Carrying accessory and carrying apparatus

Abstract

A carrying accessory and a carrying apparatus, relating to the technical field of carrying apparatuses. The carrying accessory comprises an adjusting mechanism (20) for arranging on a mounting foundation, and a fork body (10) for placing materials. The adjusting mechanism is connected to the fork body so as to adjust the posture of the fork body. The present solution has the advantage of accurate plane full-degree-of-freedom adjustment, and provides a basis for high-precision alignment.

Description

Transport accessories and transport equipment Technical Field

[0001] The present application relates to the technical field of transport devices, and in particular to a transport attachment and a transport device. Background Art

[0002] An Automated Guided Vehicle (AGV) is a transport vehicle equipped with an automatic guidance device such as an electromagnetic or optical device, which can travel along a prescribed guide path and has safety protection and various transfer functions. AGVs are of lurking, traction, dump, lifting, forklift, etc., and can be equipped with different attachments to work according to different working conditions. Among them, forklift or stacking AGVs have a liftable fork frame or gantry. The attachments currently developed for this type of AGV are mostly made for the purpose of forking special goods (making special shapes), adjusting the position of goods (tilting, sideways shifting, redirecting), and realizing mechanism movements (clamping, lifting, adjusting). Since the docking accuracy of existing AGV attachments is consistent with the walking accuracy of the AGV itself, it is difficult to meet certain application scenarios with high-precision docking requirements.

[0003] Summary of the Invention

[0004] The present application aims to solve one of the technical problems in the related art to a certain extent. To this end, the present application provides a handling attachment and a handling device in the first aspect, which has the advantage of precise adjustment of the full degree of freedom of the plane, providing a basis for high-precision docking.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions.

[0006] A transport attachment used on a transport device, characterized in that the transport attachment includes an adjustment mechanism for being set on a mounting base and a fork body for placing materials, and the adjustment mechanism is connected to the fork body to adjust the posture of the fork body.

[0007] Optionally, the adjustment mechanism includes a plurality of sub-adjustment mechanisms, and the plurality of sub-adjustment mechanisms are respectively used to adjust the postures of the fork body in different directions.

[0008] Optionally, the multiple sub-adjustment mechanisms include a first sub-adjustment mechanism, a second sub-adjustment mechanism and a third sub-adjustment mechanism; the first sub-adjustment mechanism is used to adjust the displacement in the x-axis direction, the second sub-adjustment mechanism is used to adjust the displacement in the y-axis direction, and the third sub-adjustment mechanism is used to adjust the rotation angle on the xy plane.

[0009] Optionally, the third sub-adjustment mechanism is arranged on the mounting base, and the second sub-adjustment mechanism is stacked on the third sub-adjustment mechanism so as to rotate in the xy plane under the drive of the third sub-adjustment mechanism; the first sub-adjustment mechanism is stacked on the second sub-adjustment mechanism so as to move along the y-axis under the drive of the second sub-adjustment mechanism; the fork body is connected to the first sub-adjustment mechanism so as to move along the x-axis under the drive of the first sub-adjustment mechanism.

[0010] Optionally, the third sub-adjustment mechanism includes a base, a turntable rotatably mounted outside the base, and a third motor for driving the turntable to rotate; the turntable is connected to the second sub-adjustment mechanism.

[0011] Optionally, a gear ring is provided outside the turntable; the third motor is fixed to the base, and a gear meshing with the gear ring is provided on the output shaft of the third motor, and the number of teeth of the gear is smaller than the number of teeth of the gear ring.

[0012] Optionally, a positioning portion is provided on the end face of one side of the base, and an axial contact bearing is provided on the end face of the other side of the base; the axial contact bearing has two rotating bodies arranged opposite to each other in the axial direction of the bearing; one of the rotating bodies is fixed to the end face of the base, and one of the rotating bodies is connected to the second sub-adjustment mechanism.

[0013] Optionally, the second sub-adjustment mechanism includes a second support plate, a second guide rail assembly, a second screw transmission assembly, and a second motor for driving the second screw transmission assembly; the second support plate is arranged on the third sub-adjustment mechanism; the second guide rail assembly is arranged between the second support plate and the first sub-adjustment mechanism to support the movement of the first sub-adjustment mechanism; the second motor is fixed on the second support plate and drives the first sub-adjustment mechanism to move through the second screw transmission assembly.

[0014] Optionally, the first sub-adjustment mechanism includes a first support plate, a first guide rail assembly, a first screw transmission assembly, and a first motor for driving the first screw transmission assembly; the first support plate is arranged on the second sub-adjustment mechanism; the first guide rail assembly is arranged between the first support plate and the fork body to support the fork body; the first motor is fixed on the first support plate and drives the fork body to move through the first screw transmission assembly.

[0015] Optionally, it further includes a position sensor that is arranged on the handling device and is used to detect the material orientation or docking position.

[0016] In addition, the present application also provides a transport device in the second aspect, including a vehicle body and the transport accessories as described in the first aspect, the vehicle body has an installation base, the transport accessories are detachably installed on the installation base, and the installation base is a fork frame or a gantry.

[0017] These features and advantages of this application will be disclosed in detail in the following detailed description and accompanying drawings. The best embodiments or means of this application will be fully illustrated in conjunction with the accompanying drawings, but this does not limit the technical solutions of this application. Furthermore, although there may be multiple features, elements, and components in each of the following text and accompanying drawings, different symbols or numbers may be used for convenience, but all represent components with the same or similar structure or function. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present application will be further described below with reference to the accompanying drawings:

[0019] FIG1 is a schematic structural diagram of the transport device in this embodiment, showing the transport attachments arranged on the fork frame.

[0020] FIG2 is an exploded view of the adjustment mechanism on the transport device in this embodiment.

[0021] FIG3 is an exploded view of the adjustment mechanism in this embodiment.

[0022] FIG4 is a schematic diagram of the docking state of the transport device and the docking machine in this embodiment.

[0023] FIG5 is an enlarged view of point A in this embodiment.

[0024] Description of reference numerals:

[0025] 1. Handling device;

[0026] 10. Fork body; 100. Support body; 120. Cantilever; 130. Fork arm; 140. Reinforced connection part;

[0027] 20. Adjustment mechanism; 210. First sub-adjustment mechanism; 211. First support plate; 212. First guide rail assembly; 213. First screw transmission assembly; 214. First motor; 220. Second sub-adjustment mechanism; 221. Second support plate; 222. Second guide rail assembly; 223. Second screw transmission assembly; 224. Second motor; 230. Third sub-adjustment mechanism; 231. Base; 232. Turntable; 233. Third motor; 234. Axial contact bearing;

[0028] 30. Vehicle body; 31. Fork carriage; 32. Position sensor; 321. Cargo code camera;

[0029] 40. Docking machine; 41. Machine reference code; 42. Ground code;

[0030] 50. Goods; 51. Cargo code. DETAILED DESCRIPTION

[0031] The following describes an embodiment of the present application in detail, and examples of the embodiment are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to be used to explain the present application and should not be construed as limiting the present application.

[0032] References throughout this application to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0033] Examples are as follows.

[0034] As shown in Figure 1, a handling device 1 includes a vehicle body 30 and handling accessories. The vehicle body 30 is provided with a mounting base, and the handling accessories are removably mounted on the mounting base. Depending on the type of handling device 1, the mounting base is either a forklift 31 or a gantry. For example, if the handling device 1 is a forklift-type AGV, the mounting base is the forklift 31; for another example, if the handling device 1 is a stacking AGV, the mounting base is a gantry. The specific configuration can be flexibly adjusted.

[0035] The handling attachment includes an adjustment mechanism 20 for being set on a mounting base and a fork body 10 for placing materials, and the adjustment mechanism 20 is connected to the fork body 10 to adjust the posture of the fork body 10. The posture here refers to the direction and position of the fork body 10. The adjustment mechanism 20 can adjust the displacement of the fork body 10 in a certain direction, or adjust the rotation angle of the fork body 10 on a plane perpendicular to the direction. As shown in Figures 2 and 3, the adjustment mechanism 20 may include a plurality of sub-adjustment mechanisms, which are respectively used to adjust the posture of the fork body 10 in different directions. For example, the plurality of sub-adjustment mechanisms may include a first sub-adjustment mechanism 210, a second sub-adjustment mechanism 220, and a third sub-adjustment mechanism 230. Each sub-adjustment mechanism corresponds to one degree of freedom adjustment, and the adjustable degrees of freedom corresponding to the three sub-adjustment mechanisms are completely different.

[0036] In terms of the spatial rectangular coordinate system in the figure, the three sub-adjustment mechanisms can be used to adjust the displacement of the fork body 10 on the x-axis and y-axis on the horizontal plane, and the rotation around the z-axis (or the rotation angle on the xy plane).

[0037] Specifically, the first sub-adjustment mechanism 210 is used to adjust displacement in the x-axis direction, the second sub-adjustment mechanism 220 is used to adjust displacement in the y-axis direction, and the third sub-adjustment mechanism 230 is used to adjust the rotation angle in the xy plane. The three sub-adjustment mechanisms 210, 220, and 230 are stacked together, allowing the adjustment mechanism 20 to achieve full-degree-of-freedom adjustment in the (xy) plane.

[0038] It should be noted that the planar full-degree-of-freedom adjustment of the adjustment mechanism 20 is independent of the arrangement order of the three sub-adjustment mechanisms 210, 220, and 230. Those skilled in the art can flexibly adjust the arrangement order of the three sub-adjustment mechanisms 210, 220, and 230 as needed, and no restrictions are imposed here.

[0039] This embodiment is described using as an example a stacked arrangement of the third sub-adjustment mechanism 230, the second sub-adjustment mechanism 220, and the first sub-adjustment mechanism 210 on the fork frame 31. The third sub-adjustment mechanism 230 is disposed on the fork frame 31, and the second sub-adjustment mechanism 220 is stacked on the third sub-adjustment mechanism 230, so as to rotate within the xy plane under the influence of the third sub-adjustment mechanism 230. The first sub-adjustment mechanism 210 is stacked on the second sub-adjustment mechanism 220, so as to move along the y-axis under the influence of the second sub-adjustment mechanism 220. The fork body 10 is connected to the first sub-adjustment mechanism 210, so as to move along the x-axis under the influence of the first sub-adjustment mechanism 210.

[0040] As shown in FIG3 , the third sub-adjustment mechanism 230 includes a base 231 , a turntable 232 rotatably mounted outside the base 231 , and a third motor 233 for driving the turntable 232 to rotate. The turntable 232 is connected to the second sub-adjustment mechanism 220 .

[0041] A ring gear is provided outside the turntable 232, and the third motor 233 is fixed to the base 231. The output shaft of the third motor 233 is provided with a gear that meshes with the ring gear on the turntable 232 for transmission. The number of teeth of the gear is smaller than the number of teeth of the ring gear, so that the motor 233 can drive the turntable 232 to rotate with a smaller output, thereby driving the second sub-adjustment mechanism 220 through the turntable 232, and then driving the first sub-adjustment mechanism 210, ultimately achieving the purpose of adjusting the rotation angle of the fork body 10 on the XY plane.

[0042] The base 231 has a positioning portion on its lower end surface, which is a concave-convex structure. Correspondingly, the fork frame 31 also has another positioning portion that matches this positioning portion. For example, in Figure 2, the positioning portion on the fork frame 31 is illustrated as a circular protrusion, while the positioning portion on the lower end surface of the base 231 is a groove that matches the outer diameter of the circular protrusion.

[0043] An axial contact bearing 234 is provided on the other end face of the base 231. This bearing 234 comprises two rotating bodies, designated as a first rotating body and a second rotating body, arranged axially opposite each other. The first rotating body is fixed to the end face of the base 231, while the second rotating body is connected to the second sub-adjustment mechanism 220. The axial contact bearing 234 effectively supports the second sub-adjustment mechanism 220 and the upper mechanism, and effectively reduces resistance when the second sub-adjustment mechanism 220 rotates on the base 231.

[0044] As shown in FIG3 , the second sub-adjustment mechanism 220 includes a second support plate 221, a second guide rail assembly 222, a second screw transmission assembly 223, and a second motor 224 for driving the second screw transmission assembly 223. The first sub-adjustment mechanism 210 includes a first support plate 211, a first guide rail assembly 212, a first screw transmission assembly 213, and a first motor 214 for driving the first screw transmission assembly 213.

[0045] The second support plate 221 is disposed above the third sub-adjustment mechanism 230. Specifically, the bottom of the second support plate 221 contacts the second rotating element located above the axial contact bearing 234, and is effectively supported by the base 231 through the axial contact bearing 234. Furthermore, a rotating disk 232 located outside the axial contact bearing 234 is fixed to the bottom of the second support plate 221, so that rotation of the rotating disk 232 drives the second support plate 221 to rotate with it.

[0046] The second guide rail assembly 222 is disposed between the second support plate 221 and the first support plate 211 to support the movement of the first sub-adjustment mechanism 210. Specifically, the second guide rail assembly 222 includes a guide rail and a slide. The guide rail is arranged on the surface of the second support plate 221 along the y-axis direction. The slide is slidable on the guide rail. The slide is connected to the bottom of the first support plate 211 so that the first support plate 211 can move linearly along the y-axis following the slide.

[0047] Two second guide rail assemblies 222 are provided, and the two second guide rail assemblies 222 are arranged parallel to each other. The second screw drive assembly 223 is arranged between the two second guide rail assemblies 222. The second screw drive assembly 223 can be a ball screw drive assembly or a roller screw drive assembly. Compared to a ball screw drive assembly, a roller screw drive assembly has higher movement accuracy. Those skilled in the art can make flexible choices based on the accuracy requirements, and this is not limited here.

[0048] The second screw drive assembly 223 may include a bearing seat, a screw and a nut block. The two ends of the screw are fixed to the second support plate 221 through the bearing seat, and the screw can rotate freely. The nut block is sleeved on the screw and connected to the bottom of the first support plate 211. The second motor 224 is fixed to the second support plate 221 and is coaxial with the screw. When the second motor 224 rotates forward or reverse, it can drive the screw to rotate, and the rotation of the screw will be converted into a linear displacement of the nut block on the screw along the axial direction of the screw, thereby further driving the displacement of the first support plate 211 in the y-axis direction. Here, the axial direction of the screw is in the same direction as the y-axis.

[0049] The first guide rail assembly 212 is disposed between the first support plate 211 and the fork body 10 to support the fork body 10. The specific configuration of the first guide rail assembly 212 can be referenced with the second guide rail assembly 222 and will not be described in detail here. The difference between the two is that the first guide rail assembly 212 is disposed along the x-axis, which is perpendicular to the y-axis of the second guide rail assembly 222. The slide in the first guide rail assembly 212 is fixed to the fork body 10.

[0050] Similarly, the configuration of the first screw drive assembly 213 can be similar to that of the second screw drive assembly 223, with the difference being that the first screw drive assembly 213 is configured along the x-axis, which is perpendicular to the y-axis configuration of the second screw drive assembly 223. The nut block in the first screw drive assembly 213 is fixed to the fork body 10, and the first motor 214 is fixed to the first support plate 211. The first motor 214 and the first screw drive assembly 213 are connected via a belt drive. In other embodiments, the connection may also be via a gear drive, coupling, or other transmission method. When the first motor 214 rotates forward or reverse, it ultimately drives the fork body 10 to move in the x-axis direction.

[0051] In one embodiment, the upper end of the fork body 10 is connected to the adjustment mechanism 20, and the lower end of the fork body 10 extends downwardly below the fork frame 31. Specifically, as shown in Figure 2, the fork body 10 includes a support body 100, a cantilever 120, and a fork arm 130. The bottom of the support body 100 is fixed to the slide in the first guide rail assembly 212 and also to the nut block in the first screw drive assembly 213.

[0052] The cantilever 120 and the multiple sub-adjustment mechanisms are located below the support body 100. The cantilever 120 is vertically arranged, and multiple cantilever arms 120 can be provided and distributed along the bottom edge of the support body 100. The upper ends of the cantilever arms 120 are connected to the bottom of the support body 100. The support body 100 has sufficient length and width to ensure that when it is displaced or rotated by the first sub-adjustment mechanism 210, the second sub-adjustment mechanism 220, or the third sub-adjustment mechanism 230, there is sufficient spacing between the cantilever arms 120 to prevent them from accidentally contacting the fork carriage 31 of the handling device 1.

[0053] Two fork arms 130 are provided, arranged in parallel and at the same height. One end of the fork arm 130 is connected to the lower end of the cantilever 120, while the other end is free. To increase strength, the same fork arm 130 can be connected to multiple cantilever arms 120. However, the free end of the fork arm 130 must be long enough to accommodate material. Sufficient space is provided between the fork arm 130 and the fork frame 31, as well as between the two fork arms 130, to accommodate material and prevent it from accidentally hitting the fork frame 31 during adjustment of the fork arm 130.

[0054] To allow heavy objects to be placed on the fork arm 130, reinforcing ribs or reinforcing connectors may be provided between the support body 100 and the cantilever 120 and / or between the cantilever 120 and the fork arm 130. The reinforcing connectors are arranged at an angle, with one end connected to the cantilever 120 and the other end connected to the fork arm 130 or the support body 100, forming a triangular structure to enhance stability.

[0055] It should be noted that this illustrates only one embodiment of the fork arm 130. Those skilled in the art may adapt the structure to suit different materials, and this is not intended to be limiting. Furthermore, materials herein include, but are not limited to, cargo, and may also include specialized equipment for securing cargo.

[0056] It should be noted that the handling device, or AGV, typically utilizes a programmable logic controller (PLC) to connect various sensors and actuators on the machine. The handling attachment in this embodiment serves as an accessory to the handling device and can be removably installed on the handling device as needed. The actuators in the adjustment mechanism 20 are directly electrically connected to the handling device's PLC, allowing the PLC to control the operation.

[0057] The adjustment parameters (i.e., displacement distance and rotation angle) of the material through the adjustment mechanism 20 can be directly obtained using the existing sensors on the handling device. If the existing handling device lacks the corresponding sensor, the handling accessories in some embodiments also include a position sensor 32 (see Figure 1) for being set at the bottom of the handling device, for example, a position sensor is set on the bottom fork of a forklift-type AGV. In one embodiment, the position sensor 32 can be set on the crossbeam between the bottom forks to detect the orientation or docking position of the material, so that the adjustment mechanism 20 adjusts the position of the material according to the detection value of the position sensor 32. Here, the bottom fork refers to, for example, the rigid support component of the chassis of a forklift.

[0058] The position sensor 32 includes but is not limited to a code reading camera, a laser sensor, and the like.

[0059] As shown in Figures 4 and 5, for example, two code-reading cameras are installed in the middle of the crossbeam between the bottom forks: a cargo code camera 321 and a ground code camera. The code-reading cameras can be located directly below the fork body 10 (or the material on the fork body), with the cargo code camera 321 and the ground code camera facing each other. The cargo code camera 321 faces upward to read the cargo code 51 or the machine reference code 41 affixed to the bottom of the material. The cargo code 51 is affixed to the bottom surface of the material (i.e., the cargo 50), and the machine reference code 41 is affixed to the bottom of the docking station 40. Both the machine reference code 41 and the cargo code 51 are within the field of view of the cargo code camera 321. The ground code camera faces downward to read the ground code 42, which is affixed to the ground on the forklift-entry side of the docking station 40.

[0060] In this embodiment, high-precision docking is achieved by placing the cargo 50 on the designated position of the docking machine 40 via four positioning pins. With all mechanisms in the forklift attachment in their original positions, the following two solutions can be used for the cargo pick-up and delivery process.

[0061] Solution 1: The forklift enters the storage location to pick up the goods, and uses the ground code camera to identify the position of the ground code 42 to confirm the pickup location. The so-called storage location refers to the docking area where the AGV picks up and puts goods. The forklift fork frame 31 is lifted, driving the handling accessories to pick up the goods through the fork arm 130. Then, in the subsequent delivery process, the forklift's own walking accuracy may be difficult to meet the docking accuracy requirements, so it is necessary to use the adjustment mechanism 20 to achieve it. The ground code camera is still used to identify the ground code 42. When the forklift enters the storage location, the relative position of the ground code camera coordinates and the ground code 42 must be fed back. At the same time, the cargo code camera 321 starts to scan the cargo code 51, and feeds back the relative position of the cargo code camera 321 coordinates and the cargo code 51. Based on the relative positions of the ground-mount camera coordinates and the ground-mount 42, and the relative positions of the cargo-mount camera 321 coordinates and the cargo-mount 51 coordinates, the forklift's control device (e.g., a PLC) calculates the position difference between the cargo-mount 51 and the ground-mount 42 coordinates. This position difference is converted into motion displacement parameters or rotation angle parameters of the adjustment mechanism 20. The corresponding parameters are then transmitted to the three sub-adjustment mechanisms. The corresponding actuators (motors) of the three sub-adjustment mechanisms are then actuated to adjust the x, y, and θ (rotation angles on the xy plane) coordinates of the cargo 50, so that the cargo-mount 51 and the ground-mount 42 coordinates are aligned. In this way, the cargo 50 can be docked within the required accuracy, and its position can be reconfirmed by the cargo-mount camera 321. Accordingly, after confirming the correct position, the forklift's control device controls the fork arm 130 to lower the cargo 50, and the forklift withdraws from the storage area, thus completing the docking and placement process of the complete cargo 50.

[0062] Solution 2: Do not install a ground code camera or affix ground code 42; only use the cargo code camera 321. Specifically, during the pickup and delivery process, the machine reference code 41 is scanned instead of the ground code camera. The forklift's approach position is identified based on the machine reference code 41. The relative position difference between the machine reference code 41 and the cargo code 51 is compared to adjust the position of the cargo 50, similarly ensuring that the cargo 50 is within the required docking accuracy.

[0063] As to which of the above solutions to use, those skilled in the art can flexibly select according to the circumstances without limitation.

[0064] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present application are included within the scope of the claims.

Claims

1. A transport attachment, used on a transport device, characterized in that: The transport attachment comprises an adjustment mechanism for being arranged on a mounting base and a fork body for placing materials, and The adjustment mechanism is connected to the fork body to adjust the posture of the fork body.

2. The transport attachment according to claim 1, characterized in that: The adjustment mechanism includes a plurality of sub-adjustment mechanisms, and the plurality of sub-adjustment mechanisms are respectively used to adjust the postures of the fork body in different directions.

3. The transport attachment according to claim 2, characterized in that: The plurality of sub-adjustment mechanisms include a first sub-adjustment mechanism, a second sub-adjustment mechanism and a third sub-adjustment mechanism; The first sub-adjustment mechanism is used to adjust the displacement of the fork body in the x-axis direction. The second sub-adjustment mechanism is used to adjust the displacement of the fork body in the y-axis direction. The third sub-adjustment mechanism is used to adjust the rotation angle of the fork body on the xy plane.

4. The transport attachment according to claim 3, characterized in that: The third sub-adjustment mechanism is arranged on the mounting base, The second sub-adjustment mechanism is stacked on the third sub-adjustment mechanism so as to rotate in the xy plane driven by the third sub-adjustment mechanism; The first sub-adjustment mechanism is stacked on the second sub-adjustment mechanism so as to move along the y-axis driven by the second sub-adjustment mechanism; The fork body is connected to the first sub-adjusting mechanism so as to move along the x-axis under the drive of the first sub-adjusting mechanism.

5. The transport attachment according to claim 4, characterized in that: The third sub-adjustment mechanism includes a base, a turntable rotatably mounted outside the base, and a third motor for driving the turntable to rotate; The rotating disk is connected to the second sub-adjusting mechanism.

6. The transport attachment according to claim 5, characterized in that: A gear ring is provided outside the rotating disk; The third motor is fixed to the base. The output shaft of the third motor is provided with a gear meshing with the gear ring on the rotating disk, and the number of teeth of the gear is smaller than the number of teeth of the gear ring.

7. The transport attachment according to claim 5, characterized in that: A positioning portion is provided on the end surface of one side of the base, and an axial contact bearing is provided on the end surface of the other side of the base; The axial contact bearing comprises a first rotating body and a second rotating body which are arranged opposite to each other in the axial direction of the axial contact bearing. The first rotating body is fixed to the end surface of the base, and the second rotating body is connected to the second sub-adjustment mechanism.

8. The transport attachment according to claim 4, characterized in that: The second sub-adjustment mechanism includes a second support plate, a second guide rail assembly, a second screw transmission assembly, and a second motor for driving the second screw transmission assembly; The second supporting plate is arranged on the third sub-adjusting mechanism; The second guide rail assembly is disposed between the second support plate and the first sub-adjustment mechanism to support the movement of the first sub-adjustment mechanism; The second motor is fixed on the second supporting plate, and drives the first sub-adjusting mechanism to move through a second screw transmission assembly.

9. The transport attachment according to claim 4, characterized in that: The first sub-adjustment mechanism includes a first support plate, a first guide rail assembly, a first screw transmission assembly, and a first motor for driving the first screw transmission assembly; The first support plate is arranged on the second sub-adjustment mechanism; The first guide rail assembly is disposed between the first support plate and the fork body to support the fork body; The first motor is fixed on the first supporting plate and drives the fork body to move through a first screw transmission assembly.

10. The handling attachment according to claim 1, further comprising a position sensor for being arranged on the handling device to detect the material orientation or docking position.

11. A transport device, comprising a vehicle body and a transport attachment according to any one of claims 1 to 10; the vehicle body has a mounting base, characterized in that: The transport attachment is detachably mounted on the mounting base.

12. The transport device according to claim 11, characterized in that: The installation base is a fork frame or a door frame.

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