WO2023236442A1

WO2023236442A1 - Forklift robot and working method

Info

Publication number: WO2023236442A1
Application number: PCT/CN2022/130353
Authority: WO
Inventors: 吕峰
Original assignee: 北京捷象灵越科技有限公司
Priority date: 2022-06-06
Filing date: 2022-11-07
Publication date: 2023-12-14
Also published as: CN114906773A; CN114906773B

Abstract

The present disclosure relates to the technical filed of AGVs. Provided are a forklift robot and a working method, which improve the obstacle crossing capability of a forklift robot to a certain extent, improving the stability of the forklift robot during the working process. The forklift robot provided by the present disclosure comprises a bearing device, a driving device and a lifting device. The bearing device comprises a bearing housing, a first walking mechanism and a first adjustment mechanism arranged between the first walking mechanism and the bearing housing and rotationally connected to the first walking mechanism, so as to keep a bearing surface of the bearing housing horizontal all the time. The driving device comprises a driving mechanism and a second adjustment mechanism; the driving mechanism can drive the lifting device to extend out of or retract into the bearing device; one end of the second adjustment mechanism is movably connected to the driving mechanism, and the other end thereof is connected to the lifting device. A third adjustment mechanism is arranged between the lifting device and the bearing housing, and the third adjustment mechanism can lift the lifting device off the ground during the process of the lifting device extending out of the bearing device.

Description

Forklift robots and working methods

Cross-references to related applications

This disclosure claims priority to the Chinese patent application with application number 202210627912.6 and titled "Forklift Robot and Working Method" filed with the State Intellectual Property Office of China on June 6, 2022, the entire content of which is incorporated into this disclosure by reference.

Technical field

The present disclosure relates to the technical field of AGV vehicles, and in particular to a forklift robot and a working method.

Background technique

With the continuous development of AGV technology, more and more handling tasks can be completed by AGV forklifts. Since AGV forklifts do not require manual operation and have a high degree of automation, they can greatly reduce labor costs and shorten operating times.

However, with the popularity of AGV forklifts, the working environment of AGV forklifts has become more diverse. When AGV forklifts operate in some harsh working environments with uneven floors, both load-bearing trucks and lift trucks are faced with sinking into pits or getting stuck. The convex hull causes the entire forklift to be unable to continue working. Since the working environment is difficult to change, the current operating range of AGV forklifts still has certain limitations.

Therefore, there is an urgent need to provide a forklift robot and a working method to solve the problems existing in related technologies to a certain extent.

Contents of the invention

The present disclosure provides a forklift robot and a working method to optimize the obstacle surmounting ability of the forklift robot, at least to a certain extent, and improve the stability of the working process of the forklift robot.

The present disclosure provides a forklift robot. The forklift robot may include a carrying device, a driving device and a lifting device; the carrying device includes a carrying shell, a first traveling mechanism and a first adjusting mechanism. The first adjusting mechanism is configured between the load-bearing shell and the first running mechanism, and the first adjustment mechanism is rotationally connected to the first running mechanism so that the load-bearing surface of the load-bearing shell can always remain horizontal; the driving device It includes a driving mechanism and a second adjusting mechanism. The driving mechanism can drive the lifting device to extend or retract the carrying device. One end of the second adjusting mechanism is movably connected to the driving mechanism. The second adjusting mechanism The other end of the mechanism is connected to the lifting device; a third adjustment mechanism is provided between the lifting device and the load-bearing shell, and the third adjustment mechanism can extend the load-bearing capacity when the lifting device extends out of the load-bearing shell. During the installation process, the lifting device is lifted off the ground.

Preferably, the first walking mechanism may include at least two first walking components, and at least two accommodation spaces are formed on the side of the load-bearing shell away from the load-bearing surface, and the first walking components are correspondingly arranged on the In the accommodation space, the first adjustment mechanism and the first walking component are arranged in one-to-one correspondence.

Optionally, the first adjustment mechanism may include a first rotating shaft and a first adjustment seat. The first adjustment seat forms a connection plane toward one side of the load-bearing shell, and the connection plane is in contact with the load-bearing shell. combined and connected to the load-bearing shell; the first rotating shaft is connected to the first adjusting seat along the width direction of the first adjusting seat, and the first walking component is provided with two oppositely arranged A first mounting base, two ends of the first rotating shaft are rotationally connected to the first mounting bases on both sides respectively.

Optionally, the first traveling component may include a frame body, a driving member, a driving wheel, a driven wheel, a running wheel and a universal wheel; the driving member is connected to the frame body, and the driving wheel is connected to the The output shaft of the driving member is connected, the driven wheel is transmission linked with the driving wheel, the running wheel is coaxially connected with the driven wheel, the universal wheel is connected with the frame; the first The mounting seat is formed on the frame body.

Optionally, the driving mechanism may include a power component and a connection component, the power component extends along the length direction of the bearing device, the connection component is connected to the power component, and the power component can drive the The connecting component reciprocates along the length direction of the bearing device; one end of the second adjustment mechanism is rotationally connected to the connecting component, and the other end is connected to the lifting device.

Optionally, the power component may include a screw rod and a drive motor, the connection component is a slider, and two guide rails are provided on both sides of the screw rod, and the two guide rails are respectively A guide piece is provided, and the two guide pieces are connected to both sides of the slider respectively.

Optionally, the power component may be an electric telescopic rod, telescopic oil cylinder or air cylinder.

Optionally, the second adjustment mechanism may include a second rotating shaft and a second adjusting base, the second rotating shaft is connected to the second adjusting base along the width direction of the second adjusting base, and the connection component There are two second mounting seats arranged opposite each other, and the two ends of the second rotating shaft are respectively rotatably connected to the second mounting seats on both sides; the second adjusting seat is connected to the lifting device.

Optionally, the second adjustment seat may have an L-shaped structure, the first end of the second adjustment seat is connected to the second rotating shaft, and the second end of the second adjustment seat is used to connect the Lifting device.

Optionally, the second adjustment mechanism may include a connecting seat and a movable piece; the connecting seat is connected to the connecting component, and slide grooves extending in the vertical direction are formed on both sides of the connecting seat, The movable part includes a mounting part and a connecting part. One end of the connecting part extends into the chute, and the connecting part can reciprocate in the chute along the extension direction of the chute. The connecting part The other end is connected to one end of the mounting part, and the other end of the connecting part is connected to the lifting device. Optionally, the third adjustment mechanism may include a lifting component and a guide component; the lifting component is provided on a side of the load-bearing shell facing the lifting device, and the lifting component can move in a vertical direction. ; The guide component is disposed on the side of the lifting device facing the load-bearing shell, the guide component extends along the length direction of the load-bearing shell, and the guide component is in contact with the lifting component. It is arranged in an inclined manner. When the lifting device extends out of the carrying device, the guide component contacts the lifting component and is lifted off the ground under the guidance of the inclined side of the guide component.

Optionally, the lifting device may include a mounting frame, a second traveling mechanism, a lifting mechanism and a bearing platform; the mounting frame extends along the length direction of the bearing device, and the second traveling mechanism is connected to the mounting platform. The lifting mechanism can be telescopic in the vertical direction, and one end of the lifting mechanism is connected to the mounting frame, and the other end is connected to the load-bearing platform; the lifting mechanism is in a contracted state Down, the horizontal height of the bearing surface of the bearing platform does not exceed the horizontal height of the bearing surface of the bearing shell.

Optionally, the load-bearing shell can have an E-shaped structure, forming two avoidance spaces, and the mounting bracket has a U-shaped structure and can enter the avoidance spaces; the second running mechanism includes a plurality of auxiliary wheels, A plurality of auxiliary wheels are connected to the mounting frame; the lifting mechanism includes a first lifting arm, a second lifting arm and a power part, the first lifting arm and the second lifting arm It has a scissor-type structure. One end of the first lifting arm and one end of the second lifting arm are rotatably connected to the load-bearing platform and the mounting bracket respectively. The other end of the first lifting arm and The other end of the second lifting arm is equipped with rollers, and the rollers are in contact with the load-bearing platform and the mounting bracket respectively; the power part can drive the first lifting arm and the third lifting arm. The two lifting arms move relative to each other.

Compared with related technologies, the forklift robot provided by the present disclosure has at least the following advantages:

The forklift robot provided by the present disclosure includes a carrying device, a driving device and a lifting device; the carrying device includes a carrying shell, a first traveling mechanism and a first adjusting mechanism, and the first adjusting mechanism is arranged between the carrying shell and the first traveling mechanism. And the first adjustment mechanism is rotationally connected to the first traveling mechanism, so that the bearing surface of the bearing shell can always remain level; the driving device includes a driving mechanism and a second adjusting mechanism, and the driving mechanism can drive the lifting device to extend or retract the bearing device, One end of the second adjustment mechanism is movably connected to the driving mechanism, and the other end is connected to the lifting device; a third adjustment mechanism is provided between the lifting device and the load-bearing shell, and the third adjustment mechanism can extend the position of the load-bearing device when the lifting device extends. Lift the lifting device off the ground during the process.

From this analysis, it can be seen that the first traveling mechanism can realize the walking of the bearing device and the walking of the lifting device driven by the bearing device. Through the first adjustment mechanism provided between the bearing shell and the first traveling mechanism, the bearing shell and the third walking mechanism can be realized. The relative motion between a running gear.

When the load-bearing device encounters a bulge on the ground during walking, since the first adjustment mechanism is rotationally connected to the first running mechanism, the corresponding position of the running wheel of the first running mechanism can move in a direction close to the load-bearing shell. When the running wheel continues to travel past the highest point of the protrusion, the corresponding position of the running wheel moves away from the load-bearing shell. Since only the first traveling mechanism moves relative to the load-bearing shell during this process, the load-bearing surface of the load-bearing shell is always kept in the horizontal direction, which can improve the obstacle surmounting ability of the overall forklift robot to a certain extent while ensuring that The stability of the load-bearing shell makes the operation and transportation of goods more stable.

When the carrying device drives the lifting device to move, in order to avoid jamming due to obstacles encountered by the lifting device and affecting the movement of the entire forklift robot, in the present disclosure, a second adjustment mechanism is provided between the lifting device and the driving mechanism. , and one end of the second adjustment mechanism is movably connected to the driving mechanism, and the other end is connected to the lifting device, so that when the lifting device is retracted into the bearing device and encounters a bulge during movement, the lifting device moves away from the second adjustment mechanism. One end of the mechanism can be lifted upward, allowing the lifting device to cross the bulge on the ground, thus avoiding to a certain extent the problem of the entire forklift being unable to move due to the lifting device getting stuck with obstacles during travel.

When the forklift robot provided by the present disclosure is operating, it is necessary for the lifting device to first extend out of the carrying device and position it relative to the pallet, and then lift the pallet and then retract it into the carrying device. Once the lifting device encounters an obstacle when extending out of the carrying device, it will also affect the operation of the entire forklift. Therefore, the present disclosure uses a third adjustment mechanism provided between the load-bearing shell and the lifting device. When the lifting device is extended, since the second adjustment mechanism is provided between the lifting device and the driving mechanism, the third adjustment mechanism The mechanism can gradually lift the lifting device off the ground, thereby avoiding to a certain extent the problem that the lifting device encounters obstacles when extending and cannot continue to extend.

When the lifting device passes an obstacle again when it is retracted into the carrying device after carrying the pallet, the second adjustment mechanism can also avoid the problem of jamming of the lifting device to a certain extent.

Therefore, the present disclosure can improve the obstacle surmounting ability of the overall forklift through the first adjustment mechanism, the second adjustment mechanism and the third adjustment mechanism provided at corresponding positions, allowing the forklift robot to adapt to harsher terrains.

In addition, the present disclosure also provides a working method using the above-mentioned forklift robot. The working method includes the following steps: Step 1. The carrying device moves to the pallet to be transferred, and the lifting device is aligned with the pallet to be transferred. The docking part of the pallet; step two, the lifting device extends out of the carrying device and enters the docking part, and the lifting device lifts the pallet to be transferred; step three, the lifting The device remains in a lifted state and is recovered into the carrying device; Step 4: The lifting device descends until the pallet to be transferred contacts the bearing surface of the bearing shell; Step 5: The carrying device carries The pallet to be transferred moves to a predetermined position, the lifting device lifts up, and the pallet to be transferred is lifted. After extending the carrying device, the lifting device descends again to make the pallet to be transferred contact the ground. ; Step 6: The lifting device is retracted into the carrying device to complete the transfer of the pallet to be transferred.

Optionally, in steps one and five, the movement process of the bearing device may also include the first adjustment mechanism adjusting the relative position between the bearing shell and the first walking mechanism at all times, and ensuring the bearing surface of the bearing shell. Always level.

Optionally, in steps three, four, five and six, the process of extending and retracting the lifting device into the carrying device may also include the third adjusting mechanism lifting the lifting device away from the carrying device. The ground, and after the lifting device carries the pallet to be transferred, it falls back to the ground; when the third adjusting mechanism lifts the lifting device off the ground, the second adjusting mechanism makes the lifting device The device moves in a vertical direction relative to the drive device.

Using the working method of the forklift robot provided by the present disclosure, pallets and materials can be transferred quickly and stably, avoiding the problem of jamming during operation, improving the adaptability of the forklift robot to complex terrain, and improving the operating capability of the overall device. .

Description of the drawings

In order to more clearly explain the technical solutions in the specific embodiments of the present disclosure or related technologies, the drawings that need to be used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings in the following description are: For some embodiments of the present disclosure, those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 is a schematic diagram of the overall structure of a forklift robot provided by an embodiment of the present disclosure;

Figure 2 is a schematic structural diagram of the first walking component in the forklift robot provided by an embodiment of the present disclosure;

Figure 3 is a schematic structural diagram of a first implementation of a second adjustment mechanism in a forklift robot provided by an embodiment of the present disclosure;

Figure 4 is a schematic structural diagram of a second implementation of a second adjustment mechanism in a forklift robot provided by an embodiment of the present disclosure;

Figure 5 is a schematic structural diagram of a carrying device in a forklift robot provided by an embodiment of the present disclosure;

Figure 6 is a schematic structural diagram of the third adjustment mechanism in the forklift robot provided by an embodiment of the present disclosure;

Figure 7 is a schematic structural diagram of a lifting device in a forklift robot provided by an embodiment of the present disclosure;

Figure 8 is a schematic flowchart of a working method provided by an embodiment of the present disclosure.

In the figure: 1-carrying device; 101-carrying shell; 102-first traveling component; 1021-frame; 1022-driving part; 1023-driving wheel; 1024-driven wheel; 1025-travel wheel; 1026-universal wheel ; 1027-first mounting seat; 103-first adjustment mechanism; 1031-first rotating shaft; 1032-first adjustment seat; 2-power component; 3-connection component; 301-slider; 3011-second mounting seat; 302-guide rail; 303-guide piece; 4-second adjustment mechanism; 401-second rotating shaft; 402-second adjustment seat; 403-connection seat; 4031-slide; 404-movable part; 4041-connection part; 4042 -Installation part; 5-lifting component; 501-accommodating box; 502-guide hole; 503-guide wheel; 6-guide component; 7-lifting device; 701-mounting frame; 702-auxiliary wheel; 703-lifting mechanism ; 7031-first lifting arm; 7032-second lifting arm; 7033-power part; 704-carrying platform.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described The embodiments are only some, but not all, of the embodiments of the present disclosure. The components of the embodiments of the present disclosure generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the disclosure provided in the appended drawings is not intended to limit the scope of the claimed disclosure, but rather to represent selected embodiments of the disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without any creative efforts shall fall within the scope of protection of the present disclosure.

In the description of the embodiments of the present disclosure, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate The orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the disclosed product is customarily placed when used. It is only for the convenience of describing the present disclosure and simplifying the description, and is not intended to indicate or imply. Indicated devices or elements must have a specific orientation, be constructed and operate in a specific orientation and therefore are not to be construed as limitations on the disclosure. In addition, the terms "first", "second", "third", etc. are only used to distinguish descriptions and shall not be understood as indicating or implying relative importance.

In addition, the terms "horizontal", "vertical", etc. do not mean that the component is required to be absolutely horizontal or suspended, but may be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical". It does not mean that the structure must be completely horizontal, but can be slightly tilted.

In the description of the embodiments of the present disclosure, it should also be noted that, unless otherwise clearly stated and limited, the terms "setting", "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be A fixed connection can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this disclosure can be understood on a case-by-case basis.

As used herein, the term "and/or" includes any one and any combination of two or more of the associated listed items.

For ease of description, spatially relative terms, such as “on,” “upper,” “below,” and “lower,” may be used herein to describe the relationship of one element to another as illustrated in the figures. component relationship. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.

The terms used herein are used only to describe various examples and are not intended to limit the disclosure. The singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. The terms "comprises," "comprises," and "having" enumerate the presence of stated features, quantities, operations, components, elements, and/or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, Operations, components, elements and/or combinations thereof.

Due to manufacturing techniques and/or tolerances, variations in the shapes shown in the drawings may occur. Accordingly, the examples described herein are not limited to the specific shapes shown in the drawings, but include changes in shape that occur during manufacturing.

Features of the examples described herein may be combined in various ways that will become apparent upon understanding the present disclosure. Furthermore, while the examples described herein have a wide variety of configurations, other configurations are possible, as will be apparent upon understanding the present disclosure. In addition, the technical solutions in various embodiments can be combined with each other, but it must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that such a combination of technical solutions does not exist. , nor is it within the scope of protection required by this disclosure.

As shown in Figures 1-6, the present disclosure provides a forklift robot. The forklift robot may include a carrying device 1, a driving device and a lifting device 7; the carrying device 1 may include a carrying shell 101, a first traveling mechanism and a first Adjustment mechanism 103. The first adjustment mechanism 103 is disposed between the bearing shell 101 and the first traveling mechanism, and the first adjustment mechanism 103 is rotationally connected to the first traveling mechanism so that the bearing surface of the bearing shell 101 can always remain level; drive The device may include a driving mechanism and a second adjusting mechanism 4. The driving mechanism can drive the lifting device 7 to extend or retract into the carrying device 1. One end of the second adjusting mechanism 4 is movably connected to the driving mechanism, and the other end is connected to the lifting device 7. ; A third adjustment mechanism is provided between the lifting device 7 and the bearing shell 101. The third adjustment mechanism can lift the lifting device 7 off the ground when the lifting device 7 extends out of the bearing device 1.

The forklift robot provided by the present disclosure can realize the walking of the carrying device 1 and the walking of the lifting device 7 driven by the carrying device 1 through the first traveling mechanism. The first adjusting mechanism 103 is provided between the carrying shell 101 and the first traveling mechanism. , enabling relative movement between the load-bearing shell 101 and the first walking mechanism.

When the carrying device 1 encounters a bulge on the ground during walking, since the first adjusting mechanism 103 is rotationally connected to the first traveling mechanism, the corresponding position of the traveling wheel 1025 of the first traveling mechanism can be moved closer to the bearing shell 101 When the running wheel 1025 continues to move past the highest point of the protrusion, the corresponding position of the running wheel 1025 moves away from the bearing shell 101 . Since only the first traveling mechanism moves relative to the load-bearing shell 101 during this process, the load-bearing surface of the load-bearing shell 101 is always maintained in the horizontal direction, thereby improving the obstacle surmounting capability of the entire forklift robot to a certain extent. , ensuring the stability of the load-bearing shell 101, making the operation and cargo transportation process more stable.

When the carrying device 1 drives the lifting device 7 to move, in order to avoid jamming due to the lifting device 7 encountering obstacles and affecting the movement of the entire forklift robot, in this disclosure, a lifting device 7 is provided between the lifting device 7 and the driving mechanism. The second adjustment mechanism 4, and one end of the second adjustment mechanism 4 is movably connected to the driving mechanism, and the other end is connected to the lifting device 7, so that when the lifting device 7 is in the state of being retracted into the carrying device 1, it encounters a bulge when it moves. When the lifting device 7 is moved, the end of the lifting device 7 away from the second adjustment mechanism 4 can be lifted upward, so that the lifting device 7 can cross the bulge on the ground, thereby avoiding to a certain extent the problem caused by the lifting device 7 getting stuck with obstacles during travel. The entire forklift cannot move.

When the forklift robot provided by the present disclosure is operating, the lifting device 7 needs to be extended out of the carrying device 1 to be positioned relative to the pallet, and then the pallet is lifted and then retracted into the carrying device 1 . Once the lifting device 7 encounters an obstacle when extending out of the carrying device 1, it will also affect the operation of the entire forklift. Therefore, the present disclosure uses the third adjustment mechanism provided between the load-bearing shell 101 and the lifting device 7. When the lifting device 7 is extended, since the second adjustment mechanism 4 is provided between the lifting device 7 and the driving mechanism, Therefore, the third adjustment mechanism can gradually lift the lifting device 7 off the ground, thereby avoiding to a certain extent the problem that the lifting device 7 encounters obstacles when extending and cannot continue to extend.

When the lifting device 7 passes an obstacle again while loading the tray into the carrying device 1 , the second adjustment mechanism 4 can also prevent the lifting device 7 from getting stuck to a certain extent.

Therefore, through the first adjustment mechanism 103, the second adjustment mechanism 4 and the third adjustment mechanism provided at corresponding positions, the present disclosure can improve the overall forklift's obstacle surmounting capability and enable the forklift robot to adapt to harsher terrains.

It can be understood that in order to ensure the extension amount of the lifting device 7, in this disclosure, the second adjustment mechanism 4 is connected to an end of the lifting device 7 away from the extension end, and the extension end of the lifting device 7 is when lifted. The end of the lifting device 7 that first protrudes when it extends out of the carrying device 1 . Correspondingly, in the present disclosure, the third adjustment mechanism actually lifts the extended end of the lifting device 7 off the ground. Therefore, as shown in FIG. 5 , the third adjustment mechanism is located close to the extended end of the lifting device 7 .

Optionally, as shown in FIG. 1 in combination with FIGS. 2 and 5 , the first walking mechanism in the present disclosure may include at least two first walking assemblies 102 , and the side of the load-bearing shell 101 away from the load-bearing surface is formed with at least two accommodation spaces. , the first traveling component 102 is correspondingly arranged in the accommodation space; the first adjustment mechanism 103 is arranged in one-to-one correspondence with the first traveling component 102 .

As shown in FIG. 1 in combination with FIG. 5 , preferably, the load-bearing shell 101 in the present disclosure can have an E-shaped structure, and the above-mentioned accommodation space is formed on the side of the load-bearing shell 101 on both sides away from the load-bearing surface, so that two third A traveling assembly 102 can make the overall forklift operation more stable. As shown in FIG. 5 , the housing 101 also has an accommodating space in the middle, and the accommodating space is used to accommodate the driving device.

Optionally, as shown in FIG. 2 , the first adjustment mechanism 103 in the present disclosure may include a first rotating shaft 1031 and a first adjustment seat 1032 . The first adjustment seat 1032 forms a connection plane toward the side carrying the housing 101 . The connection plane Fitted with the load-bearing shell 101 and connected to the load-bearing shell 101; the first rotating shaft 1031 is connected to the first adjustment base 1032 along the width direction of the first adjustment base 1032, and the first walking component 102 is provided with two opposite arrangements The first mounting base 1027 is provided, and both ends of the first rotating shaft 1031 are respectively rotatably connected to the first mounting bases 1027 on both sides.

The first rotating shaft 1031 can be stably connected to the first traveling assembly 102 through the two oppositely arranged first mounting seats 1027 formed on the first traveling assembly 102, and through the first adjusting seat connected to the first rotating shaft 1031 1032, and the connection plane of the first adjustment seat 1032 is connected to the load-bearing shell 101, so that relative movement between the load-bearing shell 101 and the first walking component 102 can be achieved, thereby improving the obstacle surmounting ability of the load-bearing device 1 to a certain extent.

As shown in Figure 2, preferably, the first walking assembly 102 in the present disclosure may include a frame body 1021, a driving member 1022, a driving wheel 1023, a driven wheel 1024, a running wheel 1025 and a universal wheel 1026; the driving member 1022 and the frame The body 1021 is connected, the driving wheel 1023 is connected with the output shaft of the driving member 1022, the driven wheel 1024 is transmission connected with the driving wheel 1023, the running wheel 1025 is coaxially connected with the driven wheel 1024, and the universal wheel 1026 is connected with the frame body 1021; The first mounting base 1027 is formed on the frame body 1021.

The driving member 1022 in this disclosure is a driving motor, and the output shaft of the driving motor is connected to the driving wheel 1023. When the driving wheel 1023 and the driven wheel 1024 are both sprockets, power can be transmitted through the chain, and when the driving wheel 1023 and the driven wheel 1024 When the driven wheel 1024 is a pulley, power can be transmitted through a conveyor belt.

The running wheel 1025 is coaxially connected to the driven wheel 1024, so that when the driving wheel 1023 drives the driven wheel 1024 to rotate, it can drive the running wheel 1025 to rotate, thereby realizing the walking of the carrying device 1. It can be understood that, as shown in FIG. 2 , in the present disclosure, the universal wheels 1026 and the running wheels 1025 are respectively located at both ends of the frame 1021 , and the universal wheels 1026 can achieve higher turning and steering actions of the carrying device 1 .

As shown in Figure 3 in combination with Figure 4, the driving mechanism in the present disclosure may include a power component 2 and a connection component 3. The power component 2 extends along the length direction of the bearing device 1. The connection component 3 is connected to the power component 2. The power component 2 can The driving connection component 3 reciprocates along the length direction of the bearing device 1; one end of the second adjustment mechanism 4 is rotationally connected to the connection component 3, and the other end is connected to the lifting device 7.

Optionally, the power component 2 in the present disclosure can adopt a telescopic structure such as an electric telescopic rod, a telescopic cylinder or a cylinder, and the telescopic end of the electric telescopic rod, telescopic cylinder or cylinder is connected to the connecting component 3, so that the connecting component 3 can be driven. The bearing device 1 reciprocates in the length direction, thereby realizing the extension and retraction of the lifting device 7 .

Since the second adjustment mechanism 4 is provided between the connecting assembly 3 and the lifting device 7 in this disclosure, and one end of the second adjustment mechanism 4 is rotationally connected to the power assembly 2, the lifting device 7 can rotate relative to the power assembly 2, Therefore, when the lifting device 7 encounters an obstacle during the extending or retracting process, the extending end of the lifting device 7 can easily overcome the obstacle, thereby avoiding the problem of jamming.

What needs to be supplemented here is that in this disclosure, the length direction of the carrying device 1 is the moving direction of the lifting device 7 in extending and retracting.

As shown in FIG. 3 in conjunction with FIG. 4 , the power component 2 in the present disclosure may include a screw rod. Therefore, the connecting component 3 in the present disclosure is a slider 301 . It is understood that the power component 2 in the present disclosure may also include a screw rod. The driving motor drives the screw rod to rotate, thereby realizing the reciprocating motion of the slider 301 on the screw rod. Correspondingly, the second adjustment mechanism 4 in the present disclosure is rotationally connected to the slider 301. When the slider 301 reciprocates on the screw rod, it can drive the lifting device 7 to reciprocate along the extension direction of the screw rod, thereby realizing the lifting device. 7's reach and income.

What needs to be supplemented here is that in order to ensure the stability of the operation of the slider 301, preferably, as shown in Figure 3, two guide rails 302 are provided on both sides of the screw rod in this disclosure. The two guide rails 302 are respectively Guide members 303 are provided correspondingly, and the two guide members 303 are respectively connected to both sides of the slide block 301, thereby improving the stability of the slide block 301's reciprocating motion on the screw rod to a certain extent.

Optionally, FIG. 3 shows a first embodiment of the second adjustment mechanism 4 provided by the present disclosure. In this embodiment, the second adjustment mechanism 4 may include a second rotating shaft 401 and a second adjustment seat 402 , the second rotating shaft 401 is connected with the second adjusting seat 402 along the width direction of the second adjusting seat 402. The connecting component 3 is provided with two oppositely arranged second mounting seats 3011. The two ends of the second rotating shaft 401 are respectively connected with the two The second mounting base 3011 on the side is rotationally connected; the second adjusting base 402 is connected to the lifting device 7 .

As shown in Figure 3, in this embodiment, the second adjustment seat 402 in the present disclosure may have an L-shaped structure. The first end of the second adjustment seat 402 is connected to the second rotating shaft 401, and the second end is used for Connect the lifting device 7. A certain installation space can be obtained through the second adjusting seat 402 with an L-shaped structure, that is, there is a certain distance between the second end of the second adjusting seat 402 and the screw rod, so that the second adjusting seat 402 can be connected to the lifting device 7 Stable connection.

Through the relative rotation between the second rotating shaft 401 and the second mounting base 3011, the second end of the second adjusting base 402 can move toward or away from the screw rod, thereby realizing the movement of the lifting device 7 relative to the screw rod.

Optionally, FIG. 4 shows a second implementation of the second adjustment mechanism 4 provided by the present disclosure. In this implementation, the second adjustment mechanism 4 may include a connecting seat 403 and a movable piece 404; the connecting seat 403 is connected to the connecting component 3, and chute 4031 extending in the vertical direction is formed on both sides of the connecting seat 403. The movable part 404 includes a mounting part 4042 and a connecting part 4041. One end of the connecting part 4041 extends into the chute 4031. inside, and the connecting part 4041 can reciprocate in the chute 4031 along the extension direction of the chute 4031. The other end of the connecting part 4041 is connected to one end of the mounting part 4042, and the other end of the connecting part 4041 is connected to the lifting device 7 .

In this embodiment, one end of the connecting portion 4041 of the movable component 404 provided by the present disclosure extends into the chute 4031 and is always kept in the chute 4031. The other end of the connecting portion 4041 is connected to the mounting portion 4042. The part 4042 is used to connect the lifting device 7, so that the movement of the lifting device 7 relative to the screw rod is realized through the sliding of the movable member 404 in the chute 4031, thereby reducing the jamming of the lifting device 7 during the movement to a certain extent. stagnation problem.

It can be understood that since the chute 4031 on the connecting base 403 extends in the vertical direction, in this embodiment, the movement direction of the lifting device 7 is also in the vertical direction. Considering that when the lifting device When the extended end of 7 first contacts an obstacle, since the lifting device 7 has a certain length, the movable part 404 may be unable to move relative to the chute 4031, causing the lifting device 7 to become stuck. Therefore, in this embodiment, a structure such as an oil cylinder or a cylinder that can expand and contract in the vertical direction can also be provided at one end of the connecting portion 4041 located in the chute 4031, so that when the lifting device 7 follows the movement of the carrying device 1 , the lifting device 7 is directly lifted off the ground through the oil cylinder or air cylinder, so as to avoid the problem that the lifting device 7 is in contact with the ground and affects the movement of the carrying device 1 . When it is necessary to extend the lifting device 7 to lift the pallet to be transferred, the lifting device 7 is returned to the ground.

What needs to be supplemented here is that since the lifting device 7 in the present disclosure includes a second traveling mechanism, and the second traveling mechanism is a plurality of auxiliary wheels 702, when the auxiliary wheels 702 adopt the universal wheels 1026, the universal wheels 1026 and The contact with the ground will not affect the turning and turning process of the bearing device 1 . However, when an ordinary wheel body is used, the contact between the auxiliary wheels 702 and the ground will affect the turning and steering processes of the carrying device 1 . However, the present disclosure uses the above-mentioned method of arranging oil cylinders or air cylinders to lift the lifting device 7 off the ground, so that the auxiliary wheels 702 can adopt any form of wheel body, thereby still reducing the cost and the adaptability of the overall forklift to a certain extent.

Optionally, as shown in Figure 6, the third adjustment mechanism in the present disclosure may include a lifting component 5 and a guide component 6; the lifting component 5 is provided on the side of the carrying shell 101 facing the lifting device 7, and the lifting component 5 can be Movement in the vertical direction; the guide component 6 is disposed on the side of the lifting device 7 facing the carrying shell 101, the guide component 6 extends along the length direction of the carrying shell 101, and the side where the guide component 6 contacts the lifting component 5 is inclined. It is configured that when the lifting device 7 extends out of the carrying device 1, the guide assembly 6 contacts the lifting assembly 5 and is lifted off the ground under the guidance of the inclined side of the guide assembly 6.

The lifting assembly 5 in the present disclosure may include an accommodating box 501, an elastic member, a connecting member and a guide wheel 503. The accommodating box 501 is provided on the side wall of the load-bearing shell 101, the elastic member and the connecting member are both disposed in the accommodating box 501, and The elastic member extends in the vertical direction, one end of the elastic member is in contact with the bottom of the accommodation box 501, and the other end is connected to the connector. The accommodation box 501 is provided with a guide hole 502 extending in the vertical direction, and the axle of the guide wheel 503 is The extending guide hole 502 is connected to the connecting member, so that the guide wheel 503 can reciprocate in the vertical direction through the elastic member.

As shown in FIG. 6 , the side of the guide assembly 6 in contact with the guide wheel 503 in this disclosure is inclined to form an inclined portion, and the extension direction of the guide assembly 6 is when the lifting device 7 extends or retracts into the carrying device 1 direction of movement. The guide assembly 6 is arranged on the side wall of the extended end of the lifting device 7. When the extended end of the lifting device 7 extends out of the carrying device 1, the guide assembly 6 contacts the guide wheel 503 and gradually moves under the guidance of the inclined portion. Lift, when the lifting device 7 is retracted into the carrying device 1, the extended end of the lifting device 7 gradually approaches the ground under the guidance of the guide assembly 6 and contacts the ground.

What needs to be supplemented here is that, as shown in Figure 6, in this disclosure, the guide assembly 6 is always in contact with the guide wheel 503, and the elastic member in the accommodation box 501 is a spring, and the elastic force of the spring is greater than the lifting force in the no-load state. Weight of device 7. Therefore, when the lifting device 7 is extended, the guide wheel 503 can be kept at the top of the guide hole 502, so that the extended end of the lifting device 7 is lifted off the ground. When the lifting device 7 lifts the pallet and the goods, the weight of the pallet and the goods must be greater than the elastic force of the spring, so that the guide wheel 503 moves down to the bottom of the guide hole 502 to realize the second traveling mechanism of the lifting device 7 and the ground. s contact.

What needs to be further explained here is that the elastic member provided in the above-mentioned holding box 501 can also be replaced by a structure such as an oil cylinder or an air cylinder. The action process is the same and will not be described again here.

Optionally, as shown in Figure 7, the lifting device 7 in this disclosure may include a mounting frame 701, a second traveling mechanism, a lifting mechanism 703 and a bearing platform 704; the mounting frame 701 extends along the length direction of the bearing device 1, and The two traveling mechanisms are connected to the mounting frame 701. The lifting mechanism 703 can telescope in the vertical direction, and one end of the lifting mechanism 703 is connected to the mounting frame 701, and the other end is connected to the bearing platform 704; the lifting mechanism 703 is retracting. In this state, the horizontal height of the bearing surface of the bearing platform 704 does not exceed the horizontal height of the bearing surface of the bearing shell 101 .

During operation, the slider 301 moves on the screw rod to extend or retract the mounting bracket 701, thereby extending or retracting the lifting mechanism 703. When the slider 301 drives the mounting bracket 701 to extend out of the load-bearing shell 101 and move to the corresponding position of the pallet, the lifting mechanism 703 extends and lifts, thereby lifting the load-bearing platform 704, and then stably transporting the pallet to be transferred through the load-bearing platform 704. and lift the goods carried on the pallet.

When the lifting height is higher than the horizontal height of the bearing shell 101, the slider 301 drives the mounting bracket 701 to retract the bearing shell 101 and return to the initial position. Afterwards, the lifting mechanism 703 contracts and falls, so that the pallet and the goods can be dropped onto the load-bearing shell 101 to complete the picking up of the pallet and the goods.

It should be supplemented here that since the lifting mechanism 703 in the present disclosure is in the retracted state, the horizontal height of the bearing surface of the bearing platform 704 does not exceed the horizontal height of the bearing surface of the bearing shell 101. Therefore, when the lifting mechanism 703 After shrinking to the extreme position, the pallets and goods on the loading platform 704 are carried by the loading shell 101 . Since the above-mentioned guide assembly 6 is always in contact with the guide wheel 503, when the load-bearing platform 704 places the loaded pallets and goods on the load-bearing shell 101, the overall weight of the lifting device 7 is less than the elastic force of the spring, so the spring passes through the guide wheel 503. 503 lifts the lifting device 7 again and off the ground, which can make the movement of the carrying device 1 smoother to a certain extent.

Preferably, as shown in Figure 1 combined with Figures 5 and 7, the load-bearing shell 101 in the present disclosure can have an E-shaped structure, forming two avoidance spaces, and the mounting bracket 701 has a U-shaped structure and can enter the avoidance space; second The traveling mechanism includes a plurality of auxiliary wheels 702, which are connected to the mounting bracket 701; the lifting mechanism 703 includes a first lifting arm 7031, a second lifting arm 7032, and a power component 7033. The first lifting arm 7031 and the second lifting arm 7032 form a scissor-type structure. One end of the first lifting arm 7031 and one end of the second lifting arm 7032 are rotationally connected to the load-bearing platform 704 and the mounting bracket 701 respectively. The other end of the first lifting arm 7031 One end and the other end of the second lifting arm 7032 are equipped with rollers, and the rollers are in contact with the bearing platform 704 and the mounting bracket 701 respectively; the power part 7033 can drive the first lifting arm 7031 and the second lifting arm 7032 to move relative to each other. .

The power part 7033 in the present disclosure may include a motor, a screw and a sliding part. The sliding part is connected to one end of the first lifting arm 7031 provided with the roller and the second end of the second lifting arm 7032 provided with the roller, so that when the motor drives the screw to rotate, the When the sliding member moves on the screw, it can drive the first lifting arm 7031 and the second lifting arm 7032 in a scissor-type structure to move relative to each other. Through the opening and closing process of the first lifting arm 7031 and the second lifting arm 7032, the lifting and lowering of the carrying platform 704 is realized.

In addition, as shown in Figure 8, the present disclosure also provides a working method using the above-mentioned forklift robot. The working method may include the following steps: Step 1. Move the carrying device 1 to the pallet to be transferred, and align the lifting device 7 The docking part of the pallet to be transferred; step two, the lifting device 7 extends out of the carrying device 1 and enters the docking part, and the lifting device 7 lifts the pallet to be transferred; step three, the lifting device 7 remains in the lifting state And returned to the carrying device 1; Step 4: The lifting device 7 descends until the pallet to be transferred contacts the bearing surface of the carrying shell 101; Step 5: The carrying device 1 carries the pallet to be transferred and moves to a predetermined position, and the lifting device 7 Lift, lift up the pallet to be transferred, and after extending the carrying device 1, the lifting device 7 descends again, so that the pallet to be transferred is in contact with the ground; Step 6: The lifting device 7 is retracted into the carrying device 1 to complete the pallet to be transferred transfer.

In steps one and five, the movement process of the load-bearing device 1 also includes the first adjustment mechanism 103 adjusting the relative position between the load-bearing shell 101 and the first traveling mechanism at all times, and ensuring that the load-bearing surface of the load-bearing shell 101 is always horizontal. The state can improve the load-carrying stability and obstacle surmounting ability of the carrying device 1 to a certain extent, so that the overall forklift robot can better adapt to complex terrain environments.

In steps three, four, five and six, the process of extending and retracting the lifting device 7 into the carrying device 1 also includes the third adjusting mechanism lifting the lifting device 7 off the ground and carrying the lifting device 7 After the pallet is transferred, it falls back to the ground; while the third adjustment mechanism lifts the lifting device 7 off the ground, the second adjusting mechanism 4 makes the lifting device 7 move in the vertical direction relative to the driving device, which can improve the lifting device 7 The obstacle surmounting ability can be improved, and to a certain extent, the problem of the impact of the lifting device 7 on following the movement of the carrying device 1 can be avoided.

It can be understood that since the present disclosure provides a forklift robot, that is, an AGV forklift, it also includes a control system and an identification mechanism. The identification mechanism can identify the position of the vehicle and the relative position of the vehicle and the pallet, thereby enabling control The system can adjust the vehicle and control the vehicle's travel, retreat, turn, and steering movements as well as the extension, retraction, lifting, and lowering movements of the lifting device 7 based on the recognized position signals.

The above are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the present disclosure. within the scope of protection.

Industrial applicability

The present disclosure provides a forklift robot and a working method, which relate to the technical field of AGV vehicles and are designed to optimize the obstacle-crossing ability of the forklift robot to a certain extent and improve the stability of the working process of the forklift robot. The forklift robot provided by the present disclosure includes a load-bearing device, a driving device and a lifting device; the load-bearing device includes a load-bearing shell, a first traveling mechanism, and a robot that is disposed between the first traveling mechanism and the bearing shell and is rotationally connected to the first traveling mechanism. The first adjustment mechanism is so that the load-bearing surface of the load-bearing shell can always remain level; the drive device includes a drive mechanism and a second adjustment mechanism. The drive mechanism can drive the lifting device to extend or retract the load-bearing device. One end of the second adjustment mechanism is connected to the drive The mechanism is movably connected, and the other end is connected to the lifting device; a third adjustment mechanism is provided between the lifting device and the load-bearing shell. The third adjustment mechanism can lift the lifting device away from the load-bearing device when the lifting device extends out of the load-bearing device. ground.

In addition, it can be understood that the forklift robot and working method of the present disclosure are reproducible and can be applied in a variety of applications. For example, the forklift robot and working method of the present disclosure can be used in the field of AGV vehicle technology.

Claims

A forklift robot, wherein the forklift robot includes a carrying device, a driving device and a lifting device;

The carrying device includes a carrying shell, a first traveling mechanism and a first adjusting mechanism. The first adjusting mechanism is disposed between the carrying shell and the first traveling mechanism, and the first adjusting mechanism is connected to the first traveling mechanism. The first traveling mechanism is rotationally connected so that the load-bearing surface of the load-bearing shell can always remain level;

The driving device includes a driving mechanism and a second adjusting mechanism. The driving mechanism can drive the lifting device to extend or retract the carrying device. One end of the second adjusting mechanism is movably connected to the driving mechanism. The other end of the second adjustment mechanism is connected to the lifting device;

A third adjustment mechanism is provided between the lifting device and the load-bearing shell. The third adjustment mechanism can lift the lifting device off the ground when the lifting device extends out of the load-bearing device. .
The forklift robot according to claim 1, wherein the first walking mechanism includes at least two first walking assemblies, and at least two accommodation spaces are formed on a side of the load-bearing shell away from the load-bearing surface. The first walking component is correspondingly arranged in the accommodation space;

The first adjustment mechanism is arranged in one-to-one correspondence with the first walking component.
The forklift robot according to claim 1 or 2, wherein the first adjustment mechanism includes a first rotating shaft and a first adjustment seat, and a side of the first adjustment seat facing the load-bearing shell forms a connection plane, so The connection plane fits the load-bearing shell and is connected to the load-bearing shell;

The first rotating shaft is connected to the first adjusting seat along the width direction of the first adjusting seat. The first traveling assembly is provided with two oppositely arranged first mounting seats. Both ends are rotatably connected to the first mounting seats on both sides respectively.
The forklift robot according to claim 3, wherein the first walking component includes a frame, a driving member, a driving wheel, a driven wheel, a traveling wheel and a universal wheel;

The driving member is connected to the frame body, the driving wheel is connected to the output shaft of the driving member, the driven wheel is transmission linked to the driving wheel, and the running wheel is coaxial with the driven wheel. Connect, the universal wheel is connected to the frame body;

The first mounting seat is formed on the frame body.
The forklift robot according to any one of claims 1 to 4, wherein the driving mechanism includes a power component and a connection component, the power component extends along the length direction of the load-bearing device, and the connection component is connected to the The power component is connected, and the power component can drive the connection component to reciprocate along the length direction of the bearing device;

One end of the second adjustment mechanism is rotatably connected to the connecting component, and the other end of the second adjustment mechanism is connected to the lifting device.
The forklift robot according to claim 5, wherein the power component includes a screw rod and a drive motor, the connection component is a slider, and two guide rails are correspondingly provided on both sides of the screw rod. Guide pieces are respectively provided on the guide rails, and the two guide pieces are respectively connected to both sides of the slide block.
The forklift robot according to claim 5, wherein the power component is an electric telescopic rod, telescopic oil cylinder or air cylinder.
The forklift robot according to any one of claims 5 to 7, wherein the second adjustment mechanism includes a second rotation axis and a second adjustment base, the second rotation axis is along the width direction of the second adjustment base. Connected to the second adjustment seat, the connection component is provided with two opposite second mounting seats, and the two ends of the second rotating shaft are rotationally connected to the second mounting seats on both sides respectively;

The second adjusting seat is connected with the lifting device.
The forklift robot according to claim 8, wherein the second adjustment seat has an L-shaped structure, a first end of the second adjustment seat is connected to the second rotating shaft, and a third end of the second adjustment seat is connected to the second rotating shaft. The two ends are used to connect the lifting device.
The forklift robot according to any one of claims 5 to 7, wherein the second adjustment mechanism includes a connecting base and a movable piece;

The connecting seat is connected to the connecting component, and chute extending in the vertical direction is formed on both sides of the connecting seat. The movable part includes a mounting part and a connecting part, and one end of the connecting part extends into the chute, and the connecting part can reciprocate in the chute along the extending direction of the chute. The other end of the connecting part is connected to one end of the mounting part, and the connecting part The other end is connected to the lifting device.
The forklift robot according to any one of claims 1 to 10, wherein the third adjustment mechanism includes a lifting component and a guide component;

The lifting component is disposed on a side of the load-bearing shell facing the lifting device, and the lifting component can move in a vertical direction;

The guide component is disposed on a side of the lifting device facing the load-bearing shell, the guide component extends along the length direction of the load-bearing shell, and the guide component is in contact with the lifting component. It is arranged at an angle. When the lifting device extends out of the carrying device, the guide component contacts the lifting component and is lifted off the ground under the guidance of the inclined side of the guide component.
The forklift robot according to any one of claims 1 to 11, wherein the lifting device includes a mounting frame, a second traveling mechanism, a lifting mechanism and a carrying platform;

The mounting frame extends along the length direction of the load-bearing device, the second traveling mechanism is connected to the mounting frame, the lifting mechanism can be telescopic in the vertical direction, and one end of the lifting mechanism is connected to the mounting frame. The mounting bracket is connected, and the other end of the lifting mechanism is connected with the load-bearing platform;

When the lifting mechanism is in a contracted state, the horizontal height of the bearing surface of the bearing platform does not exceed the horizontal height of the bearing surface of the bearing shell.
The forklift robot according to claim 12, wherein the load-bearing shell has an E-shaped structure and forms two avoidance spaces, and the mounting bracket has a U-shaped structure and can enter the avoidance space;

The second traveling mechanism includes a plurality of auxiliary wheels, and the plurality of auxiliary wheels are connected to the mounting frame;

The lifting mechanism includes a first lifting arm, a second lifting arm and a power part. The first lifting arm and the second lifting arm have a scissor-type structure. The first lifting arm has a One end of the first lifting arm and one end of the second lifting arm are rotatably connected to the load-bearing platform and the mounting bracket respectively, and the other end of the first lifting arm and the other end of the second lifting arm are equipped with rollers. , and the rollers are in contact with the load-bearing platform and the mounting bracket respectively;

The power component can drive the first lifting arm and the second lifting arm to move relative to each other.
A working method using the forklift robot according to any one of the above claims 1-13, wherein the working method includes the following steps:

Step 1: The carrying device moves to the pallet to be transferred, and the lifting device is aligned with the docking part of the pallet to be transferred;

Step 2: The lifting device extends out of the carrying device and enters the docking part. The lifting device lifts to lift the pallet to be transferred;

Step 3: The lifting device remains in the lifting state and is recovered into the carrying device;

Step 4: The lifting device descends until the pallet to be transferred contacts the bearing surface of the bearing shell;

Step 5: The carrying device carries the pallet to be transferred to a predetermined position. The lifting device rises to lift the pallet to be transferred. After extending the carrying device, the lifting device descends again. Make the pallet to be transferred contact the ground;

Step 6: The lifting device is retracted into the carrying device to complete the transfer of the pallet to be transferred.
The working method according to claim 14, wherein in steps one and five, the movement process of the bearing device further includes the first adjustment mechanism adjusting the gap between the bearing shell and the first walking mechanism at all times. relative position, and ensure that the bearing surface of the bearing shell is always in a horizontal state.
The working method according to claim 14 or 15, wherein in steps three, four, five and six, the process of extending and retracting the lifting device into the carrying device also includes the third adjustment. The mechanism lifts the lifting device off the ground, and after the lifting device carries the pallet to be transferred, it falls back to the ground;

When the third adjustment mechanism lifts the lifting device off the ground, the second adjusting mechanism causes the lifting device to move relative to the driving device in the vertical direction.