Docking system and production line system

Abstract

The present invention discloses a docking system and a production line system, wherein the docking system includes: a first device provided with: a first material transfer part; a power docking device connected to the first material transfer part, having a first joint part and a rotation drive part that drives the first joint part to rotate; a second device that can be transported by a transport device to dock with the first device, or transferred relative to the first device, having a rack for carrying materials, the rack provided with: a second material transfer part for conveying materials, docking with the first material transfer part according to docking of the first device and the second device, the second joint part connected to at least one end of the second material transfer part, connected to the power docking device according to docking of the first device and the second device, and the second material transfer part is driven by the power docking device to transfer materials between the first material transfer part and the second material transfer part. The docking system of the present invention can reduce the cost of the production line system.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment, and in particular to a docking system and a production line system. Background Art

[0002] In existing factory automation equipment, such as some production line systems, this docking method exists: materials are placed on a carrier, which is then transported by a handling device such as an AGV and docked with equipment or logistics lines that require further processing or other handling. The carrier has a transmission system and a power system that provides power to the transmission system. When docked with these equipment or logistics lines, the transmission system drives the material on the carrier and transfers it to other equipment or logistics lines.

[0003] In some cases, in order to improve production efficiency, a production line may be equipped with multiple carriers, in which case the cost is very high. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a docking system that can reduce the cost of a production line system. In addition, the present invention also provides a production line system having such a docking system.

[0005] According to the first aspect of the present invention, the docking system includes: a first device, which is provided with: a first material transfer part, a power docking device, which is connected to the first material transfer part, and has a first coupling part and a rotating drive part that drives the first coupling part to rotate; a second device, which can be transported by a transport device to dock with the first device, or transferred relative to the first device, and has a frame for carrying materials, and the frame is provided with: a second material transfer part for conveying the material, which is docked with the first material transfer part according to the docking of the first device and the second device, a second coupling part, which is connected to at least one end of the second material transfer part, and is connected to the power docking device according to the docking of the first device and the second device, and the second material transfer part is driven by the power docking device to enable the material to be conveyed between the first material transfer part and the second material transfer part.

[0006] The docking system according to embodiments of the present invention has at least the following advantages: because the second material transfer portion of the second device, used to transfer materials, is driven by the first device docked with the second device, there is no need to provide an independent drive system for the second device, thereby reducing the cost of the second device. Furthermore, because a single power system of the second device can be used to support multiple second devices without independent drive systems, the cost of the production line can be significantly reduced.

[0007] In some embodiments, a fastening device is further included, which is arranged on the first device; the fastening device restricts the second device according to the docking of the second device and the first device; or releases the restriction on the second device so that the second device can be transferred by the transport device relative to the first device.

[0008] In some embodiments, the fastening device includes: a first blocking member; a second blocking member, located behind the first blocking member, configured to be switchable between a first position and a second position; a first limiting member, which can abut the second blocking member; a fastening drive portion, configured to cause the second blocking member to slide relative to the first limiting member so that the second blocking member can switch between the first position and the second position; when the second blocking member is in the second position, the second device can cross the second blocking member and abut the first blocking member to dock with the first device, or the second device can cross the second blocking member and be transferred relative to the first device; when the second blocking member is in the first position, the second device is restricted relative to the first device.

[0009] In some embodiments, the second device is further provided with a blocking device, which is arranged in the conveying direction of the second material transfer part and can block the material. According to the docking of the first device and the second device, it is driven by the first device to release the blocking of the material.

[0010] In some embodiments, the blocking device includes: a third blocking member, which is swingably mounted to the frame, and the third blocking member can be driven by the first device to switch from a blocking position for blocking the material to a release position for releasing the blocking of the material; a blocking elastic member, which is configured to drive the third blocking member to be in the blocking position; a blocking driving member, which is swingably mounted to the frame; a first connecting member, which respectively connects the third blocking member and the blocking driving member, and at least one of the first connection position where the first connecting member and the third blocking member are connected, and the second connection position where the first connecting member and the blocking driving member are connected can be changed; according to the docking of the first device and the second device, the blocking driving member is driven by the first device to swing, and by pulling the first connecting member, the third blocking member is swung and switched from the blocking position to the release position.

[0011] In some embodiments, the second device is further provided with an emergency stop device, which is provided on the frame and can switch its position to be sensed by the sensor of the transport device, or be disconnected relative to the sensor to make the transport device run or stop.

[0012] In some embodiments, the emergency stop device includes: an emergency stop part, which is installed on the frame and can be driven to switch between an operating position for causing the transport device to operate and a stop position for causing the transport device to stop; a sensing part, which is connected to the emergency stop part and is sensed by the sensor or disconnected relative to the sensor as the emergency stop part switches between the operating position and the stop position.

[0013] In some embodiments, the sensing portion includes a sensing member and a shielding member, and the shielding member and at least one of the sensing members are connected to the emergency stop member and are driven as the emergency stop member switches between the running position and the stop position, so that the shielding member shields the sensing member, or the sensing member is exposed relative to the shielding member.

[0014] In some embodiments, the first engaging portion includes a first gear, and the second engaging portion includes a second gear that can mesh with the first gear; or the first engaging portion includes a first engaging member, and the second engaging portion includes a second engaging member, and the first engaging member is configured to engage with the second engaging member in a direction perpendicular to the rotation plane of the first engaging member.

[0015] The production line system according to the second embodiment of the present invention includes any one of the docking systems described above, and the docking system includes a plurality of the second devices.

[0016] The production line system according to an embodiment of the present invention has at least the following beneficial effects: since the docking system of the production line system can use one set of power docking devices of the first device to correspond to multiple sets of second devices without independent drive systems, the cost of the production line can be greatly reduced.

[0017] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a side view of a docking system according to one embodiment of the present invention.

[0019] Figure 2 yes Figure 1 A three-dimensional diagram of the docking system.

[0020] Figure 3 yes Figure 2 A local enlarged view of point A in the figure.

[0021] Figure 4 This is the layout diagram of the power docking device.

[0022] Figure 5 yes Figure 4 A local enlarged view of point B in FIG.

[0023] Figure 6 yes Figure 4 A local enlarged view of point C in FIG.

[0024] Figure 7 It is a schematic diagram of another embodiment of a power docking device of a docking system.

[0025] Figure 8 It is a schematic diagram of the fastening device of the docking system as seen from the front.

[0026] Figure 9 yes Figure 8 Schematic diagram of the rear view direction when the fastening device is in the first position.

[0027] Figure 10 yes Figure 8 Schematic diagram of the rear view direction when the fastening device is in the second position.

[0028] Figure 11 yes Figure 9 A local enlarged view of point D in FIG.

[0029] Figure 12 yes Figure 10 A local enlarged view of point E in FIG.

[0030] Figure 13 is a schematic diagram of another embodiment of a fastening device.

[0031] Figure 14 is a schematic diagram of yet another embodiment of a fastening device.

[0032] Figure 15 It is a schematic diagram of a second device having a blocking device and an emergency stop device.

[0033] Figure 16 It is a schematic diagram illustrating the installation of the blocking device in the second device.

[0034] Figure 17 yes Figure 16 Schematic diagram of the forward viewing direction of the blocking device.

[0035] Figure 18 yes Figure 16 Schematic diagram of the rear view direction of the blocking device.

[0036] Figure 19 1 is a top view of the blocking device in the blocking position.

[0037] Figure 20 It is a front view of the blocking device in the blocking position (the fourth mounting plate is omitted).

[0038] Figure 21 yes Figure 20 Cross-sectional view at FF in FIG.

[0039] Figure 22 It is a front view of the blocking device in the released position (omitting the fourth mounting plate).

[0040] Figure 23 yes Figure 22 Cross-sectional view at GG in .

[0041] Figure 24 It is a schematic diagram illustrating the emergency stop device in the second equipment.

[0042] Figure 25 yes Figure 24 A local enlarged view of point H in the figure.

[0043] Figure 26 yes Figure 24 A local enlarged view of point I in FIG.

[0044] Figure 27 yes Figure 24 A local enlarged view of point J in FIG.

[0045] Figure 28 Yes Figure 24 A partial cross-sectional view of the emergency stop device in the operating position.

[0046] Figure 29 Yes Figure 24 A partial cross-sectional view of the emergency stop device in the stop position. DETAILED DESCRIPTION

[0047] The following describes embodiments of the present invention in detail. Examples of the embodiments 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 below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0048] In the description of the present invention, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0049] In the description of the present invention, "plurality" means more than two. The use of "first" or "second" is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0050] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense. For example, when it is said that two components are connected, the two components can be directly or indirectly connected through a connecting structure, or they can be related in terms of manufacturing processes, control processes, etc. Technical personnel in the relevant technical field can reasonably determine the specific meaning of the above terms in the present invention in combination with the specific content of the technical solution.

[0051] Reference Figure 1 、 Figure 2 The docking system according to the embodiment of the first aspect of the present invention includes: a first device 100 and a second device 200 capable of docking with the first device 100. The first device 100 is provided with: a first material transfer part 110 and a power docking device 120, the power docking device 120 is connected to the first material transfer part 110, and the power docking device 120 has a first joint part 130 and a rotation drive part 140 that drives the first joint part 130 to rotate. The second device 200 can be transported by the transport device 300 to dock with the first device 100, or be transferred relative to the first device 100. The second device 200 has a frame 210 for carrying materials 201, and the frame 210 is provided with a second material transfer part 220 and a second joint part 230. The second material transfer part 220 is used to convey the material 201 and docks with the first material transfer part 110 according to the docking of the first device 100 and the second device 200. The second joining portion 230 is connected to at least one end of the second material transfer portion 220, and is connected to the power docking device 120 according to the docking of the first equipment 100 and the second equipment 200, so that the second material transfer portion 220 is driven by the power docking device 120 to transfer the material 201 between the first material transfer portion 110 and the second material transfer portion 220.

[0052] In this embodiment, since the second material transfer section 220 of the second device 200, which is used to transfer the material 201, is driven by the first device 100 that interfaces with the second device 200, there is no need to provide an independent drive system on the second device 200, thereby reducing the cost of the second device 200. Furthermore, since one power system of the second device 200 can be used to support multiple second devices 200 without independent drive systems, the cost of the production line can be significantly reduced.

[0053] It can be imagined that material 201 should be understood in a broad sense. Material 201 can include, for example, workpieces and products that need to be processed. These workpieces and products can be directly placed on the rack 210 of the second device 200, or loaded through fixtures, jigs, pallets, etc., and then placed on the rack 210.

[0054] The first device 100 is not particularly limited as long as it has an independent power system. For example, it can be an independent device fixed to the ground, an independent device with an assembly line, an assembly line, an elevator, etc. The first device 100 can perform any process in the production process of workpieces and products, such as machining, welding, component assembly, coating, testing, etc.; it can also perform auxiliary processes in the production process of workpieces and products, such as shutdown processing, manual intervention, waste disposal, etc. Correspondingly, the second device 200 can be a device that can be freely transported in the workshop. In addition, both the first device 100 and the second device 200 can be devices that can be transported, as long as they can be docked when materials 201 need to be transferred to each other.

[0055] It can be imagined that the rack 210 can be any form of rack 210 as long as it can carry the material 201 and be transported by the transport device 300. From the material point of view, for example, there can be listed: a rack using profile welding, a rack built with aluminum profiles, or a rack combining profile welding and aluminum profiles, etc.; from the structural point of view, for example, there can be listed: a rack with supporting feet, a rack with universal casters, or a rack with feet and universal casters, etc.; from the storage space point of view, for example, there can be listed: a single-layer rack that can carry materials 201, a rack with multiple layers up and down that can carry materials 201, a rack with multiple layers in the left and right directions and multiple layers in the upper and lower directions that can carry materials 201, etc.

[0056] It is contemplated that the form of the transport device 300 is not particularly limited as long as it can transport the second device 200. Examples thereof include AGVs, various manipulators mounted on rails, such as three-axis manipulators and six-axis robots, and various conveyor lines with independent power, such as roller conveyors and plate chain conveyors. Furthermore, in the case of manual operation, the operator can also be understood as a special transport device.

[0057] It can be understood that "according to the docking of the second device 200 and the first device 100", the docking covers the entire process from the second device 200 and the first device 100 being about to dock to the completion of docking, and the process includes: the trend of starting docking, docking, docking completion and any stage of being in a stable docking state after docking is completed.

[0058] It can be imagined that driving the conveying part 130 to convey the material 201 should include various conveying situations, for example, the situation of conveying the material 201 from the second device 200 to the first device 100, and the situation of conveying the material 201 from the first device 100 to the second device 200, etc.

[0059] [First Material Transfer Unit 110 and Second Material Transfer Unit 220]

[0060] Continue to refer to Figure 1 In some embodiments, to smoothly and continuously convey the material 201, the first material transfer unit 110 includes a first logistics line 111. The first logistics line 111 can be any known logistics line with a powered drive system, such as a belt line, a synchronous belt line, a roller line, a conveyor chain line, a flat chain line, a double-speed chain line, etc., but is not limited thereto.

[0061] Reference Figure 3 The second material transfer part 220 includes a second logistics line 221 that can be docked with the first logistics line 111. A first transmission shaft 222 is provided at one end of the second logistics line 221, and the second joint part 230 is connected to the first transmission shaft 222. Specifically, the first transmission shaft 222 can be a support shaft that directly supports and transmits pulleys, synchronous pulleys, rollers, sprockets, etc., or it can be a transmission shaft connected to these support shafts through, for example, a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, a belt transmission mechanism, a coupling, etc. In this way, the transfer of material 201 between the first device 100 and the second device 200 is facilitated, and the space it occupies is smaller. In addition, the second logistics line 221 can be various well-known logistics lines without an independent drive system, such as belt lines, synchronous belt lines, roller lines, conveyor chain lines, flat chain lines, double-speed chain lines, etc., but is not limited to these.

[0062] [Power docking device 120]

[0063] Reference Figures 3 to 6 , and auxiliary reference Figure 1 In some embodiments, the power docking device 120 is disposed behind the first material transfer unit 110, with the first coupling portion 130 of the power docking device 120 coupled to the output end 141 of the rotary drive unit 140. Material 201 can be placed on the second logistics line 221. After the second device 200 and the first device 100 are docked, the second logistics line 221 connects to the power docking device 120 via the second coupling portion 230, thereby being driven by the power docking device 120, simultaneously carrying the material 201 and transferring it to the first device 100. Thus, the second material transfer unit 220 can simultaneously carry the material 201 and, after being driven, directly transfer the material 201 to the first device 100. This eliminates the need for a separate drive system for the second logistics line 221 of the second device 200 docking with the first device 100, significantly reducing costs when docking one first device 100 with multiple second devices 200. It should be noted that a plurality of power docking devices 120 may be provided on the first device 100 , and similarly, a plurality of second logistics lines 221 may be provided on the second device 200 .

[0064] In some embodiments, the power docking device 120 further includes a docking drive unit 150 . After the first device 100 and the second device 200 are docked, the docking drive unit 150 drives the first joint 130 and the second joint 230 to connect, thereby driving the second logistics line 221 .

[0065] The docking drive unit 150 is configured to drive the first engaging portion 130 to switch between a detached position RD and an engaged position TH. When the first engaging portion 130 is driven to the engaged position TH, it can engage with the second logistics line 221, allowing the rotation drive unit 140 to drive the second logistics line 221. When the first engaging portion 130 is driven to the detached position RD, it can separate from the second logistics line 221. In this embodiment, the provision of the docking drive unit 150 allows the first engaging portion 130 to switch between the detached position RD and the engaged position TH, thereby improving the accuracy of the engagement between the first engaging portion 130 and the second engaging portion 230.

[0066] It is contemplated that the separation position RD refers to the position where the first engaging portion 130 and the second engaging portion 230 are separated, allowing the second device 200 to be transferred. The engagement position TH refers to the position where the first engaging portion 130 and the second engaging portion 230 are engaged, allowing the rotary drive unit 140 of the power docking device 120 to drive the second logistics line 221. The switching method between the separation position RD and the engagement position TH is not limited and can be, for example, switched by sliding in the front-to-back, left-to-right, or up-to-down direction, or by rotation in the front-to-back, left-to-right, or up-to-down direction.

[0067] It is conceivable that the first engaging portion 130 and the second engaging portion 230 can be engaged in any engaging manner. For example, the first engaging portion 130 may include a first engaging member 133 such as an internal hexagonal socket, a claw, etc., and the second engaging portion 230 may include a second engaging member 134 (such as an external hexagonal shaft that cooperates with the socket, other claws that match the claws), and the first engaging portion 130 and the second engaging portion 230 are engaged in an engaging manner and rotate in conjunction.

[0068] It is contemplated that the rotational drive unit 140 may be driven by a motor. For example, the rotational drive unit 140 may include a motor and a speed reducer. In this case, the output end 141 of the rotational drive unit 140 refers to the output shaft of the speed reducer. The rotational drive unit 140 may also include only a motor. In this case, the output end 141 of the rotational drive unit 140 refers to the output shaft of the motor. Alternatively, the rotational drive unit 140 may be driven by a hydraulic motor, or by a combination of a pneumatic cylinder or a hydraulic cylinder and a connecting rod.

[0069] In some embodiments, to simplify the structure of the powered docking device 120, the docking drive 150 is configured to drive the first engaging portion 130 to slide and switch between the disengaged position RD and the engaged position TH in a direction perpendicular to the rotational plane of the first engaging portion 130. Specifically, for example, as the first engaging portion 130 rotates about its rotational axis, the first engaging portion 130 can slide and switch along the direction extending from its rotational axis. For example, as the first engaging portion 130 rotates in a plane defined by the front-to-back direction and the up-to-down direction, the first engaging portion 130 can slide and switch along a left-to-right direction perpendicular to the front-to-back direction and the up-to-down direction, respectively.

[0070] In some embodiments, in order to facilitate the engagement of the first engaging portion 130 and the second engaging portion 230, the docking drive portion 150 includes a docking elastic member 151 and a reset drive portion 152. The docking elastic member 151 is configured to drive the first engaging portion 130 to switch from the separation position RD to the engagement position TH (at Figure 5 In the middle, from right to left, Figure 6 The reset drive unit 152 is configured to drive the first engaging portion 130 to switch from the engaging position TH to the disengaging position RD (in the middle). Figure 5 From left to right, in Figure 6 (from right to left in the figure). Specifically, the docking elastic member 151 can be a mechanical component such as a spring, a hydraulic buffer, or an elastic ejector pin, and is configured to be connected to the first engaging portion 130 and to consistently apply force in a direction that causes the first engaging portion 130 to switch from the disengaged position RD to the engaged position TH. When the first engaging portion 130 and the second engaging portion 230 each select a locking member, the rotational position of the second engaging portion 230 mounted on the second logistics line 221 is uncertain. Therefore, when the docking drive unit 150 drives the first engaging portion 130 to switch from the disengaged position RD, there is a possibility that the first engaging portion 130 may not switch directly to the engaged position TH and may become stuck with the second engaging portion 230. In this embodiment, by providing a docking elastic member 151, even when the first joint part 130 and the second joint part 230 are stuck, the docking elastic member 151 always applies force to the first joint part 130 toward the second joint part 230. At this time, when the rotation drive part 140 drives the first joint part 130 to rotate, the first joint part 130 rotates relative to the second joint part 230. When the first joint part 130 rotates to a position that matches the second joint part 230, the docking elastic member 151 continues to push the first joint part 130, thereby enabling the first joint part 130 and the second joint part 230 to match.

[0071] Furthermore, it is conceivable that the reset drive portion 152 may include a reset cylinder 153 and a reset limiting member 154 connected to the telescopic rod of the reset cylinder 153. The output force of the reset cylinder 153 is greater than the elastic force of the docking elastic member 151. The reset limiting member 154 is located in front of the extension direction of the first engaging portion 130 and, driven by the reset cylinder 153, can apply force in the reset direction to switch the first engaging portion 130 from the engaged position TH to the disengaged position RD. Thus, when the reset cylinder 153 is driven in the reset direction (retraction), the reset limiting member 154 pushes the first engaging portion 130 to compress the docking elastic member 151, causing the first engaging portion 130 to switch from the engaged position TH to the disengaged position RD. When the reset cylinder 153 is driven in the direction opposite to the reset direction (extension), the docking elastic member 151 pushes the first engaging portion 130 from the disengaged position RD to the engaged position TH. It is conceivable that although the cylinder is used as the driving source of the reset driving unit 152 in this description, the present invention is not limited thereto, and the reset driving unit 152 may also be a motor.

[0072] In some embodiments, to prevent friction between the first engaging portion 130 and the reset driving portion 152 when the first engaging portion 130 is driven to rotate by the rotation driving portion 140, the reset driving portion 152 has a driving stroke greater than the distance from the disengagement position RD to the engagement position TH, so that the reset driving portion 152 and the first engaging portion 130 are separated after the first engaging portion 130 switches from the disengagement position RD to the engagement position TH. For example, the piston rod of the reset cylinder 153 of the reset driving portion 152 has a telescopic stroke greater than the distance from the disengagement position RD to the engagement position TH. In other words, after the first engaging portion 130 and the second engaging portion 230 are engaged, the reset cylinder 153 can continue to drive for a certain distance to separate from the first engaging portion 130. This prevents the reset limiting member 154 from colliding with the first engaging portion 130 when the first engaging portion 130 is driven to rotate, thereby preventing wear or noise from the first engaging portion 130.

[0073] In some embodiments, a first mounting portion 160 is further included. The first mounting portion 160 is connected to the output end 141 of the rotation drive portion 140 and is driven to rotate by the rotation drive portion 140. The first engaging portion 130 is mounted to the first mounting portion 160 and rotates coaxially with the first mounting portion 160. Specifically, a motor is used as the power source of the rotation drive portion 140 as an example. For example, the first mounting portion 160 is connected to the output shaft of the motor and is driven to rotate by the motor. The first mounting portion 160 can be supported by a seat bearing 162, and the first engaging portion 130 is mounted to the first mounting portion 160. In this way, the first engaging portion 130 can be easily installed.

[0074] In some embodiments, to prevent friction between the first engaging portion 130 and the docking elastic member 151 when the first engaging portion 130 is rotated by the rotation driving portion 140, the docking elastic member 151 is mounted on the first mounting portion 160 and drives the first engaging portion 130 to switch from the disengaged position RD to the engaged position TH on the first mounting portion 160. As a result, the docking elastic member 151 and the first engaging portion 130 rotate together with the rotation of the first mounting portion 160, and there is no sliding between the docking elastic member 151 and the first engaging portion 130, thereby preventing friction.

[0075] In some embodiments, the first mounting portion 160 includes a first drive shaft 161, which is coupled to the output end 141 of the rotary drive unit 140. The first engaging portion 130 is mounted to and slides along the first drive shaft 161. The first drive shaft 161 can be supported by a seated bearing 162. One end of the first drive shaft 161 is coupled to the motor of the rotary drive unit 140. The first engaging portion 130 includes a first engaging member 133, which is inserted into the distal end of the first drive shaft 161 and slides along the first drive shaft 161. To prevent the first engaging member 133 from sliding relative to the first drive shaft 161, the distal end of the first drive shaft 161 can be configured with a chamfered edge. The first engaging member 133 is provided with a chamfered circular hole that mates with the first drive shaft 161. In this embodiment, the docking elastic member 151 can be a coil spring, which is mounted on the first drive shaft 161, with one end abutting the first drive shaft 161 and the other end abutting the first engaging member 133.

[0076] It is conceivable that the first mounting plate 163 can also be embedded on the first driving shaft 161, and the docking elastic members 151 include multiple ones, which are respectively arranged around the first driving shaft 161, and each of which abuts the first mounting plate 163 at one end and the first engaging member 133 at the other end.

[0077] In some embodiments, to properly arrange the first mounting portion 160 and the rotary drive portion 140, the first mounting portion 160 is coupled to the output end 141 of the rotary drive portion 140 via a first transmission portion 170. Specifically, for example, the first drive shaft 161 of the first mounting portion 160 can be coupled to the output shaft of the motor of the rotary drive portion 140 via the first transmission portion 170. Examples of the first transmission portion 170 include, but are not limited to, a synchronous belt drive mechanism, a belt drive mechanism, a chain drive mechanism, a gear drive mechanism, and a coupling drive mechanism. Thus, the first mounting portion 160 and the rotary drive portion 140 can be properly arranged based on the actual installation space of the power docking device 120.

[0078] While the above embodiment illustrates an example in which the first engaging portion 130 is mounted on the first mounting portion 160 and connected to the output end 141 of the rotary drive portion 140 via the first transmission portion 170, the present invention is not limited thereto. It is contemplated that in some embodiments, the first engaging portion 130 may be slidably mounted on the output end 141 of the rotary drive portion 140; the docking elastic member 151 is disposed on the output end 141 of the rotary drive portion 140 to drive the first engaging portion 130 to slide from the disengaged position RD to the engaged position TH; and the reset drive portion 152 is configured to drive the first engaging portion 130 to slide from the engaged position TH to the disengaged position RD. For example, the first engaging member 133 may be directly embedded in the output shaft of the motor, guided by a guide key mounted on the motor output shaft, and slidably engaged on the motor output shaft. The docking elastic member 151 may be a coil spring, one end of which abuts the end of the motor and the other end of which abuts the first engaging member 133. The reset drive portion 152 is configured similarly to the above embodiment and will not be further described in detail.

[0079] Furthermore, in the above-described structure of the powered docking device 120, although the docking drive unit 150 is configured to drive the first engaging portion 130 to slide and switch between the disconnected position RD and the engaged position TH in a direction perpendicular to the rotation plane of the first engaging portion 130, the present invention is not limited thereto. The docking drive unit 150 may also drive the first engaging portion 130 in other directions to switch between the disconnected position RD and the engaged position TH.

[0080] Figure 7 This is a schematic diagram of the power docking device 120a, referring to Figure 7 For example, in some embodiments, the first engaging portion 130 of the power docking device 120a includes a first gear 131, and the second engaging portion 230 includes a second gear 132 that meshes with the first gear 131. The power docking device 120a may further include a second mounting portion 164, such as a second mounting plate. The rotation driving portion 140 is mounted to the second mounting portion 164. The rotation driving portion 140 includes a motor and a reducer. The first gear 131 is coupled to the output shaft of the reducer. The docking driving portion 150 is connected to the second mounting portion 164 and drives the second mounting portion 164 to switch positions, thereby meshing or disengaging the first gear 131 and the second gear 132.

[0081] [Fastening device 400]

[0082] Reference Figures 8 to 10 In some embodiments, in order to improve the reliability of the transfer of the material 201, the docking system further includes a fastening device 400, which is arranged on the first device 100 (refer to Figure 2The fastening device 400 restrains the second device 200 according to the docking between the second device 200 and the first device 100, or releases the restraint on the second device 200, allowing the second device 200 to be transferred relative to the first device 100 by the handling device 300. The provision of the fastening device 400 ensures stable docking between the first device 100 and the second device 200, improving the reliability of the transfer of material 201 by the first material transfer unit 110 and the second material transfer unit 220.

[0083] In some embodiments, the fastening device 400 includes a first stopper 410, a second stopper 420, a first limiting member 430, and a fastening driver 440. The second stopper 420 is located behind the first stopper 410 and is configured to switch between a first position ST and a second position ND. The first limiting member 430 can abut against the second stopper 420. The fastening driver 440 is configured to slide the second stopper 420 relative to the first limiting member 430 to switch the second stopper 420 between the first position ST and the second position ND. When the second stopper 420 is in the second position ND, the second device 200 can cross the second stopper 420 and abut against the first stopper 410 to dock with the first device 100. Alternatively, the second device 200 can cross the second stopper 420 and be transferred relative to the first device 100. After the second device 200 and the first device 100 are docked, when the second stopper 420 is in the first position ST, the second device 200 is constrained relative to the first device 100.

[0084] It is conceivable that in this embodiment, when the second device 200 needs to be docked and fixed with the first device 100, the fastening drive unit 440 positions the second blocking member 420 in the second position ND. After the second device 200 is positioned between the first blocking member 410 and the second blocking member 420 in the front-to-back direction, the second blocking member 420 is positioned in the first position ST to relatively fix the first device 100 and the second device 200, thereby transferring the material 201. Since the second blocking member 420 switches between the first position ST and the second position ND, the second device 200 can also easily switch between a fastened state and a transferable state relative to the first device 100.

[0085] It can be imagined that the second blocking member 420 is not limited to a specific position as long as it is located behind the first blocking member 410 in the front-to-back direction. For example, the second blocking member 420 can be located directly behind the first blocking member 410 or obliquely behind the first blocking member 410, as long as they can fasten the second device 200 so that it can be stuck relative to the first device 100 installed by the fastening device 400.

[0086] It is conceivable that in this embodiment, if the first device 100 is used as a reference, the second device 200 approaches the first device 100 from the rear. For example, the first stopper 410 serves as a positioning reference, positioning the second device 200 in the front direction, while the second stopper 420 restricts the second device 200 from moving backward. This ensures that the second device 200 is fixed in the front-to-back direction relative to the first device 100.

[0087] It is conceivable that in this embodiment, the first position ST refers to the position where the second stopper 420 can restrict the second device 200 from moving backward. The second position ND refers to the position where the second stopper 420 allows the second device 200 to cross over, abutting the first stopper 410 in the forward direction to approach the first device 100, or to move backward away from the first device 100. However, this is not particularly limited. As long as the second device 200 can be restricted or released, the directions of the first position ST and the second position ND are not limited. For example, the first position ST and the second position ND can be located in a vertical direction, with the first position ST being higher than the second position ND in the vertical direction. The first position ST and the second position ND can also be located in a horizontal direction, with the first position ST being higher than (protruding beyond) the second position ND in the horizontal direction.

[0088] It is conceivable that the fastening device 400 can be installed at any position of the first device 100 as long as it can restrict the second device 200 or lift the restriction on the second device 200. For example, a first substrate 101 can be installed at the lower part of the first device 100, and the fastening device 400 is installed on the first substrate 101.

[0089] In some embodiments, to facilitate the switching of the second blocking member 420, the fastening device 400 further includes a third mounting plate 401. The second blocking member 420 is movably mounted to the third mounting plate 401 to switch between the first position ST and the second position ND. Since the second blocking member 420 is movably mounted to the third mounting plate 401, the position of the second blocking member 420 can be easily changed. Furthermore, the connection between the second blocking member 420 and other components, such as the fastening drive 440, is also facilitated.

[0090] It is contemplated that the fastening drive unit 440 can be connected to the second blocking member 420 to drive the second blocking member 420, or it can be connected to the first limiting member 430 to drive the first limiting member 430 so that the second blocking member 420 slides relative to the first limiting member 430. Here, the fastening drive unit 440 can drive the second blocking member 420 in the front-to-back direction. Furthermore, it is contemplated that the fastening drive unit 440 can also drive the second blocking member 420 in the left-to-right direction. Similarly, the fastening drive unit 440 can also drive the first limiting member 430 in the front-to-back direction or the left-to-right direction.

[0091] It is conceivable that the fastening drive unit 440 can use either a cylinder or a motor. For example, when the fastening drive unit 440 uses a cylinder, a first linear slide 402 extending in the front-to-back direction can be provided on the first base plate 101 of the first device 100. The third mounting plate 401 is mounted on the first linear slide 402 and connected to the cylinder serving as the fastening drive unit 440. The cylinder drives the third mounting plate 401 to slide in the front-to-back direction, thereby causing the second blocking member 420 to slide in the front-to-back direction. As a result, the second blocking member 420 can not only limit the rearward movement of the second device 200, but also push the second device 200 toward the first blocking member 410, further fastening the first device 100 and the second device 200.

[0092] Reference Figure 11 、 Figure 12 In some embodiments, to enable the second blocking member 420 to switch between the first position ST and the second position ND, the second blocking member 420 is rotatably mounted to the third mounting plate 401. The first limiting member 430 includes a first guide portion 431 and a second guide portion 432. The first guide portion 431 is parallel to the horizontal direction, while the second guide portion 432 is vertically (vertically) lower than the first guide portion 431. The second blocking member 420 slides along the first guide portion 431 and the second guide portion 432, respectively, to switch between the first position ST and the second position ND. Specifically, the third mounting plate 401 includes a first rotating shaft 403. Accordingly, the second blocking member 420 includes a first hole 421, into which the first rotating shaft 403 is inserted, allowing the second blocking member 420 to freely rotate about the first rotating shaft 403. It is contemplated that to further smooth the rotation of the second blocking member 420, a first bearing 422 may be embedded within the first hole 421, into which the first rotating shaft 403 is inserted. In addition, it is conceivable that the first rotating shaft can also be set on the second blocking member 420 , and correspondingly, the first hole portion can be set on the third mounting plate 401 .

[0093] The first guide portion 431 can be a guide plane disposed at the top of the first restricting member 430 in the vertical direction. The bottom portion 423 of the second blocking member 420 in the vertical direction aligns with the top plane of the first guide portion 431. The fastening drive unit 440 is connected to the third mounting plate 401 and drives the second blocking member 420 to slide horizontally along the first guide portion 431 in the front-to-back direction. As a result, the second blocking member 420 is restrained by the first guide portion 431 and positioned in the first position ST. In this embodiment, after the second device 200 passes over the second blocking member 420, the fastening drive unit 440 drives the second blocking member 420 horizontally in the forward direction, thereby pushing the second device 200 in the front-to-back direction and fastening it to the first device 100.

[0094] Furthermore, the second guide portion 432 is arranged to be vertically lower than the first guide portion 431. Specifically, when the second stopper 420 is in the first position ST, the center of gravity of the second stopper 420 is located behind the first hole 421, and the second stopper 420 is supported on the first guide portion 431. When the second stopper 420 slides rearward out of the first guide portion 431, the second stopper 420 rotates about the first rotation axis 403 under the action of gravity, and the vertical height of the top portion 424 of the second stopper 420 gradually decreases. As a result, the second stopper 420 can gradually switch from the first position ST (i.e., a position capable of restricting the second device 200) to the second position ND (i.e., a position capable of releasing the restriction on the second device 200).

[0095] The second guide portion 432 can be arranged at an angle or perpendicular to the first guide portion 431. In this embodiment, the distance S1 between the center O of the first hole portion 421 of the second blocking member 420 and the top portion 424 is greater than the distance S2 between the center O of the first hole portion 421 and the front portion 425. Therefore, when the second blocking member 420 is located on the first guide portion 431, the second blocking member 420 is in the first position ST. When the fastening drive portion 440 drives the second blocking member 420 in the rear direction so that the second blocking member 420 slides out of the first guide portion 431 in the rear direction, the second blocking member 420 rotates around the first rotating shaft 403 under the action of gravity until the top 424 of the second blocking member 420 is located in the rear direction and the front side 425 of the second blocking member 420 is located in the upper direction. Since the distance S1 between the center O of the first hole portion 421 of the second blocking member 420 and the top 424 is greater than the distance S2 between the center O of the first hole portion 421 of the second blocking member 420 and the front side 425, at this time, the highest height of the second blocking member 420 (that is, the second blocking member 420 is in the second position ND) is lower than the highest height when the second blocking member 420 is located in the first guide portion 431 (that is, the first position ST).

[0096] When the fastening drive unit 440 drives the second stopper 420 forward, the bottom 423 of the second stopper 420 is blocked by the second guide portion 432, and the second stopper 420 gradually rotates about the first rotation axis 403 until the bottom 423 of the second stopper 420 abuts the first guide portion 431. At this point, the second stopper 420 switches from the second position ND to the first position ST. To facilitate the switching of the second stopper 420 from the second position ND to the first position ST, a chamfer 426 is provided between the bottom 423 and the front side portion 425 of the second stopper 420. The radius of the chamfer 426 is preferably greater than or equal to the distance S3 between the first hole 421 and the bottom of the second stopper 420.

[0097] Figure 13 is a schematic diagram of the fastening device 400a, referring to Figure 13In some embodiments, to enable the second blocking member 420 to switch between the first position ST and the second position ND, the first limiting member 430 may also be provided with a third guide portion 433. The third guide portion 433 gradually decreases in height from the first position ST toward the second position ND, and the second blocking member 420 slides along the third guide portion 433. Specifically, when the first position ST and the second position ND are arranged in a vertical direction, the third guide portion 433 gradually decreases in height from the first position ST toward the second position ND, meaning that the first position ST gradually decreases in height toward the second position ND. When the first position ST and the second position ND are arranged in a horizontal direction, the third guide portion 433 gradually decreases in height from the first position ST toward the second position ND, meaning that the second blocking member 420 gradually retracts away from the second device 200, i.e., gradually retracts in a direction opposite to the direction in which it would engage the second device 200.

[0098] In some embodiments, the second stopper 420 is rotatably mounted to the third mounting plate 401, for example, also mounted to the first rotating shaft 403 disposed on the third mounting plate 401 through the first hole 421. As the second stopper 420 slides along the third guide portion 433, it gradually rotates between a first position ST and a second position ND. It is contemplated that the third guide portion 433 may be a guide slope that gradually slopes vertically from top to bottom. For example, when the second stopper 420 switches from the first position ST to the second position ND, the fastening drive 440 drives the second stopper 420 rearward. Under the action of gravity, the second stopper 420 slides downward along the guide slope relative to the third guide portion 433. As it gradually rotates against the guide slope, the height of the top portion 424 of the second stopper 420 gradually decreases. Consequently, the second stopper 420 gradually switches from the first position ST (i.e., a position capable of restraining the second device 200) to the second position ND (i.e., a position capable of releasing the restraint on the second device 200). In addition, the fastening driving portion 440 may also be connected to the first limiting member 430 to drive the first limiting member 430 to make the second blocking member 420 slide relative to the guiding inclined surface of the third guiding portion 433 .

[0099] Here, the guide slope of the third guide portion 433 is preferably configured to gradually slope from top to bottom along the vertical direction. This allows the weight of the second blocking member 420 to be fully utilized, allowing it to remain in contact with the guide slope as the guide slope changes. However, this is not limiting. For example, when the first position ST and the second position ND are set in the horizontal direction, the third guide portion may also be provided with a guide groove (not shown). By at least partially embedding the second blocking member 420 in the guide groove, the second blocking member 420 can remain in contact with the guide groove as the guide groove changes.

[0100] Figure 14 is a perspective view of the fastening device 400b, referring to Figure 14 In some embodiments, the second blocking member 420 can be mounted to the third mounting plate 401 so as to slide from a first position ST to a second position ND. As the second blocking member 420 slides along the third guide portion 433, it gradually switches between the first position ST and the second position ND. Specifically, the second blocking member 420 can be mounted to the third mounting plate 401 via a linear guide device 404, such as a linear slide rail or guide groove. Furthermore, the third guide portion 433 is also a guide slope, gradually sloping vertically from top to bottom. For example, when the second blocking member 420 switches from the first position ST to the second position ND, the fastening drive unit 440 drives the second blocking member 420 to move rearward. Under the action of gravity, the second blocking member 420 slides downward along the guide slope of the third guide portion 433. While abutting the guide slope, the top 424 of the second blocking member 420 gradually decreases in height under the guidance of the linear guide device 404. As a result, the second blocking member 420 can gradually switch from the first position ST (i.e., a position capable of restraining the second device 200) to the second position ND (i.e., a position capable of releasing the restraint on the second device 200). Similarly, in this embodiment, the fastening drive unit 440 can also be connected to the first restraining member 430 to drive the first restraining member 430 to cause the second blocking member 420 to slide relative to the guide slope of the third guide portion 433.

[0101] Continue to refer to Figure 9 、 Figure 10 In some embodiments, to facilitate the transfer of the second device 200 to the first device 100, the first device 100 is further provided with a fourth guide portion 405. The fourth guide portion 405 is disposed behind the first stopper 410 and gradually protrudes vertically upward as it approaches the first stopper 410. Specifically, a first support member 406 can be disposed behind the first stopper 410 and mounted on the first substrate 101. The fourth guide portion 405 can be a guiding slope disposed on the top of the first support member 406. When the second device 200 is driven (for example, by tightening the drive unit 440 to drive the second stopper 420 forward, thereby pulling the second device 200) toward the first device 100, the second device 200 slides on the fourth guide portion 405 of the first support member 406 and is gradually raised, thereby facilitating its transfer to the first device 100 and preventing collision with the first device 100.

[0102] In some embodiments, in order to further facilitate the transfer of the second device 200 to the first device 100, a lifting elastic member 407 is further included, which is arranged behind the first blocking member 410. The lifting elastic member 407 is connected to the fastening drive unit 440 and applies force in the vertically upward direction. Specifically, the lifting elastic member 407 can be selected from, for example, a coil spring. When the second device 200 and the first device 100 are docked, the second device 200 descends and presses the lifting elastic member 407. In contrast, the lifting elastic member 407 applies force upward to the second device 200. Therefore, when the second device 200 is transferred toward the first device 100, the lifting elastic member 407 applies force from the bottom up to the second device 200. Therefore, the second device 200 can be easily lifted up on the fourth guide portion 405 of the first support member 406.

[0103] In addition, although various embodiments of the fastening device 400 are described above, the fastening device 400 is not limited thereto. The fastening device 400 can also directly clamp the second device 200 through a cylinder such as a rotary clamping cylinder, or the fastening device 400 can also directly fix the second device 200 through a cylinder-driven pin, etc.

[0104] [Blocking device 500]

[0105] Reference Figure 15 、 Figure 16 Because the second material transfer unit 220 lacks an independent drive system, when the transport device 300 transports the second device 200, the rotation of the second material transfer unit 220 may cause the material 201 to move. Furthermore, due to inertia during transport, the material 201 may slip and fall off the second material transfer unit 220. In some embodiments, the second device 200 is further provided with a blocking device 500. The blocking device 500 is arranged in the direction of transport of the second material transfer unit 220 and can block the material 201. Upon docking of the first device 100 and the second device 200, the blocking device 500 is driven by the first device 100 to release the blocking of the material 201.

[0106] Reference Figure 17 、 Figure 18 And auxiliary reference Figure 15 、 Figure 16 In some embodiments, the blocking device 500 includes: a third blocking member 510, a blocking driving member 530, a first connecting member 540, and a blocking elastic member 520. The third blocking member 510 is swingably mounted to the frame 210. The third blocking member 510 can be driven by the first device 100, for example, by the protruding block 102 of the first device 100, and is moved from the blocking position 501 (refer to Figure 19 、 Figure 20), switch to the release position 502 to release the obstruction of the material 201 (refer to Figure 22 The blocking driving member 530 is swingably mounted to the frame 210. The first connecting member 540 is connected to the third blocking member 510 and the blocking driving member 530, and the first connecting member 540 is connected to the first connecting position 503 (refer to Figure 20 ), and the second connection position 504 (refer to Figure 21 ), at least one of which is changeable. When the second device 200 and the first device 100 are docked, the blocking driver 530 is driven by the first device 100 to swing, and by pulling the first connecting member 540, the third blocking member 510 is driven to swing, switching from the blocking position 501 to the releasing position 502. The blocking elastic member 520 is configured to drive the third blocking member 510 to the blocking position 501.

[0107] Since the first connecting member 540 is respectively connected to the third blocking member 510 and the blocking driving member 530, when the blocking driving member 530 is driven, the first connecting member 540 drives the third blocking member 510 to switch between the blocking position 501 and the release position 502. In addition, since a blocking elastic member 520 is provided to drive the blocking driving member 530 to place the third blocking member 510 in the blocking position 501, even if the second device 200 does not have a driving system, it can still block the material 201 carried by the second device 200.

[0108] Reference Figure 19 、 Figure 20 It can be imagined that the blocking position 501 refers to the position where the third blocking member 510 limits the passage of the material 201 blocked thereby; Figure 22 The release position 502 refers to a position where the third blocking member 510 allows the blocked material 201 to pass through.

[0109] In some embodiments, in order to facilitate the assembly and disassembly of the blocking device 500, the blocking device 500 may further include a mounting base 560. The mounting base 560 may be a single component that is integrally formed, or a component that is assembled from multiple sub-components. The blocking device 500 may mount the third blocking member 510, the blocking driving member 530, the first connecting member 540, and the blocking elastic member 520 to the frame 210 via the mounting base 560. Specifically, the third blocking member 510 may be swingably mounted to the mounting base 560. The first end portion 511 of the third blocking member 510 extends out of the mounting base 560 and may be moved to the blocking position 501 (refer to FIG. 2 ) as the third blocking member 510 swings. Figure 19 、 Figure 20 ) and release position 502 (reference Figure 22 blocking the drive member 530 is swingably mounted to the mounting base 560, and the second end portion 531 of the blocking drive member 530 extends out of the mounting base 560.

[0110] It can be imagined that, in the above description, although the first end 511 of the third blocking member 510 is described as extending out of the mounting base 560, technical personnel in this field should broadly understand that: the first end 511 extending out of the mounting base 560 is not limited to the first end 511 having to extend as a whole out of the mounting base 560, but means that as long as the first end 511 extends to a position where the mounting base 560 does not interfere with the material 201, it will suffice. For example, when the mounting base 560 is in the shape of a U-shaped groove, and the material 201 passes through the U-shaped groove of the mounting base 560, the first end 511 extends into the U-shaped groove, which means that the first end 511 extends out of the mounting base 560.

[0111] In addition, similarly, although it is described that the second end 531 of the blocking driving member 530 extends out of the mounting base 560, technical personnel in this field should broadly understand that: the second end 531 extending out of the mounting base 560 is not limited to the second end 531 having to extend as a whole out of the mounting base 560, but means that as long as the second end 531 extends to a position where the mounting base 560 does not interfere with, for example, a docking device, for example, when the mounting base 560 is in the shape of a U-shaped groove and the docking device partially extends into the U-shaped groove of the mounting base 560, as long as the second end 531 extends into the U-shaped groove, it means that the second end 531 extends out of the mounting base 560.

[0112] Reference Figure 18 、 Figure 20 、 Figure 22In some embodiments, the first connecting member 540 and the third blocking member 510 are slidably connected to each other so that the first connection position 503 can be changed. Specifically, for example, the mounting base 560 is provided with a fourth mounting plate 561, on which a first rotating member 562, such as a rotating pin, is mounted. The first rotating member 562 extends in the front-to-back direction. Correspondingly, the first middle portion 512 of the third blocking member 510 is provided with a first rotating hole 513. The first rotating hole 513 is adapted to fit the first rotating member 562 and rotates around the first rotating member 562. The first end portion 511 is provided at the upper portion of the third blocking member 510, connected to the upper end of the first middle portion 512, and extends outward at an acute angle R1, such as approximately 60°, relative to the upper end of the first middle portion 512. The third blocking member 510 has a third end portion 514 at its lower portion. The third end portion 514 is connected to the lower end of the first intermediate portion 512 and extends outward at an acute angle R2, for example, approximately 60°, relative to the lower end of the first intermediate portion 512. The upper portion of the first connecting member 540 is slidably connected to the third end portion 514. As the blocking driver 530 drives the first connecting member 540, the third end portion 514 of the third blocking member 510 slides relative to the first connecting member 540, and the third blocking member 510 rotates about the first rotating member 562, causing the first end portion 511 of the third blocking member 510 to swing vertically. When the first end portion 511 swings downward, it is in a blocking position 501, capable of restraining, for example, the material 201 and preventing it from falling. When the first end portion 511 swings upward, it is in a release position 502, allowing, for example, the material 201 to be transferred. By arranging the first connecting member 540 and the third blocking member 510 to be slidably connected so as to change the first connection position 503 , it is possible to prevent the first connecting member 540 and the third blocking member 510 from getting stuck, thereby allowing the third blocking member 510 to swing smoothly.

[0113] In some embodiments, one of the first connector 540 and the third blocking member 510 is provided with a fifth guide portion 515, and the other is provided with a first sliding member 541. The first sliding member 541 is adapted to fit the fifth guide portion 515 and slides along the fifth guide portion 515. This allows the first connector 540 and the third blocking member 510 to be smoothly slidably connected to each other. For example, a groove can be provided at the third end 514 of the third blocking member 510 as the fifth guide portion 515, and a sliding pin can be provided on the first connector 540 as the first sliding member 541. The first sliding member 541 is inserted into the fifth guide portion 515 in the front-to-back direction and slides along the fifth guide portion 515. Thus, when the first connector 540 is driven, for example, in the up-down direction, the first sliding member 541 simultaneously pulls the third blocking member 510 in the up-down direction, causing the third blocking member 510 to swing.

[0114] It can be imagined that although the above description is based on setting the fifth guide part 515 to the third blocking member 510 and setting the first sliding member 541 to the first connecting member 540, it is not limited to this. The fifth guide part 515 can also be set to the first connecting member 540, and the first sliding member 541 can also be set to the third blocking member 510.

[0115] Reference Figure 21 、 Figure 23 In some embodiments, the first connecting member 540 and the blocking driving member 530 are slidably connected to each other so that the second connection position 504 can be changed. Specifically, for example, the mounting base 560 is provided with a fifth mounting plate 563, which is substantially perpendicular to the fourth mounting plate 561. A second rotating member 564, such as a rotating pin, is mounted on the fifth mounting plate 563. The second rotating member 564 extends in the left-right direction, that is, the second rotating member 564 is substantially perpendicular to the first rotating member 562. Correspondingly, the second intermediate portion 532 of the blocking driving member 530 is provided with a second rotating hole 533. The second rotating hole 533 and the second rotating member 564 are adapted to rotate around the second rotating member 564. The second end portion 531 is provided at the lower portion of the blocking driving member 530, connected to the lower end of the second intermediate portion 532, and extends outward at a substantially acute angle R3, such as 60°, relative to the lower end of the second intermediate portion 532. The upper portion of the blocking driver 530 is provided with a fourth end portion 534, which is connected to the upper end of the second intermediate portion 532 and extends outward at a substantially acute angle R4, for example, 60°, relative to the upper end of the second intermediate portion 532. The lower portion of the first connecting member 540 is slidably connected to the fourth end portion 534, thereby pulling the first connecting member 540 as the blocking driver 530 swings.

[0116] In some embodiments, one of the first connecting member 540 and the blocking driving member 530 is provided with a sixth guide portion 535, and the other is provided with a second sliding member 542. The second sliding member 542 is adapted to the sixth guide portion 535 and slides along the sixth guide portion 535. In this way, the first connecting member 540 and the blocking driving member 530 can be smoothly connected to each other. For example, a groove can be provided at the fourth end portion 534 of the blocking driving member 530 as the sixth guide portion 535, and a sliding pin can be provided at the first connecting member 540 as the second sliding member 542. The second sliding member 542 is moved in the left-right direction (in the right direction). Figure 21 、 Figure 23 The fourth end portion 534 is inserted into the sixth guide portion 535 (in the direction perpendicular to the paper) and slides along the sixth guide portion 535. Therefore, when the blocking driving member 530 is driven in the front-back direction, the blocking driving member 530 rotates around the second rotating member 564, and the fourth end portion 534 swings and pulls the first connecting member 540, thereby causing the third blocking member 510 to swing.

[0117] It can be imagined that although the above description is based on setting the sixth guide part 535 to the blocking driver 530 and setting the second sliding member 542 to the first connecting member 540, it is not limited to this. The sixth guide part 535 can also be set to the first connecting member 540, and the second sliding member 542 can also be set to the blocking driver 530.

[0118] It is conceivable that although the above description uses the example of the first connecting member 540 being slidably connected to the third blocking member 510 and the blocking driving member 530, respectively, to change the first connection position 503 where the first connecting member 540 connects to the third blocking member 510 and the second connection position 504 where the first connecting member 540 connects to the blocking driving member 530, thereby achieving mutual linkage between the blocking driving member 530, the third blocking member 510, and the first connecting member 540, the present invention is not limited to this. For example, the first connecting member 540 may be slidably connected only to the third blocking member 510 (i.e., the first connection position 503 is adjustable), and the first connecting member 540 is hingedly connected to the blocking driving member 530 via a connecting rod (not shown), thereby achieving mutual linkage between the blocking driving member 530, the third blocking member 510, and the first connecting member 540. Alternatively, the first connecting member 540 may be slidably connected to the blocking driver 530 (i.e., the second connection position 504 is changeable), and the first connecting member 540 may be hingedly connected to the third blocking member 510 via a connecting rod (not shown), thereby realizing the mutual linkage of the blocking driver 530, the third blocking member 510, and the first connecting member 540. Furthermore, the first connecting member 540 may be directly used as a connecting rod, with one end slidably connected to one of the third blocking member 510 and the blocking driver 530, and the other end hingedly connected to the other of the third blocking member 510 and the blocking driver 530.

[0119] Continue to refer to Figure 18 In some embodiments, the first connecting member 540 is slidably mounted on the mounting base 560. One of the first connecting member 540 and the mounting base 560 is provided with a seventh guide portion 565, and the other is provided with a third sliding member 543. The third sliding member 543 fits with the seventh guide portion 565 and slides along the seventh guide portion 565. Specifically, for example, a groove extending in the up-down direction is provided on the inner side of the fifth mounting plate 563 as the seventh guide portion 565. The first connecting member 540 is plate-shaped, and the edge of the first connecting member 540 serves as the third sliding member 543 and is embedded in the seventh guide portion 565. When the blocking driving member 530 is driven, the first connecting member 540 is pulled to slide up and down in the seventh guide portion 565, thereby driving the third blocking member 510 to swing.

[0120] Continue to refer to Figures 20 to 23 , and auxiliary reference Figure 15 、 Figure 16Thus, the blocking device 500 can achieve that when the blocking driver 530 is driven in the front-to-back direction, the third blocking member 510 swings in a plane defined by the up-down and left-to-right directions. Such a blocking device 500 is suitable for use in a second device 200 without a driving force. For example, the second device 200 is transported in the front-to-back direction by the transport device 300. The first device 100 is provided with a protrusion 102. When the second device 200 and the first device 100 are docked, the protrusion 102 abuts the second end 531 of the blocking driver 530 from the front, driving the fourth end 534 of the blocking driver 530 to swing forward clockwise around the second rotating member 564. At the same time, the first connecting member 540 is pulled downward, thereby pulling the first end 511 of the third blocking member 510 to swing upward, thereby switching the third blocking member 510 from the blocking position 501 to the release position 502.

[0121] In some embodiments, the blocking elastic member 520 is an inwardly contracting blocking elastic member 520, such as a tension spring or elastic belt. One end of the tension spring is connected to the mounting base 560, and the other end is connected to the blocking driver 530. Specifically, taking the tension spring as an example, one end of the tension spring is connected to the mounting base 560, such as the fifth mounting plate 563 of the mounting base 560, and the other end of the tension spring is connected to the blocking driver 530. More specifically, the tension spring is located at the rear side of the blocking driver 530, with one end of the tension spring connected to the rear and upper portion of the fifth mounting plate 563 relative to the blocking driver 530, and the other end of the tension spring is connected above the second rotation hole 533 of the blocking driver 530, such as to the fourth end 534 of the blocking driver 530. This ensures that the blocking driver 530 is reliably pulled rearward, thereby reliably positioning the first end 511 of the third blocking member 510 in the blocking position 501.

[0122] It can be imagined that although the above description uses an inward-contracting blocking elastic member 520 such as a tension spring as the reset member, it is not limited to this. The reset member can also be an outward-expanding blocking elastic member 520 such as a compression spring, a nitrogen spring, or an oil pressure buffer.

[0123] In addition, it can be imagined that although the above description is that one end of the blocking elastic member 520 is connected to the mounting base 560 and the other end is connected to the blocking driving member 530, it is not limited to this. The blocking elastic member 520 can also be connected to the mounting base 560 at one end and connected to one of the first connecting member 540 or the third blocking member 510 at the other end.

[0124] Reference Figure 19It is conceivable that, in the above embodiments, for example, the third blocking member 510 may include two members, one located on the left and right sides of the mounting base 560, and the blocking elastic member 520 may also include two members, one located on the left and right sides of the mounting base 560. Correspondingly, the fifth mounting plate 563 may also include two members on the left and right sides. The two blocking elastic members 520 each have one end mounted to one of the fifth mounting plates 563, and the other end respectively pulls the blocking driving member 530. In this way, the left-right coordination and balance of the blocking device 500 can be improved.

[0125] Furthermore, in the above embodiment of the blocking device 500, although the blocking device 500 is described as including: a third blocking member 510, a blocking driving member 530, a first connecting member 540, and a blocking elastic member 520, the present invention is not limited thereto. The blocking device 500 may also include only: the third blocking member 510 and the blocking elastic member 520. The third blocking member 510 is swingably mounted to the frame 210. The third blocking member 510 can be driven by the first device 100 to switch from a blocking position 501 for blocking the material 201 to a release position 502 for releasing the material 201. The blocking elastic member 520 is configured to drive the third blocking member 510 to the blocking position 501. It is conceivable that the first device 100 can directly drive the third blocking member 510 to swing. For example, when the second device 200 and the first device 100 are docked, the third blocking member 510 collides with the first device 100 and swings. The first device 100 can also swing the third blocking member 510 by, for example, a cylinder. For example, when the second device 200 and the first device 100 are docked, the cylinder provided in the first device 100 pushes the third blocking member 510 to swing.

[0126] [Emergency stop device 600]

[0127] Reference Figure 24 And refer to Figure 15 In some embodiments, to control the operation or stopping of the second device 200 being transported, the second device 200 further includes an emergency stop device 600. The emergency stop device 600 is disposed on the frame 210 and can be switched to be sensed by the sensor 310 of the transport device 300, or disconnected from the sensor 310 to cause the transport device 300 to operate or stop. By providing the emergency stop device 600, the transport device 300 can be conveniently operated or stopped, thereby causing the second device 200 to operate or stop.

[0128] Reference Figures 24 to 27Specifically, the emergency stop device 600 includes an emergency stop member 610 and a sensing unit 620. The emergency stop member 610 and the sensing unit 620 are mounted on the frame 210. To facilitate installation of the emergency stop device 600, the emergency stop member 610 can be mounted on the frame 210 via an emergency stop mounting bracket 630. The emergency stop mounting bracket 630 is disposed on the frame 210. The emergency stop member 610 is mounted on the emergency stop mounting bracket 630 and can be driven to switch between an operating position 601 and a stop position 602. The sensing unit 620 is connected to the emergency stop member 610 and is sensed by a sensor 310 provided on the transport device 300 for transporting the second device 200 as the emergency stop member 610 switches between the operating position 601 and the stop position 602, or is disconnected relative to the sensor 310, thereby causing the transport device 300 to operate or disconnect.

[0129] In the emergency stop device 600 of this embodiment, since a sensing part 620 is provided which can be sensed by the sensor 310 of the transport device 300 that transports the second device 200 or be disconnected relative to the sensor 310 as the emergency stop part 610 is switched, the second device 200 provided with such an emergency stop device 600 does not need a control system and can easily control the operation or stop of the transport device 300.

[0130] It is conceivable that the emergency stop mounting bracket 630 can be installed on the rack 210 in any manner as long as it can mount the emergency stop part 610, for example, it can be installed on the rack 210 by threaded connection, welding, clamping, etc., or it can be directly processed on the rack 210.

[0131] It is conceivable that the operating position 601 and the stop position 602 of the emergency stop 610 can be any position, as long as the position of the sensing portion 620 can be changed. For example, the position where the emergency stop 610 enables the sensing portion 620 to be sensed by the sensor 310 of the transport device 300 can be used as the operating position 601, and the position where the emergency stop 610 disconnects the sensing portion 620 from the sensor 310 of the transport device 300 can be used as the stop position 602. Furthermore, it should be noted that the operating position 601 and the stop position 602 can also be interchanged. For example, the position where the sensing portion 620 can be sensed by the sensor 310 of the transport device 300 can be used as the stop position 602, and the position where the emergency stop 610 disconnects the sensing portion 620 from the sensor 310 of the transport device 300 can be used as the operating position 601. In this manner, only the control logic of the control system needs to be modified.

[0132] In some embodiments, to facilitate operator control of the emergency stop 610, the emergency stop 610 is mounted on the upper portion of the frame 210 via an emergency stop mounting bracket 630, and the sensing unit 620 is mounted on the lower portion of the frame 210. The emergency stop 610 and the sensing unit 620 are connected via a transfer unit 640. Specifically, the emergency stop 610 can be mounted via the emergency stop mounting bracket 630 to any location on the upper portion of the frame 210 that is convenient for an operator to directly operate manually, such as on a side or the top of the upper portion of the frame 210. Accordingly, since the sensing unit 620 is used to match the stopping (e.g., emergency stop) or operation (e.g., resumption of operation or normal operation) of the transport device 300, the sensing unit 620 is positioned according to the position of the transport device 300 in transporting the frame 210. Specifically, the sensing unit 620 can be positioned anywhere that can be easily sensed by the sensor 310 of the transport device 300, such as on the sides or bottom of the lower portion of the frame 210.

[0133] In some embodiments, in order to facilitate the control of the sensing unit 620 via the emergency stop unit 610, the transfer unit 640 includes a flexible member 641, one end 641a of the flexible member 641 being connected to the emergency stop unit 610, and the other end 641b of the flexible member 641 being connected to the sensing unit 620. Specifically, the flexible member 641 may be a flexible member such as a wire rope, a rubber rope, a belt, a synchronous belt, or a chain. In order to guide the trajectory of the flexible member 641, the frame 210 may be provided with a plurality of idler pulleys 642 that are adapted to the shape of the flexible member 641. For example, these idler pulleys 642 may be smooth pulleys capable of guiding a wire rope or a belt, synchronous pulleys capable of guiding a synchronous belt, or sprockets capable of guiding a chain.

[0134] Thus, the transfer part 640 can configure the trajectory of the flexible part 641 according to the specific structure of the rack 210 to prevent interference between the installation space of the transfer part 640 and the rack 210. For example, when the rack 210 is a welded rack 210, these idler wheels 642 can be installed on the rack 210 by welding, so as to easily guide the flexible part 641 from the upper part of the rack 210 to the lower part of the rack 210, thereby connecting the emergency stop part 610 and the sensing part 620.

[0135] Furthermore, it is conceivable that the emergency stop member 610 and the sensing unit 620 can be connected to the flexible member 641 in any manner as long as they are compatible with the flexible member 641. For example, the emergency stop member 610 and the sensing unit 620 can be connected to the flexible member 641 respectively via connecting components 643. These connecting components 643 can be, for example, clamps for clamping wire ropes, belts, or synchronous belts, or pins for connecting chains. Furthermore, the flexible member 641 can also be directly connected to the emergency stop member 610 and the sensing unit 620 respectively by various means, such as winding, thread locking, riveting, welding, or clamping.

[0136] It is conceivable that although the flexible member 641 is described as the transfer part 640, it is not limited to this. The transfer part 640 can also choose other connection methods such as a connecting rod (not shown) to connect the emergency stop part 610 and the sensing part 620 respectively.

[0137] Reference Figure 25 、 Figure 26 And auxiliary reference Figure 24 ,in, Figure 25 The sensing portion 620 and Figure 26 The sensing portion 620 is substantially the same except for its orientation, and thus will be described together herein. In some embodiments, to facilitate control of the sensing portion 620 and prevent the sensor 310 from erroneously sensing the sensing portion 620 when the transport device 300 transports the rack 210, the sensing portion 620 includes a sensing member 621 and a shielding member 622. At least one of the shielding member 622 and the sensing member 621 is connected to the emergency stop member 610 and is driven as the emergency stop member 610 switches between the operating position 601 and the stop position 602, so that the shielding member 622 shields the sensing member 621, or the sensing member 621 is exposed relative to the shielding member 622. Specifically, the sensing member 621 is fixed to the frame 210, and the shielding member 622 is connected to the other end 541b of the flexible member 641. As the emergency stop member 610 switches between the operating position 601 and the stop position 602, the shielding member 622 is pulled by the flexible member 641 and switches its position relative to the sensing member 621, thereby revealing or shielding the sensing member 621. The shielding member 622 is plate-shaped, and the frame 210 is further provided with a slide groove 623 at the bottom of the sensing member 621. At least the edge portion of the shielding member 622 is inserted into the slide groove 623 and can slide within the slide groove 623. The shielding member 622 is connected to the emergency stop member 610 disposed on the upper portion of the frame 210 via a clamp serving as a connecting component 643 and a steel wire rope serving as the flexible member 641. When the emergency stop member 610 switches between the operating position 601 and the stop position 602, the wire rope acting as the flexible member 641 is pulled, thereby causing the shielding member 622 to slide within the chute 623 (for example, in the figure, in the forward and backward direction), thereby shielding the sensing member 621 or revealing the sensing member 621. When the sensing member 620 is exposed, it can be sensed by the sensor 310 of the transport device 300. As a result, the sensor 310 can input a signal to the transport device 300 to continue operation (e.g., an ON control signal). When the sensing member 621 is blocked by the shielding member 622, the sensor 310 cannot sense the sensing member 621. The sensor 310 can input an emergency stop signal (e.g., an OFF control signal) to the transport device 300. Thus, the transport device 300 can decide whether to continue operation (e.g., continue operation) or make an emergency stop based on whether the sensor 310 inputs the control signal.

[0138] Therefore, the second device 200 of the present invention can also easily control the transport device 300 to stop or continue operation using this mechanical emergency stop device 600. In addition, the emergency stop device 600 can be easily installed at any position on the frame 210 via the transfer portion 640, so the emergency stop device 600 can be installed according to the operator's operating position.

[0139] It can be imagined that although the emergency stop member 610 is connected to the shielding member 622 through the flexible member 641 to drive the shielding member 622 to slide in the slide groove 623, it is not limited to this. For example, the emergency stop member 610 can also be connected to the sensing member 621 through the flexible member 641, the shielding member 622 is installed on the lower part of the frame 210, and the slide groove 623 is set on the upper part of the shielding member 622. The emergency stop member 610 pulls the sensing member 621 through the flexible member 641, so that the sensing member 621 is exposed relative to the shielding member 622 or is covered by the shielding member 622.

[0140] Furthermore, to reduce the driving stroke of the emergency stop 610, the shielding member 622 and the sensing member 621 can also be configured to be able to slide, and the shielding member 622 and the sensing member 621 can be connected via a transmission mechanism such as a gear rack, thereby enabling linkage. Alternatively, the emergency stop 610 can be connected to both the shielding member 622 and the sensing member 621. For example, the emergency stop 610 can be connected to two flexible members 641, and the two flexible members 641 are respectively connected to the shielding member 622 and the sensing member 621, and are guided by different intermediate idler pulleys 642 so that their sliding directions are opposite.

[0141] In some embodiments, an elastic driving member 650 is further included. The elastic driving member 650 is configured to drive the shielding member 622 or the sensing member 621 when the emergency stop member 610 switches from the operating position 601 to the stop position 602, so that the shielding member 622 blocks the sensing member 621 or the sensing member 621 is exposed from the shielding member 622. The following description uses the position where the emergency stop member 610 enables the sensing portion 620 to be sensed by the sensor 310 of the transport device 300 as an example of the operating position 601, and the position where the emergency stop member 610 disconnects the sensing portion 620 from the sensor 310 of the transport device 300 as an example of the stop position 602. Furthermore, in this embodiment, the flexible member 641 is connected to the shielding member 622 as an example. Specifically, in this embodiment, one end of the elastic driving member 650 abuts the frame 210, and the other end abuts the shielding member 622. For example, to facilitate the elastic driving member 650 abutting the shielding member 622, a protruding sheet metal member 624 may be provided on the shielding member 622. A mounting shaft 525 may also be provided to mount the elastic driving member 650. When the emergency stop member 610 is in the operating position 601, the emergency stop member 610 pulls on the flexible member 641 to drive the shielding member 622. Simultaneously, the elastic driving member 650 is compressed, thereby exposing the sensing member 621 from the shielding member 622, allowing the sensor 310 of the transport device 300 to sense the sensing member 621. When the emergency stop member 610 switches from the running position 601 to the stop position 602 (i.e., the emergency stop member 610 switches positions in the direction of releasing the flexible member 641), the compression of the elastic driving member 650 is released, thereby driving the shielding member 622 to slide in the sliding groove 623 (in the Figure 25 The elastic driving member 650 is provided so that the shielding member 622 can reliably shield the sensing member 621 or allow the sensing member 621 to be exposed from the shielding member 622, thereby improving the reliability of the operation or stopping of the transport device 300.

[0142] It is contemplated that the elastic driving member 650 may be an outward-expanding elastic member, such as a coil spring, a nitrogen spring, or an oil pressure buffer, or an inward-contracting elastic member, such as a tension spring or an elastic belt. Those skilled in the art may appropriately adjust the relative positions of the elastic driving member 650 and the flexible member 641 based on the actual installation space.

[0143] It can be imagined that although the above description is made using the elastic driving member 650 driving the shielding member 622 as an example, it is not limited to this. For example, the elastic driving member 650 can also drive the sensing member 621 to make the shielding member 622 shield the sensing member 621 or make the sensing member 621 appear from the shielding member 622.

[0144] In addition, although the above description is based on the example that the sensing part 620 has a blocking member 622 and a sensing member 621, it is not limited to this. In some embodiments, for example, the sensing part 620 may only include the sensing member 621, and the sensing member 621 is connected to the emergency stop member 610, and is sensed by the sensor 310 as the emergency stop member 610 switches between the running position 601 and the stop position 602, or is disconnected relative to the sensor 310.

[0145] In some embodiments, to facilitate operators controlling the stopping or starting of the transport device 300 from various directions, the emergency stop members 610 and the shielding members 622 are provided at multiple locations. Each emergency stop member 610 is connected to a shielding member 622 and actuates the shielding member 622 to cause the shielding member 622 to block the sensing member 621 or to reveal the sensing member 621 relative to the shielding member 622. Specifically, for example, an emergency stop mounting bracket 630 may be provided in the front and rear directions of the frame 210, with each emergency stop mounting bracket 630 being provided with an emergency stop member 610. Accordingly, the sensing portion 620 includes one sensing member 621 and two shielding members 622. The emergency stop members 610 located in the front and rear directions of the frame 210 are connected to two shielding members 622, respectively. Thus, the shielding members 622 can be independently actuated to cause the shielding member 622 to block the sensing member 621 or to reveal the sensing member 621 relative to the shielding member 622. Thus, in this embodiment, the operator can conveniently operate the emergency stop member 610 at various positions, thereby improving the safety of the transport device 300. Furthermore, since the sensing member 621 is fixed relative to the frame 210, there is no need to adjust the position of the sensor 310 relative to the sensing member 621, nor is there a need to increase the number of sensors 310. This not only makes it easier to control the operation or stop of the transport device 300, but also does not increase additional costs.

[0146] Continue to refer to Figure 27-Figure 29 , and auxiliary reference Figure 24 , the emergency stop part 610 is described in detail below.

[0147] As described above, as long as the position of the sensing portion 620 can be changed, the operating position 601 and the stop position 602 can be any position. It is conceivable that the emergency stop member 610 can be switched from the operating position 601 to the stop position 602 by, for example, sliding, swinging, or rotating. For example, the emergency stop member 610 can be slidably mounted to the emergency stop mounting seat 630 to slide and switch from the operating position 601 to the stop position 602; or the emergency stop member 610 can also be mounted on the emergency stop mounting seat 630 by, for example, a hinged manner to swing and switch from the operating position 601 to the stop position 602; or the emergency stop member 610 can also be set to rotate around its own axis relative to the emergency stop mounting seat 630 to rotate and switch from the operating position 601 to the stop position 602; or the emergency stop member 610 and the emergency stop mounting seat 630 can also be assembled as a whole into the form of a manual quick clamp.

[0148] In some embodiments, to ensure that the emergency stop member 610 remains stably in the operating position 601 or the stop position 602, the emergency stop device 600 may further include an elastic limiting member 660. The elastic limiting member 660 is configured to limit the emergency stop member 610 when the emergency stop member 610 is in the operating position 601 or the stop position 602. Specifically, the elastic limiting member 660 may be an elastic pin, a roller plunger, a ball plunger, or the like. Furthermore, the elastic limiting member 660 may be mounted on either the emergency stop mounting base 630 or the emergency stop member 610.

[0149] For example, to facilitate installation of the elastic limiting member 660, in some embodiments, the elastic limiting member 660 is mounted on the emergency stop mounting base 630. The emergency stop member 610 is provided with a first groove 611 and a second groove 612 spaced apart along the switching direction. When the emergency stop member 610 is in the operating position 601, the elastic limiting member 660 is inserted into the first groove 611; when the emergency stop member 610 is in the stop position 602, the elastic limiting member 660 is inserted into the second groove 612. This facilitates installation of the elastic limiting member 660 while stably holding the emergency stop member 610.

[0150] In some embodiments, to facilitate switching of the emergency stop member 610, a guide portion 631 is provided on the emergency stop mounting seat 630, and the emergency stop member 610 is slidably mounted within the guide portion 631. Specifically, for example, a guide hole 632 may be provided on the guide portion 631. Accordingly, the emergency stop member 610 is configured to be substantially axial, with a first groove 611 and a second groove 612 spaced apart along the axial direction of the emergency stop member 610. The emergency stop member 610 slides within the guide hole 632 of the emergency stop mounting seat 630. The elastic limiting member 660 is mounted on the emergency stop mounting seat 630 and partially extends into the guide hole 632 along the radial direction of the guide hole 632, inserting into the first groove 611 or the second groove 612. Thus, the emergency stop member 610 can be conveniently slidably switched between the operating position 601 and the stop position 602.

[0151] In addition, although the example of limiting the emergency stop member 610 by the elastic limiting member 660 is used for explanation, it is not limited to this. For example, the emergency stop member 610 can also be stabilized in the operating position 601 or the stop position 602 by means of a connecting rod (for example, when the emergency stop member 610 and the emergency stop mounting base 630 are assembled into the form of a manual quick clamp).

[0152] Therefore, the emergency stop device 600 as described above is provided with a sensing part 620 that can be sensed by the sensor 310 of the transport device 300 that transports the second device 200 or be disconnected relative to the sensor 310 as the emergency stop part 610 is switched. Therefore, the second device 200 does not need a control system and can easily control the operation or stop of the transport device 300.

[0153] In addition, since the emergency stop member 610 is connected to the sensing portion 620 via the transfer portion 640 , such as the flexible member 641 , the emergency stop member 610 can be set at any position that is convenient for operators to operate, thereby improving the safety of the handling of the handling device 300 .

[0154] Furthermore, since the emergency stop member 610 can be provided in multiple locations and each corresponds to a sensing member 621 , it is not only easy to control the operation or stop of the transport device 300 , but also does not require additional cost.

[0155] Furthermore, since the elastic limiting member 660 is provided, the emergency stop member 610 can be stably maintained at the operating position 601 or the stopping position 602 , thereby improving the reliability of the operation or stopping (continuing operation) of the transport device 300 .

[0156] It is conceivable that the sensing portion 620 sensed by the sensor 310, for example, the sensing element 621 of the sensing portion 620, can be a sheet-shaped or strip-shaped sensing element 621. Accordingly, the sensor 310 can be a sensor such as a photoelectric sensor, an ultrasonic sensor, a laser obstacle avoidance sensor, a proximity switch, or a sensor with a camera such as a smart camera, a CCD, a barcode scanner, or a barcode scanner box. Furthermore, the sensor 310 can also be a travel switch, etc.

[0157] In some embodiments, to improve sensing accuracy, the sensor 310 can be a sensor with a camera, and the sensing unit 620 can be provided with an identification unit (not shown) that can be recognized by the camera. Specifically, for example, the sensor 310 can be a barcode scanner or a barcode scanning box installed on the AGV vehicle serving as the transport device 300. Correspondingly, the identification unit of the sensing unit 620 can be a QR code located below the sensing element 621. This can improve sensing accuracy and thus enhance the reliability of the emergency stop device 600 in controlling the operation or stopping of the transport device 300.

[0158] The production line system according to the second embodiment of the present invention includes any one of the above-mentioned docking systems, and the docking system includes a plurality of second devices 200 .

[0159] According to the production line system of this embodiment, due to the docking system of the production line system, a set of power docking devices of the first device 100 can correspond to multiple sets of second devices 200 without independent drive systems, thereby greatly reducing the cost of the production line.

[0160] It is conceivable that the production line system, in addition to the first device 100 and multiple sets of second devices 200, may also include devices that perform other operations.

[0161] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the scope of the present invention.

Claims

1. The docking system is characterized by: include: A first device and a second device, wherein The first device is provided with: First Material Transfer Department, a power docking device connected to the first material transfer part, comprising a first engaging part and a rotation driving part for driving the first engaging part to rotate; The second device can be transported by a transport device to dock with the first device, or be transferred relative to the first device, and the second device has a frame for loading materials, and the frame is provided with: The second material transfer part is used to transfer the material and is docked with the first material transfer part according to the docking of the first device and the second device. a second engaging portion connected to at least one end of the second material transfer portion, and connected to the power docking device according to the docking of the first device and the second device, so that the second material transfer portion is driven by the power docking device to transfer the material between the first material transfer portion and the second material transfer portion; The first device is further provided with a fastening device, which restricts the second device or releases the restriction on the second device according to the docking of the second device and the first device, so that the second device can be transferred by the transport device relative to the first device; The fastening device comprises: Third mounting plate; a first blocking member; a second blocking member, located behind the first blocking member and rotatably mounted to the third mounting plate, wherein a distance between a rotation center of the second blocking member and the top portion is greater than a distance between a rotation center of the second blocking member and the front side portion; a first limiting member abutting against the second blocking member, the first limiting member being provided with a first guiding portion and a second guiding portion located behind the first guiding portion, the first guiding portion being parallel to the horizontal direction, the second guiding portion being lower than the first guiding portion in the vertical direction, and the second guiding portion being arranged in an inclined shape or perpendicular to the first guiding portion; a fastening drive portion configured to slide the second blocking member along the first guide portion and the second guide portion in a front-to-rear direction so as to switch the second blocking member between a first position and a second position; When the second blocking member is located at the second guide portion, the second blocking member is located at the second position, the front side portion is located in an upward direction, and the second device can cross the second blocking member and abut against the first blocking member to dock with the first device, or the second device can cross the second blocking member and be transferred relative to the first device; When the second blocking member is located at the first guide portion, the second blocking member is located at the first position, the top portion is located in an upward direction, and the second device is restricted relative to the first device.

2. The docking system according to claim 1, characterized in that: The second device is further provided with a blocking device, which is arranged in the conveying direction of the second material transfer part and can block the material. According to the docking of the first device and the second device, the blocking device is driven by the first device to release the blocking of the material.

3. The docking system according to claim 2, characterized in that: The blocking device comprises: a third blocking member, pivotably mounted to the frame, wherein the third blocking member can be driven by the first device to switch from a blocking position for blocking the material to a releasing position for releasing the material; a blocking elastic member, configured to drive the third blocking member to be in the blocking position; a blocking driving member, swingably mounted to the frame; a first connecting member connected to the third blocking member and the blocking driving member, respectively, wherein at least one of a first connection position where the first connecting member is connected to the third blocking member and a second connection position where the first connecting member is connected to the blocking driving member is changeable; According to the docking of the first device and the second device, the blocking driving member is driven by the first device to swing, and by pulling the first connecting member, the third blocking member is swung and switched from the blocking position to the releasing position.

4. The docking system according to claim 1, characterized in that The second device is further provided with an emergency stop device, which is arranged on the frame and can switch its position to be sensed by the sensor of the transport device, or be disconnected relative to the sensor to enable the transport device to run or stop.

5. The docking system according to claim 4, characterized in that: The emergency stop device comprises: an emergency stop member mounted on the frame and drivable to switch between an operating position for operating the transport device and a stop position for stopping the transport device; The sensing portion is connected to the emergency stop member and is sensed by the sensor or disconnected relative to the sensor as the emergency stop member switches between the running position and the stopping position.

6. The docking system according to claim 5, characterized in that: The sensing portion includes a sensing member and a shielding member. The shielding member and at least one of the sensing member are connected to the emergency stop member and are driven as the emergency stop member switches between the running position and the stop position, so that the shielding member shields the sensing member or the sensing member is exposed relative to the shielding member.

7. The docking system according to claim 1, characterized in that: The first engaging portion includes a first gear, and the second engaging portion includes a second gear that can mesh with the first gear; or The first engaging portion includes a first engaging member, and the second engaging portion includes a second engaging member. The first engaging member is configured to engage with the second engaging member along a direction perpendicular to a rotation plane of the first engaging member.

8. Production line system, characterized in that, The docking system comprises the docking system according to any one of claims 1 to 7, wherein the docking system comprises a plurality of the second devices.

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