying arm (30) longer.

[0088] Referring to FIG. 6, a slide rail guide and support structure (203) is provided on the side portion of the transport arm receiving groove (201), and the slide rail guide and support structure (203) cooperates with the slide rail (50) to provide a horizontal guide and a vertical support for the slide rail (50); and the slide rail guide and support structure (203) supports the slide rail (50) to move up and down.

[0089] The slide rail (50) can move laterally (horizontally) with respect to the transport arm receiving groove (201), and the transport arm (30) can move horizontally along the slide rail (50). The slide rail (50) can also be referred to as a secondary rail of the transport arm (30).

[0090] When the transport arm (30) is suspended from the ground using a climbing method, the transport arm (30) moves upward as a whole. In one embodiment, the slide rail (50) may be fixed relative to the upper and lower position of the vehicle body (20), and the transport arm (30) may move up and down relative to the slide rail (50). In another example, the slide rail (50) may move up and down relative to the position of the vehicle body (20), the transport arm (30) may be fixed relative to the position of the slide rail (50), and the transport arm (30) may move up and down relative to the vehicle body (20) together with the slide rail (50).

[0091] Referring to FIG. 6, in some embodiments, a longitudinal guide structure (204) is provided on the side of the transport arm receiving groove (201); the slide rail guide and support structure (203) may include a base and a guide and support connected to the base, and the base and the longitudinal guide structure (204) cooperate to slide up and down or to roll up and down; the guide and support cooperate with the slide rail (50) to provide a transverse guide and a longitudinal guide for the slide rail (50).

[0092] In one example, the vertical guide structure (204) is a vertical guide groove, and the base can move up and down in the vertical guide groove. In another example, the vertical guide structure is a vertical rail, and the base has a slide groove, and the base cooperates to slide between the vertical rails through the slide groove.

[0093] In some embodiments, the suspension auxiliary mechanism may utilize an elevated suspension auxiliary mechanism, specifically, the suspension auxiliary mechanism may include a support provided on the vehicle body (20); wherein the lift mechanism includes a lifting drive mechanism and a lift performing mechanism; the lift performing mechanism and the lifting drive mechanism are connected to each other; the lift performing mechanism may be supported by the support of the vehicle body (20), and after the lift performing mechanism is supported by the support of the vehicle body (20), the lifting drive mechanism drives the lift performing mechanism to continue a contraction motion, thereby lifting the support wheel from the ground.

[0094] In this embodiment, when the transport arm (30) is placed on the vehicle body (20), the lifting drive mechanism drives the lift execution mechanism to perform a contraction operation, and the lift execution mechanism can be supported by the support part of the vehicle body (20), and the lifting drive mechanism drives the lift execution mechanism to continue performing a contraction operation, thereby lifting the support wheel from the ground. In this embodiment, by enabling the operation of the transport arm (30) to leave the ground from its original position and suspend, the structure of the vehicle body (20) is made tighter.

[0095] A support member on the vehicle body (20) may have a support groove provided on the vehicle body (20), and the support groove may not only provide support for the lift execution mechanism, but also provide a position limiting action for the lift mechanism (i.e., the transport arm (30)), thereby preventing the transport arm (30) from shaking back and forth on the vehicle body (20) when the road surface is uneven or during the acceleration or deceleration process of the vehicle body (20).

[0096] The lift execution mechanism may include a retractable lift mechanism and a lifting top plate provided on the top of the retractable lift mechanism; the lifting drive mechanism drives the lift execution mechanism to retract to a preset position, and the lifting top plate is supported by a support portion of the vehicle body (20); and the lifting drive mechanism drives the lift execution mechanism to continuously perform a retracting motion to lift the support wheel (302a) and the support wheel (302b) from the ground.

[0097] The lifting top plate is supported by a support member of the car body (20), and the lifting drive mechanism drives the lift execution mechanism to continuously perform a contraction motion, lifting the support wheel from the ground, and in this way, the lift execution mechanism is placed in a large contraction state so that the overall height size of the lift mechanism is relatively small, so the height of the car body (20) is relatively small, the center of gravity is lower, and the operation is smoother.

[0098] In this embodiment, the lifting drive mechanism drives the lift execution mechanism to contract to a preset position, and the lifting top plate is supported by a support member of the vehicle body (20). In some other embodiments, the lifting drive mechanism drives the lift execution mechanism to contract to a preset position, and the lift execution mechanism may be supported by a support member of the vehicle body (20), for example, by a structure such as a protrusion installed on the side of the lift execution mechanism, which is supported by the support member of the vehicle body (20).

[0099] Referring to FIGS. 8 to 11, in some embodiments, the support member of the vehicle body (20) may include a first support member (206) provided on the first side of the vehicle body (20) and a second support member (207) provided on the second side of the vehicle body (20); both sides of the lifting top plate (308) are provided with a first projection block (306) that supports and cooperates with the first support member (206), and a second projection block (307) that supports and cooperates with the second support member (207); referring to FIGS. 12 and 13, the lifting driving mechanism drives the lift performing mechanism to contract to a preset position, the first projection block (306) is supported by the first support member (206), and the second projection block (307) is supported by the second support member (207); Referring to FIG. 14, the lifting drive mechanism drives the lift execution mechanism to continuously perform a contraction motion, thereby lifting the support wheel (302a) and the support wheel (302b) from the ground.

[0100] To facilitate smoother support for the support arm, the number of the first support part (206) and the second support part (207) of the car body (20) may be two or more, and correspondingly, the number of the first protrusion block (306) and the second protrusion block (307) may also be two or more each.

[0101] The first support member (206) and the second support member (207) may each be a support block or a support groove, and the support groove may provide support to the lift mechanism (303) or provide a position limiting action for the lift mechanism (303) (i.e., the transport arm (30)), thereby preventing the transport arm (30) from shaking back and forth on the vehicle body (20) when the road surface is uneven or during the acceleration or deceleration process of the vehicle body (20).

[0102] In some embodiments, a magnetic component (e.g., a magnet) may be installed on the first support member (206) and / or the second support member (207), and a magnetic attraction component corresponding to the first protrusion block (306) and / or the second protrusion block (307) (e.g., the bottom of the first protrusion block (306) and the second protrusion block (307)) may be installed. A magnetic component installed on the first support member (206) and / or the second support member (207) is magnetically connected to a magnetic component installed on the first protrusion block (306) and / or the second protrusion block (307). In this way, when the first protrusion block (306) and the second protrusion block (307) are supported by the first support member (206) and the second support member (207), automatic alignment between the protrusion block and the support member can be achieved through the magnetic component. Additionally, after the protrusion block and the support member are magnetically connected through the magnetic component, an additional positional limiting action can be performed on the protrusion block (i.e., the transport arm (30)).

[0103] Referring to FIG. 15, an embodiment of the present application further provides a cargo transport method comprising the following steps:

[0104] S100, the vehicle body moves to a preset position near the cargo, and the transport arm protrudes from the vehicle body to the bottom of the cargo.

[0105] Referring to FIG. 16, the car body (20) moves to a preset position near the pallet (100), and the transport arm (30) protrudes from the car body to the bottom of the pallet (100).

[0106] S102, the lift mechanism of the above-mentioned transport arm performs a lift operation to lift the cargo and also returns to a preset position within the vehicle body;

[0107] In some embodiments, during step S102, while the lift mechanism is lifting the cargo from a low position to a high position, the cargo moves in a horizontal direction in which the transport arm returns to the vehicle body.

[0108] In FIG. 17, the lift mechanism lifts the pallet from a low position to a high position; in FIG. 18, the transport arm transports the cargo to the top of the car body.

[0109] S104, the lift mechanism performs a retraction operation to lower the lifted cargo onto the vehicle body.

[0110] FIG. 19 is a schematic diagram of a lift mechanism performing a contraction motion to lower a lifted pallet onto a car body.

[0111] In this embodiment, the transport arm protrudes from the vehicle body to the cargo bottom, and after lifting the cargo through the lift mechanism, during the process in which the lift mechanism lifts the cargo from a low position to a high position, the top part of the lift mechanism (i.e., the cargo being lifted) moves in the horizontal direction in which the transport arm returns to the vehicle body. In other words, when the lift mechanism performs a lift operation, the top part of the lift mechanism (e.g., the top plate) moves along a curved trajectory, and there are two displacement components, a vertical and a horizontal one. The vertical displacement component is the lifting process from a low position to a high position, and the horizontal displacement component moves in the horizontal direction in which the transport arm returns to the vehicle body. In this way, the lifting of the cargo and the transport of the cargo toward the vehicle body can be implemented simultaneously during the lifting process of the lift mechanism, thereby improving the transport efficiency of the transport arm transporting the cargo to the vehicle body.

[0112] Referring to FIG. 4 and FIG. 17, during the process of the lift mechanism lifting the cargo from a low position to a high position, the step of moving the cargo in a horizontal direction in the direction where the transport arm returns to the vehicle body may include: when the lifting drive mechanism drives the lift execution mechanism to perform lifting and stretching operations, the cargo lifted to the top part of the lift execution mechanism moves in a horizontal direction in the direction where the transport arm returns to the vehicle body.

[0113] In some embodiments, the lift performing mechanism comprises a connecting rod mechanism and a pull rod, and the bottom of the connecting rod mechanism is hinged to the arm body; the first end of the pull rod is hinged to the lifting driving mechanism, and the second end is hinged to the connecting rod mechanism. Here, the step of the lifting driving mechanism driving the lift performing mechanism to perform a lifting and stretching motion includes: the lifting driving mechanism pushing the pull rod, and the pull rod pushing the connecting rod mechanism to perform a stretching and lifting motion.

[0114] In one example, the connecting rod mechanism comprises a lifting top plate, a first connecting rod, and a second connecting rod, wherein the bottom of the first connecting rod is hinged to an arm body and hinged to a top part and a lifting top plate, and the bottom of the second connecting rod is hinged to an arm body and hinged to a top part and a lifting top plate; and the lifting top plate, the first connecting rod, the second connecting rod, and the arm body form a parallel four connecting rod mechanism.

[0115] In some embodiments, the lifting drive mechanism may include a lifting drive motor, a power transmission mechanism connected to the lifting drive motor, and a slide block connected to the power transmission mechanism. The step of the lifting drive mechanism pushing the pull rod and the pull rod pushing the connecting rod mechanism to perform a stretching and lifting operation includes: the lifting drive motor driving the slide block through the power transmission mechanism to move it, the slide block pushing the pull rod, and the pull rod pushing the connecting rod mechanism to perform a stretching and lifting operation.

[0116] Here, the step of causing a lifting drive motor to drive a slide block to move through a power transmission mechanism includes: the lifting drive motor to drive a screw rod to rotate it, the screw rod to drive a slide block (nut) on the screw rod to move it through a screw rod-nut pair, the slide block to push the pull rod, and the pull rod to push the connecting rod mechanism to perform stretching and lifting operations.

[0117] In some embodiments, the step of the lift mechanism of the transport arm performing a lift operation to lift the cargo and return to a preset position within the vehicle body includes: the step of the transport arm moving into the vehicle body during the process of the lift mechanism of the transport arm performing a lift operation to lift the cargo.

[0118] In this embodiment, during the process of lifting the cargo by the lift mechanism of the transport arm performing a lift operation, the top part of the lift mechanism (i.e., the cargo being lifted) moves in a horizontal direction in which the transport arm returns to the vehicle body, and at the same time, the transport arm also moves into the vehicle body, thereby improving the transport efficiency of the transport arm in transporting the cargo to the vehicle body.

[0119] Referring to FIG. 21, in some embodiments, after the transport arm returns to a preset position within the vehicle body, the lift mechanism performs a retracting operation to lower the lifted cargo onto the vehicle body, and then step S106, the support wheel of the transport arm may further include the step of suspending the wheel off the ground.

[0120] In this embodiment, after the transport arm returns to a preset position within the vehicle body, the lifted cargo is lowered onto the vehicle body, and the support wheel of the transport arm is suspended away from the ground so as not to come into contact with the ground. In this way, during the process of the transport device moving, only the vehicle body comes into contact with the ground, and the transport arm is suspended away from the ground, thereby reducing friction with the ground and making the driving resistance of the transport device smaller, thus making the driving faster.

[0121] In some embodiments, the step of moving the vehicle body to a preset position near the cargo and the carrying arm protruding from the vehicle body to the cargo bottom (S100) includes: moving the vehicle body to a preset position near the cargo, and after the support wheel of the carrying arm is lowered from a suspended state to touch the ground, the carrying arm protrudes from the vehicle body to the cargo bottom.

[0122] In this embodiment, during the process of the vehicle body transporting cargo, the support wheel of the transport arm is in a suspended state; when the vehicle body moves to a preset position near the cargo, the support wheel of the transport arm is lowered from the suspended state to touch the ground, and then the transport arm protrudes from the vehicle body to the bottom of the cargo.

[0123] In some embodiments, the step of lowering the support wheel of the transport arm from a suspended state to the ground includes: driving the transport arm to drive the mechanism operation so that the support wheel of the transport arm travels a predetermined distance in a predetermined direction from the vehicle body and then lowers it to the ground.

[0124] In this embodiment, the process of the support wheel of the transport arm traveling a predetermined distance in a predetermined direction from the vehicle body and then lowering to the ground is the opposite of the process of the support wheel of the transport arm climbing toward the vehicle body in the embodiment of the transport device.

[0125] In some embodiments, the step of lowering the support wheel of the transport arm from a suspended state to the ground includes: the lift mechanism being in a retracted state, and the lift mechanism being supported by the car body, and the support wheel of the transport arm being in a suspended state; and the lift mechanism performing a lift operation to lower the support wheel of the transport arm to the ground.

[0126] In some embodiments, the step of the support wheel of the transport arm leaving the ground and suspending includes: the transport arm continuing to travel within the vehicle body, climbing into the vehicle body, and the support wheel of the transport arm leaving the ground and suspending.

[0127] Among other embodiments, the step of suspending the support wheel of the transport arm away from the ground includes: the step of the lift mechanism continuing to contract until supported by the car body, and the step of the lift mechanism further contracting to lift the support wheel from the ground.

[0128] In some embodiments, the step of the transport arm continuing to travel within the vehicle body, climbing toward the vehicle body, and the support wheel of the transport arm leaving the ground and suspending includes: the step of the transport arm continuing to travel within the vehicle body, with the support wheel of the first end of the transport arm climbing toward the first climb guide part of the first end of the vehicle body, while the climb part of the second end of the transport arm climbing upward toward the second climb guide part of the second end of the vehicle body.

[0129] In some embodiments, the step of the support wheel of the first end of the transport arm climbing along the first guide part of the first end of the car body includes: the step of the support wheel of the first end of the transport arm climbing along the guide plate having a predetermined inclination with respect to the ground of the bottom of the first end of the car body; and the step of the climbing part of the second end of the transport arm climbing upward along the second climbing guide part of the second end of the car body includes: the step of the climbing guide surface of the bottom of the support block of the second end of the transport arm climbing upward along the rolling body of the second end of the car body.

[0130] In this embodiment, there are two opposing operation processes: the process of lowering the support wheel of the transport arm to touch the ground and the process of suspending it away from the ground.

[0131] Referring to FIG. 21, after the support wheel of the transport arm leaves the ground and suspends, the transport method further includes step S108, the step of the vehicle body driving to transport the cargo to the destination.

[0132] The cargo transport method of this embodiment can be applied to the cargo transport device embodiment described above, and the method of implementation and the beneficial effects that can be produced are almost the same and are not described further here.

[0133] It should be noted that in this specification, relational terms such as “first” and “second” are used to distinguish one entity or operation from another entity or operation and do not necessarily require or imply an actual relationship or order between such entities or operations. The terms “include,” “comprehensively,” or other variations thereof are intended to imply that a process, method, article, or apparatus comprising a series of elements may include not only said elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase “...comprising” does not exclude the existence of the same element additionally present in the process, method, article, or apparatus comprising said element.

[0134] The various embodiments of this specification are described in a progressive manner, and parts similar to one another may be referenced. The description of each embodiment differs from other embodiments.

[0135] In particular, regarding the device embodiments, since they are basically similar to the method embodiments, the description is simplified and corresponding parts of the description of the method embodiments may be referenced.

[0136] The foregoing describes specific embodiments of the present invention, and the scope of protection of the present invention is not limited thereto. Any modifications or substitutions readily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Accordingly, the scope of protection of the present invention is based on the scope of protection of the claims.

Claims

Claim 1 A carrying device comprising a vehicle body and a carrying arm, wherein the carrying arm is provided within the vehicle body; the carrying arm comprises an arm body, wherein a support wheel and a lift mechanism are provided on the arm body; wherein the carrying arm can protrude in a horizontal direction from the vehicle body to lift a cargo through the lift mechanism and return to the vehicle body, and wherein the vehicle body is provided with a suspension auxiliary mechanism that assists the carrying arm in suspending it from the ground, and wherein the suspension auxiliary mechanism comprises a climb guide component provided in the vehicle body; wherein the carrying arm comprises a climb component capable of climbing along the climb guide component; and / or wherein the suspension auxiliary mechanism comprises a support member provided in the vehicle body; wherein the lift mechanism comprises a lifting drive mechanism and a lift execution mechanism; and wherein the lift execution mechanism is interconnected with the lifting drive mechanism; A transport device characterized in that the lift performing mechanism is supported by the support member on the vehicle body, and the lifting driving mechanism drives the lift performing mechanism to continuously perform a contraction operation and lifts the support wheel from the ground. Claim 2 A transport device according to claim 1, wherein, during the process of the lift mechanism being lifted from a low position to a high position, the upper part of the lift mechanism moves in a horizontal direction in the direction in which the transport arm returns to the vehicle body; the lift mechanism includes a lifting drive mechanism and a foldable lift actuation mechanism; the lift actuation mechanism is connected to the lifting drive mechanism; when the lifting drive mechanism drives the lift actuation mechanism to perform a contraction operation, the lift actuation mechanism folds and contracts from a direction protruding from the vehicle body along the horizontal direction toward the transport arm; and when the lifting drive mechanism drives the lift actuation mechanism to perform a lifting and stretching operation, the upper part of the lift actuation mechanism moves in a horizontal direction in the direction in which the transport arm returns to the vehicle body. Claim 3 A conveying device according to claim 2, wherein the lift performing mechanism comprises a connecting rod mechanism and a pull rod; the bottom of the connecting rod mechanism is hinged to the arm body; the first end of the pull rod is hinged to the lifting driving mechanism and the second end is hinged to the connecting rod mechanism; the lifting driving mechanism pulls the pull rod, and the pull rod pulls the connecting rod mechanism to perform a contraction operation; and the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform a stretching and lifting operation. Claim 4 In paragraph 3, the pull rod comprises a first pull rod and a second pull rod, wherein the first end of the first pull rod is hinged to the lifting drive mechanism, the second end is hinged to the first end of the second pull rod, and the second end of the second pull rod is hinged to the connecting rod mechanism; a first limiting block is provided at the second end of the first pull rod, and a second limiting block is provided at the first end of the second pull rod; and the first pull rod and the second pull rod push the connecting rod mechanism from a maximum retracted state to a preset height, after which the first limiting block and the second limiting block oppose each other; the lifting drive mechanism comprises a lifting drive motor, a power transmission mechanism connected to the lifting drive motor, and a slide block connected to the power transmission mechanism. A conveying device characterized in that the slide block is provided in the arm body and hinge-connected to the first end of the pull rod; the lifting drive motor drives the slide block through the power transmission mechanism to move back and forth along the longitudinal direction of the arm body; the power transmission mechanism includes a screw rod, and the slide block includes a nut, wherein the nut is threaded to the screw rod to form a screw rod-nut pair. Claim 5 A transport device according to claim 1, characterized in that at least one of the transport arm and the vehicle body comprises a power device that provides climbing power to the climbing part. Claim 6 A transport device according to claim 1, wherein the climb guide component is provided on the bottom of the vehicle body and includes a guide plate having a predetermined inclination with respect to the ground; and wherein the climb component of the transport arm is the support wheel. Claim 7 A transport device according to claim 5, wherein the climb guide component comprises a first climb guide component provided at the first end of the vehicle body and a second climb guide component provided at the second end of the vehicle body; the climb component of the transport arm comprises a first climb component capable of climbing according to the first climb guide component and a second climb component capable of climbing according to the second climb guide component; and the power device is used to provide climbing power to at least one of the first climb component and the second climb component. Claim 8 A transport device according to claim 7, wherein the first climb guide component is provided on the bottom of the vehicle body and includes a guide plate having a predetermined inclination with respect to the ground; the support wheel includes a first support wheel and a second support wheel installed spaced apart along the longitudinal direction of the arm body; the power device is provided on the transport arm and connected to the first support wheel; the first climb component is the first support wheel; and the first support wheel climbs according to the first climb guide component while the second climb component climbs according to the second climb guide component, thereby causing the first support wheel and the second support wheel to be lifted from the ground. Claim 9 A conveying device according to claim 7, wherein the second climb guide component comprises a rolling body capable of rolling along the longitudinal direction of the arm body; and the second climb component is a support block provided on the outer side of the arm body, and the bottom of the support block has an inclined surface that supports and cooperates with the second climb guide component. Claim 10 A transport device according to claim 1, wherein the lift performing mechanism comprises an extendable lift mechanism and a lifting top plate provided at the top of the extendable lift mechanism; the lifting driving mechanism drives the lift performing mechanism to contract to a preset position, and the lifting top plate is supported by the support member on the vehicle body; and the lifting driving mechanism drives the lift performing mechanism to continuously contract and lift the support wheel from the ground. Claim 11 In claim 10, the support member comprises a first support member provided on the first side of the vehicle body and a second support member provided on the second side of the vehicle body; on both sides of the lifting top plate, a first projection block that supports and cooperates with the first support member and a second projection block that supports and cooperates with the second support member are provided; the lifting driving mechanism drives the lift performing mechanism to contract to a preset position, the first projection block is supported by the first support member, the second projection block is supported by the second support member, the lifting driving mechanism drives the lift performing mechanism to continuously perform a contraction operation, and the support wheel is lifted from the ground, characterized by a conveying device. Claim 12 A transport device according to claim 1, wherein the vehicle body is provided with a transport arm receiving groove extending along the horizontal direction, and the transport arm is provided in the transport arm receiving groove; a slide rail is provided between the transport arm receiving groove and the transport arm; a slide rail guide and support structure is provided on the side of the transport arm receiving groove, and the slide rail guide and support structure cooperates with the slide rail to provide a horizontal guide and a vertical support for the slide rail; and the slide rail guide and support structure supports the slide rail to enable it to move up and down. Claim 13 A conveying device according to claim 12, wherein a longitudinal guide structure is provided on the side of the conveying arm receiving groove; the slide rail guide and support structure includes a base and a guide and support connected to the base, wherein the base cooperates with the longitudinal guide structure in an up-and-down sliding manner or in an up-and-down rolling manner; and the guide and support cooperate with the slide rail to provide a transverse guide and a longitudinal support for the slide rail. Claim 14 A method for transporting cargo comprises the steps of: moving a vehicle body to a predetermined position of cargo and a transport arm protruding from the vehicle body to the bottom of the cargo; a step in which a lift mechanism of the transport arm performs a lift operation to lift the cargo and return it to a predetermined position within the vehicle body; a step in which the lift mechanism performs a retract operation to lower the lifted cargo onto the vehicle body; and a step in which, after the lift mechanism lowers the lifted cargo onto the vehicle body, a suspension auxiliary mechanism suspends the transport arm from the ground, wherein the vehicle body is provided with a suspension auxiliary mechanism to assist the transport arm in suspending it from the ground, and the transport arm includes an arm body provided with a support wheel and a lift mechanism, and the suspension auxiliary mechanism includes a climb guide component provided on the vehicle body; the transport arm includes a climb component capable of climbing according to the climb guide component; and / or the suspension auxiliary mechanism includes a support member provided on the vehicle body; A cargo transport method characterized in that the lift mechanism comprises a lifting drive mechanism and a lift execution mechanism; the lift execution mechanism is connected to the lifting drive mechanism; the lift execution mechanism is supported by the support member on the vehicle body, and the lifting drive mechanism drives the lift execution mechanism to continuously perform a contraction operation and lift the support wheel from the ground. 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