Material carrying device

Abstract

The material carrying device comprises a transplanting trolley and a positioning assembly used for positioning the transplanting trolley, a tray is movably arranged on the transplanting trolley, and a tray positioning part is arranged at the position of the positioning assembly; the number of the positioning assemblies is two, a channel for the transplanting trolley to pass through is formed between the two positioning assemblies, each positioning assembly comprises at least one positioning mechanism, and the transplanting trolley is provided with a positioning limiting mechanism matched with the positioning mechanism; the two tray positioning parts are located on the two sides of the channel, each tray positioning part comprises a jacking assembly which is vertically arranged in a sliding mode, according to the scheme that the AGV is used for carrying PACK production line materials, the flexibility of the flow direction of the production line and the completion sequence of completion procedures is improved, and the process sequence and unqualified product treatment are more flexible; the AGV moves on the road surface, no track is needed, maintenance is convenient, and cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of PACK production lines, and in particular to a material handling device. Background Art

[0002] In the production process of power batteries, the PACK assembly process requires various assembly and testing processes on the pallet PACK. The traditional assembly line using wire bodies is fixed and occupies a large area, with poor flexibility. When the site is changed, the cost of re-laying the wire body and integrated debugging is high.

[0003] With traditional technology, unqualified battery packs have to go through an entire production line, taking up production line resources.

[0004] Traditional production lines have a single flow and a fixed direction. When switching products or processes, the cost of transforming the production line is huge.

[0005] With traditional technology, when equipment or lines fail, maintenance space is limited due to the high degree of integration and space constraints.

[0006] The pallets used by traditional technology can only meet changes in product size, but cannot add functions to adapt to changes in process requirements.

[0007] Traditional technology uses AGV and pallet as a whole, which cannot meet independent operations such as pallet stacking test during static production. Summary of the invention

[0008] The object of the present invention is to provide a material handling device to solve the problems raised in the above background technology.

[0009] To achieve the above object, the present invention provides the following technical solutions:

[0010] A material handling device comprises a transfer trolley and a positioning assembly for positioning the transfer trolley, wherein a pallet is movably arranged on the transfer trolley, and a pallet positioning portion is provided at the positioning assembly;

[0011] The positioning assembly is provided with two groups and a passage for the transplanting trolley to pass through is formed between the two groups of the positioning assembly. The positioning assembly includes at least one positioning mechanism, and the transplanting trolley is provided with a positioning limit mechanism cooperating with the positioning mechanism.

[0012] The pallet positioning parts are provided with two groups and are located at two sides of the channel. The pallet positioning parts include a lifting assembly arranged in a vertical sliding manner.

[0013] The workpiece is transported by the transfer trolley, the transfer trolley is positioned by the positioning assembly, the pallet on the transfer trolley is lifted by the jacking assembly, and then the workpiece on the pallet can be processed.

[0014] As a further solution of the present invention: the positioning assembly includes a first positioning portion and a second positioning portion, the first positioning portion and the second positioning portion are located at the front and rear ends of the channel, and the first positioning portion and the second positioning portion are both provided with positioning mechanisms.

[0015] In this embodiment, two groups of positioning components are provided to position the transplanting trolley passing through the middle through the positioning components on both sides. At the same time, the positioning component on each side is provided with two positioning parts, which are respectively located at the two ends of the transplanting trolley, thereby improving the positioning accuracy.

[0016] As a further solution of the present invention: the first positioning part includes a first positioning base and a first guide rail slider and a second guide rail slider arranged on the first positioning base, the first guide rail slider is fixedly connected to a first bracket, a stop block is fixed at one end of the first bracket, and a first cylinder for driving the first bracket to slide horizontally is provided at the other end of the first bracket, the second guide rail slider is fixedly connected to a second bracket, a first clamping roller is fixedly connected to one end of the second bracket close to the stop block, and the other end of the second bracket is connected to a second cylinder for driving the second bracket to slide horizontally.

[0017] The first positioning part of the present application includes a stopping block and a first pressing roller. The stopping block is used to stop the transplanting trolley, and the first pressing roller is used to roughly position the transplanting trolley.

[0018] As a further solution of the present invention: the second positioning portion includes a third positioning base and a third guide rail slider arranged on the third positioning base, the third guide rail slider is fixedly connected to a third bracket, one end of the third bracket is fixedly connected to a second clamping roller, the second positioning base is fixedly connected to a third cylinder, and one end of the piston of the third cylinder is dynamically connected to the third bracket.

[0019] The second pressing roller and the first pressing roller can be used to perform preliminary rough positioning on the transplanting trolley and keep the transplanting trolley in a stationary state.

[0020] As a further solution of the present invention: the pallet positioning portion is located between the first positioning portion and the second positioning portion, and the pallet positioning portion includes a second positioning base and a lifting assembly slidably connected to the upper end of the second positioning base, and the second positioning base is provided with a lateral driving force assembly for driving the lifting assembly to move up and down.

[0021] The jacking assembly is pushed upward on the second positioning base by the side driving force assembly, so that the tray can be lifted upward and separated from the transplanting trolley.

[0022] As a further solution of the present invention: the jacking assembly includes a jacking bracket, both ends of the jacking bracket are provided with a first jacking block and a second jacking block that cooperate with the tray, the middle part of the jacking bracket is provided with a cushion block, and the jacking bracket is provided with an anti-skew detection device.

[0023] In this embodiment, a lifting block is provided on the lifting bracket, and a structure matched with the lifting block is provided on the pallet, so that the pallet can be accurately positioned during the lifting process.

[0024] As a further solution of the present invention: the second positioning base includes a support frame, a guide shaft seat is provided at the upper end of the support frame, a guide shaft is provided at the lower end of the jacking bracket, the guide shaft is inserted into the guide shaft seat, and an up and down position detection is provided on one side of the support frame. The side thrust force assembly includes a guide rail slider arranged on the support frame, a guide rail bracket is provided on the guide rail slider, a roller ramp is fixedly connected to the guide rail bracket, a side thrust cylinder for driving the roller ramp to move horizontally is provided on the support frame, a roller bracket is provided at the lower end of the jacking bracket, a roller is rotatably connected to the lower end of the roller bracket, and the roller is crimped to the upper end of the roller ramp.

[0025] The roller and the roller ramp of the present application convert the horizontal movement of the side push cylinder into the vertical movement of the lifting bracket, thereby lifting the pallet, and the horizontal movement is more stable and smooth.

[0026] As a further solution of the present invention: the transplanting trolley includes a trolley bracket, a wheel is provided at the lower end of the trolley bracket, the positioning and limiting mechanism includes a positioning block and a limiting block located on both sides of the trolley bracket, a pull rope is provided at one end of the trolley bracket, and a support seat and a positioning pin plate are provided at the upper end of the trolley bracket.

[0027] The transplanting trolley is provided with a positioning block and a limit block which cooperate with the positioning assembly, so that the transplanting trolley can be quickly stopped and roughly positioned at the same time.

[0028] As a further solution of the present invention: the pallet includes a pallet rack, the lower end of the pallet rack is provided with a positioning seat and a pad that cooperate with the jacking assembly, the lower end of the pallet rack is provided with a pad and a pin insertion pad that cooperate with the support seat and the positioning pin plate, the upper end of the pallet rack is provided with a positioning plate, the positioning plate is provided with connecting holes arranged in an array, the positioning plate is connected to a pallet pad, a clamping elbow clamp for clamping a workpiece, a positioning pin, and a PACK fixing plate.

[0029] The positioning plate is provided with connection holes arranged in an array, which can be used to change the positioning when switching workpieces. The clamping elbow clamp is used to clamp the tooling, and can also be used flexibly to change the position on the positioning plate according to the product switching.

[0030] As a further solution of the present invention: the lower end of the transplanting trolley is detachably connected to the AGV trolley, the upper end of the AGV trolley is provided with a plurality of positioning pins, the lower end of the transplanting trolley is provided with positioning pin holes that cooperate with the positioning pins, and a charging device for charging the AGV trolley is provided below the tray positioning portion.

[0031] The AGV trolley of this embodiment is connected to the transfer trolley through a pin hole, so it can be quickly connected or disconnected. At the same time, a charging device is provided to charge the workpiece while it is being processed, so charging and processing can be performed in parallel, and there is no need to arrange additional charging time, thereby improving the use efficiency.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. This application uses AGV to carry out PACK production line material handling solutions, which improves the flexibility of the production line flow and the order of completing the process, and makes the process sequence and the handling of defective products more flexible; after the product is changed, the difficulty and cost of production line transformation are low; AGV moves on the road, does not require tracks, and is easy to maintain and low in cost; it occupies a small area, and the passage allows people and vehicles to run in parallel; the use of AGV can reduce manual participation and reduce management costs.

[0034] 2. The AGV conveying of this application uses pins to ensure the precise position between the pallet, the trolley, and the AGV, and can also operate independently. On the one hand, the operation and positioning of the pallet can prevent the AGV itself from being affected; on the other hand, after the AGV is detached, the equipment and people can operate the trolley independently to meet the working conditions. When the AGV is damaged, the trolley can be pushed manually for operation, which is convenient for maintenance and repair; the pallet with the PACK workpiece can be independently operated for overlapping placement and testing, etc., saving production line area.

[0035] 3. The positioning mechanism of the present application realizes the final precise positioning process by positioning the trolley and the pallet through the AGV, which is separated from the successive positioning of the trolley and the pallet. It has high positioning accuracy, smooth positioning and low error.

[0036] 4. The pallet of this application is a universal flexible pallet with universal main frame and positioning form. The main panel is covered with mounting holes. When switching products, the pad and positioning pin positions can be replaced to meet the switching and positioning of production line products. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the PACK trolley and positioning mechanism of this embodiment;

[0038] Figure 2 This is a schematic diagram of the state of the AGV transplanting PACK trolley in this embodiment;

[0039] Figure 3This is a schematic diagram of the positioning mechanism of this embodiment;

[0040] Figure 4 This is a schematic diagram of the structure of the first positioning portion of this embodiment;

[0041] Figure 5 This is a schematic diagram of the tray positioning structure of this embodiment;

[0042] Figure 6 This is a schematic diagram of the structure of the lifting assembly of this embodiment;

[0043] Figure 7 This is a schematic diagram of the structure of the lateral thrust assembly of this embodiment;

[0044] Figure 8 This is a schematic diagram of the structure of the positioning base assembly of this embodiment;

[0045] Fig. 9 This is a schematic diagram of the structure of the second positioning portion of this embodiment;

[0046] Fig.10 This is a schematic diagram of the tray structure of this embodiment;

[0047] Fig.11 This is a schematic diagram of the bottom structure of the tray in this embodiment;

[0048] Fig.12 This is a schematic diagram of the AGV structure of this embodiment;

[0049] Fig.13 This is a structural schematic diagram of the transplanting trolley in this embodiment;

[0050] Fig.14 This is a schematic diagram of the bottom structure of the transplanting trolley in this embodiment;

[0051] Fig.15 This is a schematic diagram of the side structure of the PACK trolley in this embodiment;

[0052] In the figure:

[0053] 100-first positioning portion, 110-stop block, 120-first bracket, 130-first guide rail slider, 140-first cylinder, 150-first clamping roller, 160-second bracket, 170-second guide rail slider, 180-second cylinder;

[0054] 200- Charging device;

[0055] 300-tray positioning part, 310-lifting assembly, 311-first lifting block, 312-guide shaft, 313-lifting bracket, 314-second lifting block, 315-pad, 316-anti-skew detection, 320-side driving force assembly, 321-roller bracket, 322-roller, 323-guide rail slider, 324-guide rail bracket, 325-roller ramp, 326-side thrust cylinder, 330-second positioning base, 331-guide shaft seat, 332-positioning assembly seat, 333-up and down detection;

[0056] 400 - second positioning part, 410 - third cylinder, 412 - third positioning base, 413 - third bracket, 414 - second pressing roller;

[0057] 500-tray, 510-positioning seat, 520-pin pad, 530-tray rack, 540-tray pad, 550-positioning pin, 560-PACK fixing plate, 570-pad, 580-positioning plate, 590-clamping elbow clamp;

[0058] 600-AGV trolley, 610-locating pin;

[0059] 700-transplanting trolley, 710-wheel, 720-positioning block, 730-trolley bracket, 740-support seat, 750-positioning pin plate, 760-limiting block, 770 handle, 780-positioning pin hole;

[0060] 800-PACK workpieces. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] See also Figure 1 , Figure 2 , Figure 3 , Fig.15In an embodiment of the present invention, a material handling device includes a transfer cart 700 and a positioning assembly for positioning the transfer cart 700. The positioning assembly is provided with two groups and a channel for the transfer cart 700 to pass through is formed between the two groups of positioning assemblies. The positioning assembly includes at least one positioning mechanism. The transfer cart 700 is provided with a positioning limit mechanism that cooperates with the positioning mechanism. In this embodiment, the positioning assembly includes a first positioning portion 100 and a second positioning portion 400. The first positioning portion 100 and the second positioning portion 400 are located at the front and rear ends of the channel. The first positioning portion 100 and the second positioning portion 400 are both provided with positioning mechanisms.

[0063] See also Figure 4 The first positioning part 100 includes a first positioning base and a first guide rail slider 130 and a second guide rail slider 170 arranged on the first positioning base. The first guide rail slider 130 is fixedly connected to the first bracket 120. A stop block 110 is fixed at one end of the first bracket 120. The stop block 110 is soft polyurethane and can provide a certain buffer for the transplanting trolley 700 when stopping.

[0064] The other end of the first bracket 120 is provided with a first cylinder 140 for driving the first bracket 120 to slide horizontally, the second guide rail slider 170 is fixedly connected to the second bracket 160, the end of the second bracket 160 close to the stop block 110 is fixedly connected to the first clamping roller 150, the other end of the second bracket 160 is connected to the second cylinder 180 for driving the second bracket 160 to slide horizontally, the first clamping roller 150 is V-shaped as a whole, and the first clamping roller 150 will not get stuck because it is a pulley structure. The first positioning part 100 of the present application includes a stop block 110 and a first clamping roller 150, the stop block 110 is used to stop the transplanting trolley 700, and the first clamping roller 150 is used to roughly position the transplanting trolley 700.

[0065] See also Fig. 9 The second positioning portion 400 includes a third positioning base and a third guide rail slider 412 arranged on the third positioning base. The third guide rail slider 412 is fixedly connected to a third bracket 413. One end of the third bracket 413 is fixedly connected to a second clamping roller 414. The second clamping roller 414 is V-shaped as a whole. The second clamping roller 414 will not get stuck because it is a pulley structure. A third cylinder 410 is fixedly connected to the second positioning base. One end of the piston of the third cylinder 410 is power-connected to the third bracket 413. The second clamping roller 414 and the first clamping roller 150 can be used to perform preliminary rough positioning of the transplanting trolley and keep the transplanting trolley in a stationary state.

[0066] See also Figure 5 , Figure 6 , Figure 7 , Figure 8The positioning assembly is provided with a pallet positioning part 300, and the pallet positioning part 300 is provided with two groups located on both sides of the channel. The pallet positioning part 300 includes a vertically slidingly arranged lifting component 310, and the pallet positioning part 300 is located between the first positioning part 100 and the second positioning part 400. The pallet positioning part 300 includes a second positioning base 330 and a lifting component 310 connected to the upper end of the second positioning base 330 by sliding up and down. The second positioning base 330 is provided with a lateral driving force component 320 for driving the lifting component 310 to move up and down. The lifting component 310 is pushed upward on the second positioning base 330 by the lateral driving force component 320, so that the pallet 500 can be lifted upward and separated from the transplanting trolley. The lifting assembly 310 includes a lifting bracket 313, and the two ends of the lifting bracket 313 are provided with a first lifting block 311 and a second lifting block 314 that cooperate with the pallet 500. The upper ends of the first lifting block 311 and the second lifting block 314 are triangles with a protrusion in the middle, and the axis directions of the first lifting block 311 and the second lifting block 314 are perpendicular, so that precise positioning can be performed. A cushion block 315 is provided in the middle of the lifting bracket 313, and an anti-skew detection 316 is provided on the lifting bracket 313. In this embodiment, by providing a lifting block on the lifting bracket 313 and a structure that cooperates with the lifting block on the pallet 500, the pallet can be precisely positioned during the lifting process.

[0067] The second positioning base 330 includes a support frame 332, a guide shaft seat 331 is provided at the upper end of the support frame 332, a guide shaft 312 is provided at the lower end of the jacking bracket 313, the guide shaft 312 is inserted into the guide shaft seat 331, and an up and down in-position detection 333 is provided on one side of the support frame 3322. The side thrust force assembly 320 includes a guide rail slider 323 arranged on the support frame 332, a guide rail bracket 324 is provided on the guide rail slider 323, a roller ramp 325 is fixedly connected to the guide rail bracket 324, a side thrust cylinder 326 for driving the roller ramp 325 to move horizontally is provided on the support frame 332, a roller bracket 321 is provided at the lower end of the jacking bracket 313, a roller bracket 321 is rotatably connected to the lower end of the roller bracket 321, and the roller 322 is crimped to the upper end of the roller ramp 325. The roller 322 and the roller ramp 325 of the present application convert the horizontal movement of the side push cylinder 326 into the vertical movement of the jacking bracket 313, thereby jacking up the pallet, and the horizontal movement is more stable and smooth.

[0068] See also Fig.13 , Fig.14The transplanting trolley 700 includes a trolley bracket 730, a wheel 710 is provided at the lower end of the trolley bracket 730, a positioning and limiting mechanism includes positioning blocks 720 and limiting blocks 760 located on both sides of the trolley bracket 730, a pull rope 770 is provided at one end of the trolley bracket 730, and a support seat 740 and a positioning pin plate 750 are provided at the upper end of the trolley bracket 730. The transplanting trolley 700 is provided with a positioning block 720 and a limiting block 760 that cooperate with the positioning assembly, so that the transplanting trolley can be quickly stopped and the trolley can be roughly positioned at the same time.

[0069] See also Fig.10 , Fig.11 A pallet 500 is movably arranged on the transfer trolley 700. The pallet 5 includes a pallet frame 530. The lower end of the pallet frame 530 is provided with a positioning seat 510 and a pad 570 that cooperate with the jacking assembly 310. The positioning seat 510 is a V-shaped structure, and then cooperates with the first jacking block 311 and the second jacking block 314. The lower end of the pallet frame 530 is provided with a pad 570 and a pin insertion pad 520 that cooperate with the support seat 740 and the positioning pin plate 750. The upper end of the pallet frame 530 is provided with a positioning plate 580. The positioning plate 580 is provided with connection holes arranged in an array. The positioning plate 580 is connected with a pallet pad 540, a clamping elbow clamp 590 for clamping a workpiece, a positioning pin 550, and a PACK fixing plate. The positioning plate 580 is provided with connection holes arranged in an array, and the connection holes can be conveniently changed when switching workpieces. The clamping elbow clamp 590 is used for clamping tooling and can also be changed in position on the positioning plate 580 according to product switching, allowing for flexible use.

[0070] See also Fig.12 , the lower end of the transfer trolley 700 is detachably connected to the AGV trolley 600, the upper end of the AGV trolley 600 is provided with a plurality of positioning pins 610, the lower end of the transfer trolley 700 is provided with positioning pin holes 780 that cooperate with the positioning pins 610, and a charging device 200 for charging the AGV trolley 600 is provided below the tray positioning part 300. The AGV trolley of this embodiment is connected to the transfer trolley 700 through the pin hole, so it can be quickly connected or disconnected. At the same time, the charging device 200 is provided to charge while the workpiece is being processed, so that charging and processing can be performed in parallel, and no additional charging time is required, which improves the use efficiency.

[0071] When the present invention is in use, the AGV trolley 600 carries the transfer trolley 700, the tray 500, and the PACK workpiece 800 and moves along the route. After reaching the position, it stops and puts down the transfer trolley 700, and the AGV trolley 600 and the transfer trolley 700 are out of stock.

[0072] Specifically, when the AGV trolley 600 moves between the positioning assemblies on both sides, the AGV trolley stops, the piston end of the first cylinder 140 extends and then pushes the first bracket 120 to move horizontally on the first positioning seat, and the stop block 110 is extended. When the limit block 760 at the front end of the transplanting trolley 700 hits the stop block 110, the transplanting trolley 700 is restricted by the stop block 110, so that the transplanting trolley 700 stops moving.

[0073] Then the pistons of the second cylinder 180 and the third cylinder 410 extend out, thereby pushing the first clamping roller 150 and the second clamping roller 414 to move toward the transplanting trolley 700. Both sides of the transplanting trolley 700 are provided with positioning blocks 720 that cooperate with the first clamping roller 150 and the second clamping roller 414. Since the positioning blocks 720 are V-shaped structures, they can be positioned quickly. In this embodiment, the transplanting trolley 700 is roughly positioned by the clamping rollers.

[0074] Then the side thrust cylinder 326 extends out, pushing the roller ramp 325 at the front end to move horizontally. Since the roller 322 is provided at the upper end of the roller ramp 325, and the roller 322 is arranged below the jacking bracket 313, under the action of the roller ramp 325, the jacking bracket 313 produces a tendency of horizontal and vertical movement. Since the jacking bracket 313 is connected to the guide shaft 312, the guide shaft seat 331 and the support frame 332 through an up and down sliding connection, under the action of the side thrust cylinder 326, the jacking bracket 313 starts to move upward.

[0075] A jacking block is provided at the upper end of the jacking bracket 313. During the jacking process, the jacking block will gradually approach the positioning seat 510. Since the jacking block at the upper end of the jacking bracket 313 is a V-shaped block in a different direction after jacking, and a matching V-shaped groove is provided at the lower end of the positioning seat 510, the pallet 500 can be positioned quickly and accurately and lifted through grooves in different directions until it stops at the desired position, and then the PACK workpiece 800 on the pallet 500 can be processed.

[0076] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0077] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A material handling device, characterized in that: It comprises a transplanting trolley (700) and a positioning assembly for positioning the transplanting trolley (700), a tray (500) is movably arranged on the transplanting trolley (700), and a tray positioning portion (300) is provided at the positioning assembly; The positioning components are provided in two groups, and a passage for the transplanting trolley (700) to pass through is formed between the two groups of positioning components. The positioning components include at least one positioning mechanism, and the transplanting trolley (700) is provided with a positioning limit mechanism that cooperates with the positioning mechanism. The pallet positioning parts (300) are provided with two groups and are located on both sides of the channel. The pallet positioning parts (300) include a lifting assembly (310) arranged in a vertical sliding manner.

2. A material handling device according to claim 1, characterized in that: The positioning assembly comprises a first positioning portion (100) and a second positioning portion (400). The first positioning portion (100) and the second positioning portion (400) are located at the front and rear ends of the channel. Positioning mechanisms are provided in the first positioning portion (100) and the second positioning portion (400).

3. A material handling device according to claim 2, characterized in that: The first positioning portion (100) comprises a first positioning base and a first guide rail slider (130) and a second guide rail slider (170) arranged on the first positioning base, the first guide rail slider (130) being fixedly connected to a first bracket (120), one end of the first bracket (120) being fixedly provided with a stop block (110), the other end of the first bracket (120) being provided with a first cylinder (140) for driving the first bracket (120) to slide horizontally, the second guide rail slider (170) being fixedly connected to a second bracket (160), one end of the second bracket (160) close to the stop block (110) being fixedly connected to a first clamping roller (150), and the other end of the second bracket (160) being connected to a second cylinder (180) for driving the second bracket (160) to slide horizontally.

4. A material handling device according to claim 2, characterized in that: The second positioning part (400) includes a third positioning base and a third guide rail slider (412) arranged on the third positioning base, the third guide rail slider (412) is fixedly connected to a third bracket (413), one end of the third bracket (413) is fixedly connected to a second clamping roller (414), the second positioning base is fixedly connected to a third cylinder (410), and one end of the piston of the third cylinder (410) is dynamically connected to the third bracket (413).

5. A material handling device according to claim 2, characterized in that: The pallet positioning portion (300) is located between the first positioning portion (100) and the second positioning portion (400), and the pallet positioning portion (300) includes a second positioning base (330) and a lifting component (310) connected to the upper end of the second positioning base (330) in an up-and-down sliding manner, and the second positioning base (330) is provided with a lateral driving force component (320) for driving the lifting component (310) to move up and down.

6. A material handling device according to claim 5, characterized in that: The lifting assembly (310) includes a lifting bracket (313), and a first lifting block (311) and a second lifting block (314) are provided at both ends of the lifting bracket (313) for cooperating with the tray (500). A cushion block (315) is provided in the middle of the lifting bracket (313), and an anti-skew detection device (316) is provided on the lifting bracket (313).

7. A material handling device according to claim 5, characterized in that: The second positioning base (330) includes a support frame (332), the upper end of the support frame (332) is provided with a guide shaft seat (331), the lower end of the lifting bracket (313) is provided with a guide shaft (312), the guide shaft (312) is inserted into the guide shaft seat (331), one side of the support frame (3322) is provided with an up and down position detection (333), the lateral driving force assembly (320) includes a guide rail slider (323) arranged on the support frame (332), the guide rail A guide rail bracket (324) is provided on the slider (323), a roller ramp (325) is fixedly connected to the guide rail bracket (324), a side thrust cylinder (326) for driving the roller ramp (325) to move horizontally is provided on the support frame (332), a roller bracket (321) is provided at the lower end of the lifting bracket (313), a roller (322) is rotatably connected to the lower end of the roller bracket (321), and the roller (322) is pressed onto the upper end of the roller ramp (325).

8. A material handling device according to claim 1, characterized in that: The transplanting trolley (700) comprises a trolley bracket (730), a wheel (710) is provided at the lower end of the trolley bracket (730), the positioning and limiting mechanism comprises a positioning block (720) and a limiting block (760) located on both sides of the trolley bracket (730), a pull rope (770) is provided at one end of the trolley bracket (730), and a support seat (740) and a positioning pin plate (750) are provided at the upper end of the trolley bracket (730).

9. A material handling device according to claim 8, characterized in that: The pallet (5) comprises a pallet frame (530), the lower end of which is provided with a positioning seat (510) and a pad (570) which cooperate with the jacking assembly (310), the lower end of which is provided with a pad (570) which cooperates with the support seat (740) and the positioning pin plate (750), and a pin insertion pad (520), the upper end of which is provided with a positioning plate (580), the positioning plate (580) is provided with connecting holes arranged in an array, the positioning plate (580) is connected with a pallet pad (540), a clamping elbow clamp (590) for clamping a workpiece, a positioning pin (550), and a PACK fixing plate.

10. The material handling device according to claim 1, characterized in that: The lower end of the transfer trolley (700) is detachably connected to an AGV trolley (600); a plurality of positioning pins (610) are provided at the upper end of the AGV trolley (600); a positioning pin hole (780) that cooperates with the positioning pins (610) is provided at the lower end of the transfer trolley (700); and a charging device (200) for charging the AGV trolley (600) is provided below the tray positioning portion (300).

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