Cargo transfer device and control method thereof

Abstract

The present application relates to the technical field of cargo transfer device, and particularly relates to a cargo transfer device and a control method thereof. The cargo transfer device provided by the present application comprises: a workpiece pickup unit adapted to clamp a workpiece; a moving unit connected with the workpiece pickup unit and adapted to drive the workpiece pickup unit to move; the workpiece pickup unit comprises: a front fork arm extending along a first direction, and an open slot is formed in the front fork arm; two clamping plates are oppositely arranged on the front fork arm along the first direction, the clamping plate has a clamping state arranged at an angle with the first direction, and a storage state parallel to the first direction and stored in the open slot; and a clamping plate turnover assembly is arranged in the front fork arm, the clamping plate turnover assembly is hingedly connected with the clamping plate and adapted to drive the clamping plate to switch between the clamping state and the storage state. Thus, the sliding or rolling of the cargo during the carrying process is avoided, and the practicability of the cargo transfer device is improved.

Description

Technical Field

[0001] This invention relates to the field of cargo handling equipment technology, specifically to a cargo transfer device and its control method. Background Technology

[0002] Forklifts are essential equipment in the transportation industry, generally used for loading, unloading, and stacking large goods. The forks are the working parts of the forklift used to lift and place goods. Traditional forks can handle large items smoothly, but for smaller or easily rolling items, they are prone to slipping or rolling during handling, which is inconvenient. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defect of traditional forks in the prior art that are not easy to handle small or easily rolling goods, thereby providing a goods transfer device that can conveniently handle small or easily rolling goods.

[0004] To solve the above-mentioned technical problems, the present invention provides a cargo transfer device, comprising:

[0005] Workpiece picking unit, suitable for clamping workpieces;

[0006] A moving unit, connected to the workpiece picking unit, is adapted to drive the workpiece picking unit to move;

[0007] The workpiece picking unit includes:

[0008] A fork arm extends along a first direction, and an opening slot is provided on the fork arm;

[0009] Two clamping plates are disposed opposite each other on the front fork arm along a first direction. The clamping plates have a clamping state that is set at an angle to the first direction, and a storage state that is parallel to the first direction and stored in the opening slot.

[0010] A clamp flipping assembly is disposed inside the fork arm. The clamp flipping assembly is hinged to the clamp and is adapted to drive the clamp to switch between a clamping state and a storage state.

[0011] Optionally, the moving unit includes: a forklift body, on which a lifting frame is provided, the lifting frame being adapted to drive the workpiece picking unit to move up and down; and wheels are provided at the bottom of the forklift body, the wheels being adapted to drive the forklift body to move horizontally or turn.

[0012] Optionally, the moving unit includes a robotic arm, one end of which is fixedly connected and the other end is connected to the workpiece picking unit. The robotic arm is adapted to drive the workpiece picking unit to translate or rotate around an axis.

[0013] Optionally, the cargo transfer device further includes: a clamping plate translation assembly, disposed within the front fork arm, adapted to drive the two clamping plates to move closer or further apart relative to each other along a first direction.

[0014] Optionally, the clamp flipping assembly includes:

[0015] The rotating shaft bracket is hinged to the flipping shaft formed on the clamping plate;

[0016] A telescopic rod extends along a first direction, and the telescopic rod is adapted to extend and retract along the first direction under the action of a flipping drive member;

[0017] The hinge rod has one end fixedly connected to the flipping shaft and the other end hingedly connected to the telescopic rod;

[0018] The telescopic rod is adapted to extend and retract to drive the hinge rod to rotate around the flipping axis, thereby synchronously driving the clamping plate to flip relative to the rotating shaft frame.

[0019] Optionally, the clamp translation assembly includes:

[0020] The clamping plate translation slide rail extends along the first direction and is disposed inside the front fork arm;

[0021] The clamping plate translation slider is movably connected to the clamping plate translation slide rail, and the clamping plate flipping assembly is fixedly connected to the clamping plate translation slider;

[0022] The clamping plate translation drive causes relative movement between the clamping plate translation slide rail and the clamping plate translation slider, thereby driving the clamping plate flipping assembly to translate.

[0023] Optionally, the clamp translation slide rail includes a lead screw, which includes two sections with opposite thread directions;

[0024] The number of the clamping plate translation sliders is two, and each of the two clamping plate translation sliders is provided with a thread adapted to a section of the lead screw;

[0025] The clamping plate translation drive includes a motor, which drives the lead screw to rotate, so as to synchronously drive the two clamping plate translation sliders to move closer or further apart relative to each other along a first direction.

[0026] Optionally, the cargo transfer device includes two front forks arranged parallel to each other along a third direction, and each front fork is provided with two clamps.

[0027] Optionally, the cargo transfer device further includes: two mounting plates, each mounting plate being connected to one of the front fork arms;

[0028] Each set of mounting plates and front fork arms is provided with a lifting slider on one of them and a lifting rail on the other. The lifting slider and the lifting rail cooperate to slide so that the front fork arm moves up and down relative to the mounting plate in a second direction.

[0029] Optionally, the cargo transfer device further includes: a fixed bracket, which is directly or indirectly fixed to the mobile unit, and the fixed bracket is movably connected to both of the mounting plates.

[0030] The fixed bracket has a translation rail extending along a third direction. Each mounting plate is provided with a translation slider, which is adapted to slide relative to the translation rail to drive the mounting plate to translate relative to the fixed bracket along a third direction.

[0031] The present invention also provides a method for controlling a cargo transfer device, comprising:

[0032] Obtain the dimensional parameters of the workpiece;

[0033] The coordinate data of the first clamping point and the coordinate data of the second clamping point are determined based on the size parameters of the workpiece;

[0034] The distance between the first and second front fork arms is determined based on the coordinate data of the first and second gripping points.

[0035] The height of the first fork arm, the opening width of the clamping plate of the first fork arm, and the positioning position of the clamping plate of the first fork arm are determined based on the coordinate data of the first clamping point.

[0036] The height of the second fork arm, the opening width of the clamping plate of the second fork arm, and the positioning position of the clamping plate of the second fork arm are determined based on the coordinate data of the second clamping point.

[0037] The clamping plates of the first and second front forks are tightened respectively to complete the workpiece clamping.

[0038] Optionally, the method further includes:

[0039] Obtain target location data;

[0040] Based on the current location coordinates of the cargo transfer device and the target location data, the movement path of the cargo transfer device is determined.

[0041] The technical solution of this invention has the following advantages:

[0042] 1. The cargo transfer device provided by the present invention comprises two clamping plates on a front fork arm, the two clamping plates being arranged opposite each other along a first direction and having a clamping state set at an angle to the first direction, and a storage state set parallel to the first direction and stored within the opening groove. Thus, when the two clamping plates are in the clamping state, small or easily rolling goods can be clamped between the two clamping plates, facilitating handling and preventing slippage or rolling of goods during handling. In the storage state, the clamping plates are set no higher than the upper surface of the front fork arm along a second direction, facilitating the handling of larger goods by the front fork arm and avoiding interference from the clamping plates. This improves the practicality of the cargo transfer device and facilitates the handling of goods of different sizes.

[0043] 2. The cargo transfer device provided by the present invention, by setting a clamping plate translation component, drives the two clamping plates to move closer or further apart relative to each other along a first direction, thereby enabling the cargo transfer device to be applicable to workpieces of different models. The clamping plate spacing is automatically adjusted according to the size of the workpiece to meet the clamping and fixing requirements of workpieces of different specifications. Furthermore, it eliminates the need for manual clamp replacement, thus enhancing versatility and significantly reducing labor costs and the time cost of changing clamps.

[0044] 3. The cargo transfer device provided by the present invention, by setting two mounting plates, and connecting one front fork arm to each mounting plate, allows the front fork arm to move up and down relative to the mounting plate in a second direction, thereby enabling independent adjustment of the two front fork arms. This allows both front fork arms to move up and down independently in the second direction to meet the clamping requirements of workpieces of different heights and sizes, improve the versatility of the cargo transfer device, and meet the space requirements of small CNC machining equipment.

[0045] 4. The cargo transfer device provided by the present invention, by setting a fixed bracket and movably connecting the two mounting plates to the fixed bracket, allows the mounting plates to translate relative to the fixed bracket in a third direction, thereby enabling the two front fork arms to open and close in a third direction to adjust the clamping position according to the length of the workpiece, meet the clamping requirements of different workpiece lengths, and improve the versatility of the equipment. Attached Figure Description

[0046] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the cargo transfer device of the present invention;

[0048] Figure 2 This is a partial schematic diagram of the front fork arm of the present invention;

[0049] Figure 3 This is a cross-sectional schematic diagram of the front fork arm of the present invention;

[0050] Figure 4 This is a schematic diagram of the clamp flipping assembly of the present invention;

[0051] Figure 5 This is a schematic diagram illustrating the cooperation between the forklift body and the workpiece picking unit of the present invention.

[0052] Figure 6 This is a schematic diagram showing the cooperation between the robotic arm and the workpiece picking unit of the present invention.

[0053] Explanation of reference numerals in the attached figures:

[0054] 1-Front fork arm, 3-Support frame, 11-Clamping plate, 12-Opening slot, 13-Clamping plate translation slide rail, 14-Clamping plate translation slider, 15-Clamping plate translation drive component, 16-Flip shaft, 161-Spindle bracket, 17-Flip drive component, 18-Hinge rod, 19-Telescopic rod;

[0055] 21-Lifting rail, 22-Lifting slider, 23-Transfer rail, 24-Transfer slider, 25-Mounting plate, 26-Fixed bracket.

[0056] 4-Forklift body, 41-Lifting frame, 42-Walking wheels; 5-Robotic arm; 9-Workpiece. Detailed Implementation

[0057] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0059] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0061] Example 1

[0062] Combination Figures 1-4 As shown, the cargo transfer device provided in this embodiment includes:

[0063] Workpiece picking unit, suitable for clamping workpiece 9;

[0064] A moving unit, connected to the workpiece picking unit, is adapted to drive the workpiece picking unit to move;

[0065] The workpiece picking unit includes:

[0066] A front fork arm 1 extends along a first direction, and an opening slot 12 is provided on the front fork arm 1;

[0067] Two clamping plates 11 are disposed opposite each other on the front fork arm 1 along the first direction. The clamping plates 11 have a clamping state that is set at an angle to the first direction, and a storage state that is parallel to the first direction and stored in the opening slot 12.

[0068] A clamping plate flipping assembly is disposed inside the front fork arm 1. The clamping plate flipping assembly is hinged to the clamping plate 11 and is adapted to drive the clamping plate 11 to switch between a clamping state and a storage state.

[0069] The front fork arm 1 can be configured as an L-shape, comprising a horizontal section extending along a first direction and a vertical section extending along a second direction. Specifically, the vertical section extending along the second direction can be... Figure 1 The support frame 3 in the middle, the horizontal section of the front fork arm 1 can support the workpiece.

[0070] The front fork arm 1 has an opening groove 12, which can be formed on the upper surface of the front fork arm 1.

[0071] Optionally, the clamping plate 11 has a clamping state that is angled to the first direction. In this embodiment, the clamping plate 11 may be set at 90 degrees to the first direction. The clamping plate 11 is rotated by the clamping plate flipping assembly, and the flipping angle is preferably 90 degrees.

[0072] Optionally, there are two clamping plates 11, which are arranged opposite each other on the front fork arm 1 along the first direction. When the two clamping plates 11 are in the clamping state, they can clamp small or easily rolling goods between them, thus facilitating handling and preventing the goods from slipping or rolling off during handling. This can be used to clamp shafts, bearings, and other processed parts on processing equipment. When the clamping plates 11 are in the retracted state, they are not higher than the upper surface of the front fork arm 1 along the second direction, thus facilitating the handling of larger goods by the front fork arm 1 and avoiding interference from the clamping plates 11. This allows for palletizing and other operations similar to those performed by a regular forklift.

[0073] The cargo transfer device provided in this embodiment features two clamping plates 11 mounted on the front fork arm 1, with the two clamping plates 11 facing each other along a first direction. These plates have a clamping state angled to the first direction and a storage state parallel to the first direction and retracted into the opening slot 12. When the two clamping plates 11 are in the clamping state, small or easily rolling goods can be held between them, facilitating handling and preventing slippage or rolling during transport. In the storage state, the plates are positioned along a second direction and not higher than the upper surface of the front fork arm 1, facilitating the handling of larger goods and preventing interference from the clamping plates 11. This improves the practicality of the cargo transfer device and facilitates the handling of goods of different sizes.

[0074] Optionally, a buffer layer is provided on the opposing surfaces of both clamping plates 11 to provide cushioning during clamping and prevent scratches on the workpiece. The buffer layer can be made of polyurethane. Optionally, the buffer layer has an inclined surface, allowing for adaptive adjustment when clamping different parts.

[0075] Specifically, in combination Figure 5 As shown, in one implementation, the moving unit includes: a forklift body 4, on which a lifting frame 41 is mounted, the lifting frame 41 being adapted to drive the workpiece picking unit to move up and down; and wheels 42 are mounted on the bottom of the forklift body 4, the wheels 42 being adapted to drive the forklift body 4 to translate or turn. By mounting a workpiece picking unit on the forklift body 4, the practicality of the forklift can be improved, facilitating the handling of goods of different sizes.

[0076] Specifically, in combination Figure 6As shown, in another implementation, the moving unit includes a robotic arm 5, one end of which is fixedly connected to the workpiece picking unit, and the other end of which is connected to the workpiece picking unit. The robotic arm 5 is adapted to drive the workpiece picking unit to translate or rotate around an axis. By setting the workpiece picking unit on the robotic arm 5, the workpiece transfer efficiency can be improved, and the workpiece can be moved between multiple workstations more conveniently.

[0077] As a variation, the mobile unit may further include an AGV (Automated Guided Vehicle), which is a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a prescribed navigation path, and possessing safety protection and various transfer functions. By setting a workpiece picking unit on the AGV, the mobility of the AGV can be improved, facilitating the gripping of workpieces of various shapes and sizes.

[0078] Specifically, the cargo transfer device further includes: a clamping plate translation assembly, disposed within the front fork arm 1, adapted to drive the two clamping plates 11 to move closer or further apart relative to each other along a first direction.

[0079] When the clamping plate 11 is in the clamping state, the clamping plate 11 can move relative to the front fork arm 1. Preferably, the two clamping plates 11 are adapted to move synchronously relative to the front fork arm 1 in a first direction, thereby realizing the clamping and releasing of the workpiece 9.

[0080] Traditional cargo transfer devices require changing the fixture for each workpiece of different sizes and shapes, resulting in high operating costs. Furthermore, the process of changing fixtures often necessitates manual intervention, leading to high maintenance costs. The cargo transfer device provided in this embodiment is applicable to different workpiece sizes and eliminates the need for manual fixture changes, offering greater versatility and significantly reducing labor costs and the time spent on fixture replacement.

[0081] The cargo transfer device provided in this embodiment, by setting a clamping plate translation component, drives the two clamping plates 11 to move closer or further apart relative to each other along a first direction. This allows the cargo transfer device to be applicable to workpieces of different models, automatically adjusting the clamping plate spacing according to the size of the workpiece to meet the clamping and fixing requirements of workpieces of different specifications. Furthermore, it eliminates the need for manual clamp replacement, enhancing its versatility and significantly reducing labor costs and the time cost of changing clamps.

[0082] Specifically, the clamp flipping assembly includes:

[0083] The rotating shaft bracket 161 is hinged to the flipping shaft 16 formed on the clamping plate 11;

[0084] The telescopic rod 19 extends along a first direction and is adapted to extend and retract along the first direction under the drive of the flipping drive member 17.

[0085] The hinge rod 18 is fixedly connected at one end to the flipping shaft 16 and hinged to the telescopic rod 19 at the other end.

[0086] The telescopic rod 19 is adapted to extend and retract to drive the hinge rod 18 to rotate around the flipping shaft 16, thereby synchronously driving the clamping plate 11 to flip relative to the rotating shaft frame 161.

[0087] Optionally, the rotating shaft frame 161 is provided with a rotating shaft hole, and the flipping shaft 16 extends into the rotating shaft hole. Specifically, the clamping plate 11 is provided with flipping shafts 16 on both sides along the width direction, so as to ensure that the flipping process of the clamping plate 11 is more stable.

[0088] Optionally, when the clamping plate 11 is tilted and erected at a 90-degree angle to the first direction, the telescopic rod 19 and the hinge rod 18 are exactly at the dead angle position of the linkage mechanism, thus achieving mechanical locking and preventing the clamping plate 11 from accidentally loosening under the reaction force of the workpiece, ensuring a better locking effect.

[0089] Specifically, the clamp translation assembly includes:

[0090] The clamping plate translation slide rail 13 extends along the first direction and is disposed inside the front fork arm 1;

[0091] The clamping plate translation slider 14 is movably connected to the clamping plate translation slide rail 13, and the clamping plate flipping assembly is fixedly connected to the clamping plate translation slider 14;

[0092] The clamping plate translation drive 15 causes relative movement between the clamping plate translation slide rail 13 and the clamping plate translation slider 14, thereby driving the clamping plate flipping assembly to translate.

[0093] Specifically, the clamping plate translation slide rail 13 includes a lead screw, which includes two sections with opposite thread directions;

[0094] The number of the clamping plate translation sliders 14 is two, and each of the two clamping plate translation sliders 14 is provided with a thread adapted to a section of the lead screw;

[0095] The clamping plate translation drive 15 includes a motor, which drives the lead screw to rotate, thereby synchronously driving the two clamping plate translation sliders 14 to move closer or further apart relative to each other along a first direction. This causes the two clamping plates 11 to move closer or further apart relative to each other along the first direction, thereby achieving the release of the clamping of the workpiece 9.

[0096] Specifically, the cargo transfer device includes two front fork arms 1 arranged parallel to each other along a third direction, and each front fork arm 1 is provided with two clamping plates 11.

[0097] The number of front fork arms 1 is two, and the two front fork arms 1 are arranged parallel to each other along a third direction, that is, the extension length of the two front fork arms 1 along the first direction is equal.

[0098] Specifically, the cargo transfer device further includes: two mounting plates 25, each mounting plate 25 being connected to a front fork arm 1;

[0099] Each set of mounting plates 25 and front fork arms 1 is provided with a lifting slider 22 on one of them and a lifting rail 21 on the other. The lifting slider 22 and the lifting rail 21 cooperate to slide so that the front fork arm 1 moves up and down relative to the mounting plate 25 in a second direction.

[0100] The cargo transfer device provided in this embodiment has two mounting plates 25, and each mounting plate 25 is connected to a front fork arm 1. The front fork arm 1 moves up and down relative to the mounting plate 25 in a second direction, so that the two front fork arms 1 can be adjusted independently. Both front fork arms 1 can move up and down independently in the second direction to meet the clamping requirements of workpieces of different heights and sizes, improve the versatility of the cargo transfer device, and meet the space requirements of small CNC machining equipment.

[0101] Specifically, the cargo transfer device further includes: a fixed bracket 26, which is directly or indirectly fixed to the mobile unit, and the fixed bracket 26 is movably connected to the two mounting plates 25.

[0102] The fixed bracket 26 has a translation rail 23 extending along a third direction. Each mounting plate 25 is provided with a translation slider 24. The translation slider 24 is adapted to slide relative to the translation rail 23 to drive the mounting plate 25 to translate relative to the fixed bracket 26 along a third direction.

[0103] The cargo transfer device provided in this embodiment, by setting a fixed bracket 26 and movably connecting two mounting plates 25 to the fixed bracket 26, allows the mounting plates 25 to translate relative to the fixed bracket 26 in a third direction, thereby enabling the two front fork arms 1 to open and close in a third direction to adjust the clamping position according to the length of the workpiece, meet the clamping requirements of different workpiece lengths, and improve the versatility of the equipment.

[0104] Example 2

[0105] This embodiment provides a control method for a cargo transfer device, including:

[0106] Obtain the dimensional parameters of the workpiece;

[0107] The coordinate data of the first clamping point and the coordinate data of the second clamping point are determined based on the size parameters of the workpiece;

[0108] The distance between the first and second front fork arms is determined based on the coordinate data of the first and second gripping points.

[0109] The height of the first fork arm, the opening width of the clamping plate of the first fork arm, and the positioning position of the clamping plate of the first fork arm are determined based on the coordinate data of the first clamping point.

[0110] The height of the second fork arm, the opening width of the clamping plate of the second fork arm, and the positioning position of the clamping plate of the second fork arm are determined based on the coordinate data of the second clamping point.

[0111] The clamping plates of the first and second front forks are tightened respectively to complete the workpiece clamping.

[0112] Since the workpiece picking unit in this embodiment is equipped with two front forks, which can clamp the workpieces respectively, two positions can be selected on the workpiece by obtaining the workpiece size parameters, so that the two front forks can clamp the workpieces respectively. This selection process can be done manually or by the control program based on experience.

[0113] Based on the coordinate data of the first and second gripping points, the distance between the first and second front fork arms is determined, and then the first and second front fork arms are controlled to move along a third direction to adjust the two front fork arms to a suitable width for easy gripping.

[0114] The height of the first front fork arm is determined based on the coordinate data of the first gripping point. The height of the first front fork arm can be the position that fits the lower surface of the workpiece at the first gripping point.

[0115] The opening width of the clamping plate of the first fork arm is determined based on the coordinate data of the first clamping point. The opening width of the clamping plate needs to be greater than the width of the workpiece at the first clamping point, so that the distance between the two clamping plates is greater than the width of the workpiece at that position.

[0116] The positioning position of the clamping plate of the first fork arm is determined based on the coordinate data of the first clamping point. Specifically, the position of the clamping plate on the front fork arm 1 along the first direction is determined, so as to facilitate the clamping of irregular workpieces.

[0117] The determination of the height of the second fork arm, the opening width of the clamping plate of the second fork arm, and the positioning position of the clamping plate of the second fork arm based on the coordinate data of the second clamping point are similar to the above description and will not be repeated here.

[0118] Specifically, the method further includes:

[0119] Obtain target location data;

[0120] Based on the current location coordinates of the cargo transfer device and the target location data, the movement path of the cargo transfer device is determined.

[0121] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A cargo transfer device, characterized in that, include: Workpiece picking unit, suitable for clamping workpiece (9); A moving unit, connected to the workpiece picking unit, is adapted to drive the workpiece picking unit to move; The workpiece picking unit includes: The fork arm (1) extends along a first direction, and an opening slot (12) is provided on the fork arm (1). Two clamping plates (11) are disposed opposite each other on the front fork arm (1) along the first direction. The clamping plates (11) have a clamping state that is set at an angle to the first direction, and a storage state that is parallel to the first direction and stored in the opening slot (12). A clamp flipping assembly is disposed inside the front fork arm (1). The clamp flipping assembly is hinged to the clamp (11) and is suitable for driving the clamp (11) to switch between clamping state and storage state. The cargo transfer device further includes: a clamping plate translation assembly, which is disposed in the front fork arm (1) and is adapted to drive the two clamping plates (11) to move closer or further apart relative to each other in a first direction; The cargo transfer device includes two front forks (1) arranged parallel to each other along a third direction, and each front fork (1) is provided with two clamps (11). The cargo transfer device further includes: two mounting plates (25), each mounting plate (25) is connected to a front fork arm (1); one of the mounting plates (25) and the front fork arm (1) is provided with a lifting slider (22), and the other is provided with a lifting rail (21). The lifting slider (22) and the lifting rail (21) cooperate to slide so that the front fork arm (1) moves up and down relative to the mounting plate (25) in a second direction; thereby enabling the two front fork arms (1) to be adjusted independently, so that both front fork arms (1) can move up and down independently in the second direction.

2. The cargo transfer device according to claim 1, characterized in that, The moving unit includes: a forklift body (4), on which a lifting frame (41) is provided, the lifting frame (41) being adapted to drive the workpiece picking unit to lift and lower; and a traveling wheel (42) is provided at the bottom of the forklift body (4), the traveling wheel (42) being adapted to drive the forklift body (4) to move horizontally or turn.

3. The cargo transfer device according to claim 1, characterized in that, The moving unit includes a robotic arm (5), one end of which is fixedly connected and the other end is connected to the workpiece picking unit. The robotic arm (5) is adapted to drive the workpiece picking unit to translate or rotate around an axis.

4. The cargo transfer device according to any one of claims 1-3, characterized in that, The clamp flipping assembly includes: The rotating shaft bracket (161) is hinged to the flipping shaft (16) formed on the clamping plate (11); A telescopic rod (19) is provided to extend along a first direction, and the telescopic rod (19) is adapted to extend and retract along the first direction under the drive of the flipping drive member (17); The hinge rod (18) is fixedly connected at one end to the flipping shaft (16) and hinged at the other end to the telescopic rod (19); The telescopic rod (19) is adapted to extend and retract to drive the hinge rod (18) to rotate around the flipping shaft (16), thereby synchronously driving the clamping plate (11) to flip relative to the rotating shaft frame (161).

5. The cargo transfer device according to claim 1, characterized in that, The clamp translation assembly includes: The clamping plate translation slide rail (13) extends along the first direction and is disposed inside the front fork arm (1); The clamping plate translation slider (14) is movably connected to the clamping plate translation slide rail (13), and the clamping plate flipping assembly is fixedly connected to the clamping plate translation slider (14); The clamp translation drive (15) causes the clamp translation slide rail (13) and the clamp translation slider (14) to move relative to each other, thereby driving the clamp flipping assembly to translate.

6. The cargo transfer device according to claim 5, characterized in that, The clamp translation slide rail (13) includes a lead screw, which includes two sections with opposite thread directions; The number of the clamping plate translation sliders (14) is two, and each of the two clamping plate translation sliders (14) is provided with a thread that is compatible with a section of the lead screw; The clamp translation drive (15) includes a motor, which drives the lead screw to rotate, so as to synchronously drive the two clamp translation sliders (14) to move closer or further apart relative to each other in a first direction.

7. The cargo transfer device according to claim 1, characterized in that, The cargo transfer device further includes: a fixed bracket (26), which is directly or indirectly fixed to the mobile unit, and the fixed bracket (26) is simultaneously movably connected to the two mounting plates (25); The fixed bracket (26) has a translation rail (23) extending along a third direction. Each mounting plate (25) is provided with a translation slider (24). The translation slider (24) is adapted to slide relative to the translation rail (23) to drive the mounting plate (25) to translate relative to the fixed bracket (26) along a third direction.

8. A control method for a cargo transfer device, characterized in that, An application to a cargo transfer device as described in any one of claims 1 to 7, comprising: Obtain the dimensional parameters of the workpiece; The coordinate data of the first clamping point and the coordinate data of the second clamping point are determined based on the size parameters of the workpiece; The distance between the first and second front fork arms is determined based on the coordinate data of the first and second gripping points. The height of the first fork arm, the opening width of the clamping plate of the first fork arm, and the positioning position of the clamping plate of the first fork arm are determined based on the coordinate data of the first clamping point. The height of the second fork arm, the opening width of the clamping plate of the second fork arm, and the positioning position of the clamping plate of the second fork arm are determined based on the coordinate data of the second clamping point. The clamping plates of the first and second front forks are tightened respectively to complete the workpiece clamping.

9. The control method for a cargo transfer device according to claim 8, characterized in that, The method further includes: Obtain target location data; Based on the current location coordinates of the cargo transfer device and the target location data, the movement path of the cargo transfer device is determined.

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