Feeding and discharging device and transportation equipment

Abstract

The invention relates to a feeding and discharging device and transportation equipment. The feeding and discharging device comprises a mounting frame; the two lifting structures are arranged on the mounting frame in a spaced mode in the first direction and can output lifting motion in the second direction; the feeding structure is located between the two lifting structures, is connected with the output ends of the two lifting structures and is used for conveying the material frame to the to-be-loaded and unloaded equipment or taking down the material frame from the to-be-loaded and unloaded equipment; each centering structure is movably arranged on one lifting structure, the two centering structures are symmetrically arranged and get close to each other or get away from each other in the first direction, and when the two centering structures get close to each other, each centering structure can abut against the outer wall of the material frame, so that centering of the material frame is achieved. When the two centering structures get close to each other in the first direction, the material frame is borne, centering of the material frame is achieved, deviation between the material frame and the installation space during feeding is avoided, the feeding accuracy of the feeding and discharging device is guaranteed, and the feeding efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of automated loading and unloading, and in particular to a loading and unloading device and transportation equipment. Background Art

[0002] At present, in the production process of factory assembly lines, AGV is usually used to transport material racks. Usually, the equipment to be loaded and unloaded has an installation space, and the material rack needs to be transported to the installation space, or the material rack needs to be moved from the installation space. When loading, the material rack is loaded on the fork of the AGV, and the material rack is transported to the required equipment or location (such as the installation space) by the AGV.

[0003] Usually, the size of the installation space is small, and after the material rack is transported to the installation space, there is a small gap between the material rack and the inner wall of the installation space. The accuracy of the AGV is poor. When the AGV is used for loading and unloading, there is a deviation between the material rack and the installation space of the equipment to be loaded and unloaded. The material rack cannot accurately enter the installation space and cannot meet the requirements of automatic loading and unloading. Later, the position of the material rack needs to be adjusted manually, which makes the efficiency of loading and unloading poor. Summary of the invention

[0004] Based on this, it is necessary to provide a loading and unloading device and transportation equipment to address the problem that the deviation between the material rack and the installation space of the equipment to be loaded and unloaded during the current AGV loading, which affects the loading and unloading efficiency. The device can avoid the deviation between the material rack and the installation space of the equipment to be loaded and unloaded during loading, ensure the accuracy of loading by the loading and unloading device, eliminate the need for manual adjustment of the position of the material rack, reduce the labor intensity of the operator, and improve the feeding efficiency.

[0005] A loading and unloading device, comprising:

[0006] Install the frame;

[0007] Two lifting structures are arranged on the mounting frame at intervals along a first direction and are capable of outputting lifting motion along a second direction;

[0008] A feeding structure, located between the two lifting structures and connected to the output ends of the two lifting structures, the feeding structure can extend out of the lifting structure in a third direction perpendicular to the first direction and the second direction, and is used to transport the material rack to the loading and unloading equipment or remove the material rack from the loading and unloading equipment; and

[0009] Two centering structures, each of which is movably arranged on a lifting structure, the two centering structures are symmetrically arranged, and approach each other or move away from each other along the first direction, and when the two centering structures approach each other, each of which can abut against the outer wall of the material rack to achieve centering.

[0010] In one embodiment of the present application, the centering structure includes a receiving plate, a centering component and a detection component, the centering component is arranged on the lifting structure, the output end of the centering component is connected to the receiving plate, the detection component is arranged on the receiving plate and extends toward the material rack;

[0011] The detection component can abut against the side wall of the material rack, the receiving plate can receive the edge of the material rack, and the centering component can drive the receiving plate to approach or move away from the material rack.

[0012] In one embodiment of the present application, the centering assembly includes a centering drive member and a centering transmission member, the centering drive member is arranged on the lifting structure, the centering transmission member is connected to the centering drive member and the receiving plate, and the centering transmission member is a gear rack member or a ball screw member;

[0013] And / or, the detection component includes a support frame, a retractable detection probe and a detection body, the support frame is arranged on the receiving plate, the detection probe extends toward the material rack and can abut against the side wall of the material rack, and the detection body is transmission-connected with the detection probe.

[0014] In one embodiment of the present application, the loading and unloading device includes at least any one of the following features:

[0015] The first item, the centering structure further includes an abutment member, which is arranged on the receiving plate along the third direction and has a preset spacing with the edge of the receiving plate in the first direction, and the abutment member can abut against the side wall of the material rack;

[0016] The abutment member is a stop protrusion, or the abutment member is a rolling member;

[0017] Second, the centering assembly further comprises a first sliding member and a second sliding member, the first sliding member is disposed on the lifting structure along the first direction, and the second sliding member is disposed on the receiving plate and can be slidably disposed on the first sliding member;

[0018] Thirdly, the centering assembly further comprises two limit members, the two limit members are spaced apart on the receiving plate along the first direction, the receiving plate has a limit portion protruding along the third direction, the limit portion is located between the two limit members and can move between the two limit members.

[0019] In one embodiment of the present application, the lifting structure includes a support portion, a lifting drive member and a lifting transmission member, the support portion is arranged along the second direction, the lifting drive member is arranged on the mounting frame, the lifting transmission member is arranged on the support portion along the second direction, and the lifting drive member is transmission-connected with the feeding structure;

[0020] The lifting transmission member is a ball screw member, a gear rack transmission member or a belt transmission member.

[0021] In one embodiment of the present application, the lifting structure includes at least one of the following features:

[0022] In the first item, the two lifting structures are driven by a unified lifting drive member, the lifting drive member further comprises a transmission shaft and a transmission belt, the transmission shaft is arranged at the end of the lifting drive member, and the transmission belt drives and connects the transmission shafts of the two lifting structures; or, each lifting structure corresponds to one lifting drive member;

[0023] Second, the lifting structure further comprises a support plate, the support plate is arranged on the top of the support part, and the support plate is used to install the centering structure;

[0024] Thirdly, the lifting structure further comprises two side plates and a baffle, the two side plates are arranged on both sides of the support portion along the first direction, and the baffle is arranged on a side of the support portion away from the material rack;

[0025] Item 4, the lifting structure further includes a guide assembly and a transfer component, the guide assembly includes a first guide member and a second guide member, the first guide member is arranged on the support portion along the second direction, the transfer component connects the lifting transmission member, the second guide member and the feeding structure, and the second guide member can be slidably arranged on the first guide member;

[0026] Item 5. The number of guide components in the lifting structure is at least two, and they are arranged at intervals along the third direction. The lifting structure also includes a transfer component, which connects the output ends of at least two of the guide components, and the transfer component is also connected to the feeding structure.

[0027] In one embodiment of the present application, the feeding structure includes a connecting component and a telescopic fork, the connecting component connects the output ends of the two lifting structures, and the telescopic fork is arranged on the connecting component and extends along the third direction;

[0028] The end of the telescopic fork away from the connecting component has a hook portion, and the hook portion protrudes from the top surface of the telescopic fork and is used to hook the material rack.

[0029] In one embodiment of the present application, the loading and unloading device further includes a positioning structure, the positioning structure includes a first positioning member and a second positioning member, the first positioning member is arranged at the bottom of the mounting frame, the second positioning member is arranged at the equipment to be loaded and unloaded, and the first positioning member cooperates with the second positioning member for positioning;

[0030] The first positioning member and the second positioning member are a positioning sleeve and a positioning column with positioning holes.

[0031] In one embodiment of the present application, the loading and unloading device further includes a charging component, and the charging component is arranged in the mounting frame or the lifting structure;

[0032] The charging component supplies power to the lifting structure and the centering structure; the charging component has a charging interface for charging.

[0033] A transport device comprises an AGV trolley and a loading and unloading device as described in any of the above technical features, wherein the loading and unloading device loads a material rack, and the AGV trolley receives the loading and unloading device and transports the loading and unloading device and the material rack to a preset position.

[0034] After adopting the above technical solution, this application has at least the following technical effects:

[0035] The loading and unloading device and transportation equipment of the present application, in the loading and unloading device, two lifting structures are arranged at intervals along the first direction, and output lifting movement in the second direction, the feeding structure is located between the two lifting structures, and connected to the output ends of the two lifting structures, and the feeding structure extends out of the lifting structures along the third direction. The two centering structures are movably arranged on the two lifting structures respectively, and are symmetrically arranged, and the two centering structures can approach or move away from each other along the first direction. When the AGV transports the material rack to the feeding structure, the two centering structures approach each other along the first direction so that the centering detection device abuts against the outer wall of the material rack, and the centering structure receives the material rack to center the material rack, and then the lifting structure drives the feeding structure to rise to receive the material rack on the centering structure.

[0036] The loading and unloading device receives the material rack when the two centering structures approach each other along the first direction, and realizes the centering of the material rack, so that the first center axis of the loading and unloading device and the second center axis of the material rack are basically coincident. When the loading and unloading device is feeding, the first center axis of the loading and unloading device can basically coincide with the third center axis of the installation space of the equipment to be loaded and unloaded, and then the second center axis of the material rack and the third center axis are basically coincident, avoiding deviation between the material rack and the installation space. In this way, the accuracy of the loading and unloading device can be guaranteed, avoiding manual adjustment of the position of the material rack at a later stage, reducing the labor intensity of the operator, and improving the feeding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] FIG1 is a three-dimensional view of a material receiving rack of a loading and unloading device according to an embodiment of the present application.

[0038] FIG. 2 is a schematic diagram of the loading and unloading device shown in FIG. 1 cooperating with the AGV trolley and the equipment to be loaded and unloaded.

[0039] FIG. 3 is a front view of the receiving frame of the loading and unloading device shown in FIG. 1 .

[0040] FIG. 4 is a schematic diagram of the loading and unloading device shown in FIG. 1 cooperating with one of a plurality of equipment to be loaded and unloaded.

[0041] FIG. 5 is a schematic diagram of the loading and unloading device shown in FIG. 1 being transported by an AGV trolley.

[0042] FIG. 6 is a schematic diagram of the AGV trolley conveying rack shown in FIG. 5 .

[0043] FIG. 7 is a top view of the receiving rack of the loading and unloading device shown in FIG. 1 .

[0044] FIG8 is a side view of the receiving rack of the loading and unloading device shown in FIG1 .

[0045] FIG. 9 is a partial parts diagram of the lifting structure in the loading and unloading device shown in FIG. 1 .

[0046] FIG. 10 is a cross-sectional view of FIG. 8 taken along line AA.

[0047] FIG. 11 is a schematic diagram of the centering structure in the loading and unloading device shown in FIG. 1 .

[0048] Among them: 10, loading and unloading device; 100, installation frame; 200, lifting structure; 210, support part; 220, lifting transmission member; 221, screw shaft; 222, transmission shaft; 223, transmission belt; 224, tension wheel; 230, installation shell; 231, support plate; 232, side plate; 233, baffle; 240, adapter; 250, guide assembly; 251, first guide member; 252, second guide member; 300, feeding structure; 310, connecting part; 320, telescopic fork; 321, hook; 400, centering structure; 410, receiving plate; 411, receiving main board; 412, receiving end plate; 41 3. Limiting part; 420. Centering component; 421. Centering driving member; 422. Centering transmission member; 4221. Centering gear; 4222. Centering rack; 423. First sliding member; 424. Second sliding member; 425. Abutment member; 426. Limiting member; 430. Detection component; 431. Support frame; 432. Detection probe; 433. Detection body; 510. First positioning member; 520. Second positioning member; 20. Material rack; 201. Roller; 30. AGV trolley; 40. Equipment to be loaded and unloaded; 401. Installation space; 402. Track; O1. First central axis; O2. Second central axis; O3. Third central axis. DETAILED DESCRIPTION

[0049] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0050] At present, in the production process of factory assembly lines, AGV is usually used to transport material racks and transport them to the installation space of the equipment to be loaded and unloaded. Usually, the size of the installation space is small, and after the material rack is transported to the installation space, there is a small gap between the material rack and the inner wall of the installation space. The accuracy of the AGV trolley is poor. When the AGV trolley is used for loading and unloading, there is a deviation between the material rack and the installation space of the equipment to be loaded and unloaded. The material rack cannot accurately enter the installation space and cannot meet the requirements of automatic loading and unloading. The position of the material rack needs to be adjusted manually in the later stage, which makes the efficiency of loading and unloading poor.

[0051] Referring to Figures 1 and 2, for this purpose, the present application provides a new type of loading and unloading device 10. Figure 1 is a three-dimensional view of a loading and unloading device 10 receiving a material rack 20 according to an embodiment of the present application, and Figure 2 is a schematic diagram of the loading and unloading device 10 shown in Figure 1 cooperating with an AGV trolley 30 and a device 40 to be loaded and unloaded. The loading and unloading device 10 is applied to a transport device (not shown) and cooperates with the AGV trolley 30 in the transport device. The material is loaded in the material rack 20, and the material rack 20 needs to be transported to the installation space 401 of the device 40 to be loaded and unloaded, and the material in the material rack 20 is processed by the device 40 to be loaded and unloaded.

[0052] In the present application, there is no limitation on the shape of the material rack 20 and the materials loaded on the material rack 20, and there is no limitation on the type of loading and unloading equipment 40, as long as the loading and unloading device 10 can receive the material rack 20. The loading and unloading device 10 has a first central axis O1, and the material rack 20 has a second central axis O2. The material rack 20 is an axisymmetric figure relative to the second central axis O2, so that the loading and unloading device 10 can receive the material rack 20 transported by the AGV trolley 30. As shown in Figures 1 and 3, the material rack 20 is roughly a cross-shaped hollow structure, and Figure 3 is a front view of the loading and unloading device 10 shown in Figure 1 receiving the material rack 20. Of course, in other embodiments of the present application, the material rack 20 can also be rectangular, square or other shapes that can be easily received by the loading and unloading device 10.

[0053] The loading and unloading equipment 40 is hollow, wherein the hollow cavity is the installation space 401, and the installation space 401 can accommodate the material rack 20. As shown in Figures 2 and 4, the loading and unloading equipment 40 is a brewing equipment, such as a sterilizing pot, a processing pot, etc., and Figure 4 is a schematic diagram of the loading and unloading device 10 shown in Figure 1 cooperating with multiple loading and unloading equipment 40. Of course, in other embodiments of the present application, the loading and unloading equipment 40 can also be other equipment or devices that require automatic loading and unloading, such as the loading and unloading equipment 40 is a production line, and the loading and unloading device 10 realizes the transportation of materials in the production line.

[0054] As shown in Figures 2 and 4 to 6, the AGV trolley 30 transports the loading and unloading device 10 to the equipment to be loaded and unloaded 40, so that the AGV trolley 30 is fixed at the end of the equipment to be loaded and unloaded 40. Then, the AGV trolley 30 transports the previous material rack 20 to the loading and unloading device 10, and at the same time, the AGV trolley 30 transports the next material rack 20. After the loading and unloading device 10 transports the previous material rack 20 to the equipment to be loaded and unloaded 40, the loading and unloading device 10 transports the next material rack 20 to the loading and unloading device 10, that is, while the loading and unloading device 10 transports the previous material rack 20, the AGV trolley 30 transports the next material rack 20, so that the continuous transportation of the material rack 20 can be achieved, and the transportation efficiency of the material rack 20 can be improved. Figure 5 is a schematic diagram of the loading and unloading device 10 shown in Figure 1 being transported by the AGV trolley 30, and Figure 6 is a schematic diagram of the AGV trolley 30 shown in Figure 5 transporting the material rack 20.

[0055] The installation space 401 of the present application has a third central axis O3. After the loading and unloading device 10 receives the material rack 20, it can realize the centering of the material rack 20, so that the first central axis O1 of the loading and unloading device 10 and the second central axis O2 of the material rack 20 basically coincide. When loading, the first central axis O1 of the loading and unloading device 10 coincides with the third central axis O3 of the installation space 401 of the equipment 40 to be loaded and unloaded, thereby making the second central axis O2 of the material rack 20 basically consistent with the third central axis O3, avoiding deviation between the material rack 20 and the installation space 401 of the equipment 40 to be loaded and unloaded, ensuring the accuracy of loading by the loading and unloading device 10, eliminating the need to manually adjust the position of the material rack 20, reducing the labor intensity of the operator, and improving the feeding efficiency. The specific structure of the loading and unloading device 10 of an embodiment is introduced below.

[0056] Referring to Fig. 1, Fig. 3 and Fig. 7, in one embodiment, the loading and unloading device 10 comprises a mounting frame 100, two lifting structures 200, a feeding structure 300 and two centering structures 400. The two lifting structures 200 are arranged at intervals on the mounting frame 100 along the first direction and can output lifting motion along the second direction. The feeding structure 300 is located between the two lifting structures 200 and connected to the output ends of the two lifting structures 200. The feeding structure 300 can extend out of the lifting structures 200 along a third direction perpendicular to the first direction and the second direction, and is used to transport the material rack 20 to the loading and unloading equipment 40 or remove the material rack 20 from the loading and unloading equipment 40. Each centering structure 400 can be movably arranged on a lifting structure 200, and the two centering structures 400 are symmetrically arranged and approach or move away from each other along the first direction. When the two centering structures 400 approach each other, each centering structure 400 can abut against the outer wall of the material rack 20 to achieve centering. FIG. 7 is a top view of the loading and unloading device 10 shown in FIG. 1 receiving the material rack 20 .

[0057] As shown in FIG1 , the loading and unloading device 10 has a first direction, a second direction, and a third direction. The width direction of the loading and unloading device 10 is the first direction, the up and down directions (height direction, top and bottom directions) are the second direction, and the length direction is the third direction. The directions of the loading and unloading device 10 and its various components of the present application are based on the directions shown in FIG1 , and will not be repeated in the following text.

[0058] The mounting frame 100 is the base of the loading and unloading device 10 and can play a supporting role. All components of the loading and unloading device 10 are arranged on the mounting frame 100 so that the loading and unloading device 10 forms an integral structure. When the AGV trolley 30 carries the loading and unloading device 10 in the later stage, the fork (not shown) of the AGV trolley 30 directly supports the bottom of the mounting frame 100, which is convenient for the edge of the loading and unloading device 10. The lower surface of the mounting frame 100 has a first groove (not shown), and the fork of the AGV trolley 30 can extend into the first groove to support the loading and unloading device 10, so as to prevent the loading and unloading device 10 from moving on the fork of the AGV trolley 30, and ensure the stability of the loading and unloading device 10 during transportation. Optionally, the mounting frame 100 is a frame structure. Of course, in other embodiments of the present application, the mounting frame 100 may also be in the shape of a plate or other shapes.

[0059] The lifting structure 200 is a component that outputs lifting motion and is arranged on the upper surface of the mounting frame 100. There are two lifting structures 200, and they are arranged at intervals along the first direction. The two lifting structures 200 are arranged axially symmetrically with respect to the first central axis O1 of the loading and unloading device 10. A feeding structure 300 is arranged between the two lifting structures 200, and the feeding structure 300 is connected to the output end of the lifting structure 200. The lifting structure 200 can drive the feeding structure 300 to rise and fall along the second direction, so that the feeding structure 300 can receive the material rack 20 or transport the material rack 20 to the loading and unloading equipment 40.

[0060] After the lifting structure 200 outputs the lifting motion, it can drive the feeding structure 300 to move synchronously, so that the feeding structure 300 can be lifted and lowered synchronously with the lifting structure 200. The feeding structure 300 is a structure that receives the material rack 20, and can convey the material rack 20 to realize the loading and unloading operation of the material rack 20. The lifting structure 200 can drive the feeding structure 300 to be at different heights, so that the feeding structure 300 can adapt to the equipment 40 to be loaded and unloaded at different heights. Moreover, for each equipment 40 to be loaded and unloaded, the loading and unloading device 10 can set different loading and unloading heights to meet the use requirements of different equipment 40 to be loaded and unloaded.

[0061] As shown in Figure 4, the heights of the three loading and unloading equipment 40 are different, and the lifting structure 200 can drive the feeding structure 300 to lift and lower, so as to achieve loading and unloading of the three loading and unloading equipment 40 with different heights. Of course, in other embodiments of the present application, the loading and unloading device 10 can also perform loading and unloading operations on more loading and unloading equipment 40 with different heights. That is, one loading and unloading device 10 can perform loading and unloading operations on at least two loading and unloading equipment 40 with different heights, without using more loading and unloading devices 10, thereby reducing loading and unloading costs.

[0062] It can be understood that the size of the installation space 401 is small. After the material rack 20 is located in the installation space 401, the size between the two side walls of the material rack 20 and the inner wall of the installation space 401 is small. If there is a deviation between the material rack 20 and the installation space 401, it is very likely that the material rack 20 will collide with the loading and unloading equipment 40, resulting in the material rack 20 being unable to be accurately transported to the installation space 401. For this reason, the loading and unloading device 10 of the present application is further provided with a centering structure 400, and the number of the centering structures 400 is two, and each centering structure 400 is movably provided at the top of the loading and unloading device 10 along the first direction.

[0063] The two centering structures 400 are centrally symmetrically arranged relative to the first central axis O1 and can move along the first direction. When the two centering structures 400 move along the first direction, they can approach or move away from each other. When the two centering structures 400 approach each other, the centering adjustment of the rack 20 is achieved. When the two centering structures 400 move away from each other, the rack 20 can be released and the next rack 20 can be easily received.

[0064] When the loading and unloading device 10 of the present application receives the material rack 20, the fork of the AGV trolley 30 transports the material rack 20 to the top of the loading and unloading device 10 and is located between the two centering structures 400. Then, the two centering structures 400 approach each other, and the two centering structures 400 can abut against the side walls of the material rack 20 and receive the material rack 20. At this time, the AGV trolley 30 can insert the next material rack 20. The two centering structures 400 continue to approach each other, and the position of the material rack 20 can be adjusted so that the second central axis O2 of the material rack 20 coincides with the first central axis O1 of the loading and unloading device 10, thereby realizing the centering adjustment of the material rack 20.

[0065] After the rack 20 is centered, the lifting structure 200 drives the feeding structure 300 to hold the bottom of the rack 20. At this time, the two centering structures 400 and the feeding structure 300 jointly support the rack 20. Then, the two centering structures 400 move away from each other along the first direction, and the centering structure 400 is separated from the rack 20. At this time, the rack 20 is supported only by the feeding structure 300. The lifting structure 200 can drive the rack 20 to rise or fall, so as to load the loading and unloading equipment 40 at different heights, so as to transport the rack 20 to the installation space 401.

[0066] After the material rack 20 is placed in the installation space 401, the lifting structure 200 drives the feeding structure 300 to descend, so that the feeding structure 300 is separated from the material rack 20, and then extends out of the loading and unloading device 40, so as to facilitate loading the next material rack 20. When unloading, the lifting structure 200 drives the feeding structure 300 to descend, so that the feeding structure 300 extends under the material rack 20. Then, the lifting structure 200 drives the feeding structure 300 to rise, so that the feeding structure 300 abuts against the bottom of the loading and unloading device 10, and then the feeding structure 300 drives the material rack 20 to move out of the installation space 401.

[0067] The centering structure 400 of the above embodiment receives the rack 20 when the two centering structures 400 approach each other along the first direction, and realizes the centering of the rack 20, so that the first center axis O1 of the loading and unloading device 10 and the second center axis O2 of the rack 20 are basically coincident. When the loading and unloading device 10 is feeding, the first center axis O1 of the loading and unloading device 10 can be basically coincident with the third center axis O3 of the installation space 401 of the equipment 40 to be loaded and unloaded, and then the second center axis O2 of the rack 20 is basically coincident with the third center axis O3, so as to avoid the deviation between the rack 20 and the installation space 401. In this way, the accuracy of the loading and unloading device 10 can be guaranteed, the manual adjustment of the position of the rack 20 can be avoided at a later stage, the labor intensity of the operator can be reduced, and the feeding efficiency can be improved.

[0068] Referring to Fig. 1, Fig. 7 to Fig. 9, in one embodiment, the lifting structure 200 includes a support portion 210, a lifting drive member (not shown) and a lifting transmission member 220, the support portion 210 is arranged along the second direction, the lifting drive member is arranged on the mounting frame 100, and the lifting transmission member 220 is arranged on the support portion 210 along the second direction, and is transmission-connected to the lifting drive member and the feeding structure 300. Fig. 8 is a side view of the loading and unloading device 10 shown in Fig. 1 receiving the material rack 20, and Fig. 9 is a partial parts diagram of the lifting structure 200 in the loading and unloading device 10 shown in Fig. 1.

[0069] The support part 210 is a component for supporting and installing the lifting structure 200, and the support part 210 is arranged on the installation frame 100 along the second direction. The lifting drive member is a power source of the lifting structure 200, and the lifting drive member is arranged on the support frame, and the lifting transmission member 220 is arranged on the support part 210 along the second direction. The output end of the lifting drive member is connected to the input end of the lifting transmission member 220, and the output end of the lifting transmission member 220 is connected to the feeding structure 300.

[0070] When the lifting drive member moves, it can drive the lifting transmission member 220 to output lifting motion, so that the lifting transmission member 220 drives the feeding structure 300 to perform lifting motion along the second direction, which is convenient for the feeding structure 300 to perform loading and unloading operations. Optionally, the support portion 210 is a support plate 231. Of course, in other embodiments of the present application, the support portion 210 can also be a support platform, a support frame or other structures that can support the lifting transmission member 220. Optionally, the lifting drive member is a combination of a motor and a reducer, etc.

[0071] Referring to FIG. 9 , in one embodiment of the present application, the lifting transmission member 220 is a ball screw member, which includes a screw shaft 221 and a screw nut (not shown), the screw shaft 221 is rotatably disposed on the support portion 210 along the second direction, and the screw nut is rotatably disposed on the screw shaft 221. The screw shaft 221 is transmission-connected to the lifting drive member, and the screw nut is transmission-connected to the feeding structure 300. When the lifting drive member drives the screw shaft 221 to rotate, the screw shaft 221 can drive the screw nut to perform lifting motion relative to the screw shaft 221 along the second direction, and then the screw nut can drive the feeding structure 300 to perform lifting motion along the second direction, thereby realizing the driving of the feeding structure 300 to lift and lower.

[0072] In another embodiment of the present application, the lifting transmission member 220 can also be a gear rack transmission member, which includes a lifting gear on a lifting rack, the lifting rack is arranged on the support part 210 along the second direction, the lifting gear is meshed with the lifting rack, the lifting drive member is arranged on the lifting gear, and the lifting drive member and the lifting gear are arranged on the feeding structure. When the lifting drive member drives the lifting gear to rotate, since the lifting rack is fixedly arranged, the lifting drive member can drive the lifting gear to move up and down along the lifting rack to drive the feeding structure 300 to move up and down.

[0073] In another embodiment of the present application, the lifting transmission member 220 may also be a belt transmission member, which includes two transmission wheels and a synchronous belt, the two transmission wheels are spaced along the second direction and are rotatably arranged on the support portion 210, the synchronous belt is sleeved on the two transmission wheels, the feeding structure 300 is connected to the synchronous belt, and the lifting transmission member 220 is connected to the transmission wheel below. The transmission wheel is a pulley or a sprocket, and correspondingly, the synchronous belt is a belt or a chain. Of course, in other embodiments of the present application, the lifting transmission member 220 may also be other structures capable of outputting lifting motion, such as a lifting motor, etc.

[0074] Referring to Figures 8 and 10, in one embodiment, the two lifting structures 200 are driven by a unified lifting drive member. The lifting transmission member 220 further includes a transmission shaft 222 and a transmission belt 223. The transmission shaft 222 is coaxially arranged at the end of the screw shaft 221, and the transmission belt 223 transmits and connects the transmission shafts 222 of the two lifting structures 200. Figure 10 is a cross-sectional view of Figure 8 at AA.

[0075] The transmission shaft 222 and the screw shaft 221 are an integrated structure, and the end of the transmission shaft 222 in one lifting structure 200 is connected to the lifting drive. When the lifting drive moves, it can drive the screw shaft 221 and the transmission shaft 222 connected thereto to transmit, and the transmission shaft 222 can drive the other transmission shaft 222 to rotate through the transmission belt 223, so that the synchronous driving of the lifting movement of the two lifting structures 200 can be realized, and the synchronization of the movement of the two lifting structures 200 can be ensured.

[0076] Optionally, the transmission shaft 222 is a pulley, and the transmission belt 223 is a belt. Of course, in other embodiments of the present application, the transmission shaft 222 may also be a sprocket, and the transmission belt 223 may be a chain. Optionally, the lifting drive is connected to the transmission shaft 222 of one of the lifting structures 200. Of course, in other embodiments of the present application, the lifting drive is connected to the transmission shaft 222 of one of the lifting structures 200 through a belt transmission structure or a chain transmission structure, and accordingly, a connection portion is set on the transmission shaft 222 to connect with the belt transmission structure or the chain transmission structure, and its structure is not repeated here.

[0077] Referring to Fig. 10, in one embodiment, the lifting transmission member 220 further includes a tensioning wheel 224, which is rotatably disposed on the mounting frame 100, and the transmission belt 223 is sleeved on the tensioning wheel 224. The transmission belt 223 is tensioned by the tensioning wheel 224 to ensure the transmission performance of the transmission belt 223, so that the two lifting structures 200 can be lifted and lowered synchronously to avoid the situation of asynchronous movement.

[0078] Of course, in other embodiments of the present application, each lifting structure 200 corresponds to a lifting drive member. In other words, each lifting structure 200 is driven by a corresponding lifting drive member to output a lifting motion. In addition, in order to ensure the synchronization of the movement of the two lifting structures 200, it is necessary to control the movement of the two lifting structures 200 at the same time.

[0079] In one embodiment, the loading and unloading device 10 further includes a controller, which is in communication connection with the lifting structure 200, the feeding structure 300, and the centering structure 400 to control the lifting structure 200, the feeding structure 300, and the centering structure 400 to perform corresponding actions. Of course, in other embodiments of the present application, a controller may also be provided in the transport equipment, and the controller is in communication connection with the loading and unloading device 10 and the AGV trolley 30 to realize the overall control of the loading and unloading device 10 and the AGV trolley 30.

[0080] 1, 3 and 6, in one embodiment, the lifting structure 200 further includes a support plate 231, which is disposed on the top of the support portion 210 and is used to install the centering structure 400. The support plate 231 is equivalent to the top plate of the lifting structure 200, and the support plate 231 is disposed in the horizontal direction. The centering structure 400 is supported by the support plate 231, which facilitates the installation of the centering structure 400.

[0081] Referring to FIG. 1 , FIG. 3 and FIG. 6 , in one embodiment, the lifting structure 200 further includes two side plates 232 and a baffle 233, the two side plates 232 are arranged on both sides of the support portion 210 along the first direction, and the baffle 233 is arranged on the side of the support portion 210 away from the rack 20. That is, in FIG. 1 , the two side plates 232 are arranged on the front and rear sides of the support portion 210, and the baffle 233 is arranged on the rear side of the support portion 210. The baffle 233, the support portion 210, the support plate 231, and the two side plates 232 form an installation housing 230 of the lifting structure 200, and are surrounded to form an installation cavity, and a charging component (not shown) is arranged in the installation cavity.

[0082] In other embodiments of the present application, the baffle 233 is a double-door structure, so that the baffle 233 can be opened when the loading and unloading device 10 is charged. Optionally, the baffle 233 can be rotatably connected to one of the side plates 232, and the baffle 233 forms a single-door structure.

[0083] Referring to FIG. 9 , in one embodiment, the lifting structure 200 further includes a transfer component 240, which is transmission-connected between the output end of the lifting transmission member 220 and the feeding structure 300. The transfer component 240 can play a role of transfer, so that the lifting transmission member 220 can transmit the lifting motion to the feeding structure 300. The transfer component 240 is connected to the screw nut, and when the screw nut is lifted and lowered along the screw shaft 221, the screw nut can drive the transfer component 240 to be lifted and lowered synchronously, and then the transfer component 240 can drive the feeding structure 300 to be lifted and lowered. Optionally, the transfer component 240 is a transfer plate. Of course, in other embodiments of the present application, the transfer component 240 can also be cylindrical or in other shapes.

[0084] Referring to Figure 9, in one embodiment, the lifting structure 200 also includes a guide assembly 250, which is separately provided on the support portion 210 and the adapter component 240. The guide assembly 250 guides the movement of the adapter component 240 along the second direction, and then the adapter component 240 can drive the feeding structure 300 to move synchronously to ensure that the feeding structure 300 can accurately perform lifting and lowering movements, thereby ensuring that the feeding structure 300 can accurately load and unload materials.

[0085] Referring to FIG. 9 , in one embodiment, the first guide member 251 and the second guide member 252, the first guide member 251 is arranged on the support part 210 along the second direction, the adapter member 240 is connected to the lifting transmission member 220, the second guide member 252 and the feeding structure 300, and the second guide member 252 is slidably arranged on the first guide member 251. When the screw nut lifting drive member drives the lifting transmission member 220 to move in the vertical direction, the screw nut can drive the adapter member 240 to rise and fall, and then the adapter member 240 can drive the second guide member 252 to slide along the first guide member 251 to guide the movement of the adapter member 240.

[0086] Referring to Fig. 9, illustratively, the first guide member 251 is a guide rail, the second guide member 252 is a guide slider, and the guide slider can be slidably disposed on the guide rail. Of course, in other embodiments of the present application, the first guide member 251 can also be a guide slider, the second guide member 252 can be a guide rail, or the first guide member 251 and the second guide member 252 can be a structure such as a slide rail and a slide groove that can achieve sliding cooperation.

[0087] Referring to FIG. 9 , in one embodiment, the number of guide assemblies 250 is at least two, and they are spaced apart along the third direction. The adapter component 240 connects the output ends of at least two guide assemblies 250, and the adapter component 240 is also connected to the feeding structure 300. At least two guide assemblies 250 guide the adapter component 240, which can improve the accuracy of the movement of the adapter component 240 along the second direction, thereby improving the accuracy of loading and unloading of the feeding structure 300. In this embodiment, the number of guide assemblies 250 is two. Of course, in other embodiments of the present application, the number of guide assemblies 250 can also be one or other numbers.

[0088] Referring to Fig. 1, Fig. 3 and Fig. 8, in one embodiment, the feeding structure 300 includes a connecting component 310 and a telescopic fork 320. The connecting component 310 connects the output ends of the two lifting structures 200. The telescopic fork 320 is arranged on the connecting component 310 and extends along the third direction. The connecting component 310 is a structure for connecting the adapter component 240 and the telescopic fork 320. The connecting component 310 extends along the first direction and connects the adapter components 240 of the lifting structures 200 on both sides. The telescopic fork 320 extends along the third direction and is located between the two lifting structures 200. The telescopic fork 320 is a component for receiving the material rack 20. After the lifting structure 200 drives the adapter component 240 to perform lifting motion along the second direction, the adapter component 240 can drive the telescopic fork 320 to synchronously lift along the second direction through the connecting component 310, so that the telescopic fork 320 can receive the material rack 20 and can realize the loading and unloading of the material rack 20.

[0089] Moreover, the telescopic fork 320 can be extended and retracted along the third direction. When the telescopic fork 320 is extended, the telescopic fork 320 can extend into the installation space 401 to transport the rack 20 to the installation space 401, or the telescopic fork 320 can support the bottom of the rack 20 to take the rack 20 out of the installation space 401, and then the telescopic fork 320 is retracted to move out of the installation space 401. It is worth noting that the telescopic structure and telescopic principle of the telescopic fork 320 are prior art and will not be described in detail here.

[0090] Optionally, the connecting component 310 is a connecting plate. Of course, in other embodiments of the present application, the connecting component 310 may also be a connecting column or other structure capable of connecting the adapter component 240 and the telescopic fork 320. Optionally, there are multiple connecting components 310, and the multiple connecting components 310 are respectively connected to the adapter component 240 and the telescopic fork 320 to ensure the reliability of the connection between the adapter component 240 and the telescopic fork 320.

[0091] Referring to FIG8 , in one embodiment, the end of the telescopic fork 320 away from the connecting member 310 has a hook 321, and the hook 321 protrudes from the top surface of the telescopic fork 320, and is used to hook the material rack 20. In other words, the hook 321 is arranged on the upper surface of the telescopic fork 320. When unloading, the telescopic fork 320 extends from the bottom of the material rack 20 into the installation space 401, and hooks the front end of the material rack 20 through the hook 321, so that the material rack 20 moves to the exit in the installation space 401, and then the telescopic fork 320 holds the material rack 20 and moves the material rack 20 out of the installation space 401.

[0092] Referring to Fig. 1, Fig. 3, Fig. 8 and Fig. 11, in one embodiment, the centering structure 400 includes a receiving plate 410, a centering assembly 420 and a detection assembly 430. The centering assembly 420 is disposed on the lifting structure 200, the output end of the centering assembly 420 is connected to the receiving plate 410, and the detection assembly 430 is disposed on the receiving plate 410 and protrudes from the edge of the receiving plate 410 toward the material rack 20. The detection assembly 430 can abut against the side wall of the material rack 20, the receiving plate 410 can receive the edge of the material rack 20, and the centering assembly 420 can drive the receiving plate 410 to approach or move away from the material rack 20. Fig. 11 is a schematic diagram of the centering structure 400 in the loading and unloading device 10 shown in Fig. 1.

[0093] The receiving plate 410 is a component of the receiving rack 20, and the receiving plate 410 is movably arranged on the support plate 231 at the top of the lifting structure 200. The centering assembly 420 is arranged on the support plate 231, and can output movement in the first direction. The receiving plate 410 is arranged at the output end of the centering assembly 420, and the centering assembly 420 can drive the receiving plate 410 to move in the first direction, thereby enabling the receiving plates 410 of the two centering structures 400 to move closer to or farther away from each other.

[0094] When the AGV trolley 30 conveys the material rack 20 to the loading and unloading device 10, the bottom edge of the material rack 20 can fall onto the receiving plates 410 of the centering structures 400 on both sides, and the receiving plates 410 first receive the material rack 20. Then, the centering component 420 drives the corresponding receiving plates 410 to move along the first direction, so that the two receiving plates 410 are close to each other, so as to adjust the position of the material rack 20, so that the second central axis O2 of the material rack 20 is basically coincident with the first central axis O1 of the loading and unloading device 10, and the centering adjustment of the material rack 20 is realized.

[0095] Moreover, in order to ensure that the material rack 20 can accurately fall on the receiving plates 410 of the two centering structures 400, the loading and unloading device 10 of the present application is further provided with a detection component 430, which is disposed on the receiving plate 410 and extends along the first direction. When the AGV trolley 30 conveys the material rack 20 to the loading and unloading device 10, the detection component 430 first detects the size of the material rack 20 to determine whether the receiving plate 410 can receive the material rack 20.

[0096] If the detection component 430 detects that the receiving plate 410 can receive the material rack 20, the AGV trolley 30 can place the material rack 20 on the receiving plate 410, and then the centering component 420 moves to achieve the centering of the material rack 20. If the detection component 430 detects that the receiving plate 410 cannot receive the material rack 20, it indicates that the material rack 20 is transported incorrectly. Moreover, after the receiving plate 410 receives the material rack 20, the detection component 430 can also detect the position of the material rack 20 to determine the direction in which the material rack 20 deviates, and then the centering component 420 controls the movement distance of the receiving plate 410 to adjust the position of the material rack 20 and achieve the centering of the material rack 20.

[0097] Moreover, in the present application, the detection component 430 is in direct contact with the material rack 20 to determine whether the receiving plate 410 can receive the material rack 20 and the position of the material rack 20. One end of the detection component 430 facing the first central axis O1 protrudes from the receiving plate 410, so that the detection component 430 can first detect whether the receiving plate 410 can receive the material rack 20 before the material rack 20 falls on the telescopic fork 320. Of course, in other embodiments of the present application, the detection component 430 may not be in contact with the material rack 20, and the detection component 430 determines whether the receiving plate 410 can receive the material rack 20 and the position of the material rack 20 by means of laser or infrared light.

[0098] Referring to Fig. 1, Fig. 3, Fig. 8 and Fig. 11, in one embodiment, the receiving plate 410 includes a receiving main plate 411 and a receiving end plate 412, the receiving main plate 411 extends along the third direction, and the receiving end plates 412 are arranged at both ends of the receiving end plate 412 along the third direction. In addition, one of the receiving end plates 412 is connected to the output end of the centering component 420, and the other receiving end plate 412 can be slidably arranged on the support plate 231. In this way, the receiving main plate 411 can carry the material rack 20, and when the centering component 420 outputs the movement along the first direction, it can drive the receiving end plate 412 to drive the bearing body to move along the first direction, so as to realize the centering of the material rack 20.

[0099] Referring to FIGS. 1, 3, 8 and 11, in one embodiment, the centering assembly 420 includes a centering drive member 421 and a centering transmission member 422. The centering drive member 421 is disposed on the lifting structure 200, and the centering transmission member 422 is connected to the centering drive member 421 and the receiving plate 410. The centering drive member 421 is a power source of the centering assembly 420 and is disposed on the support plate 231 of the lifting structure 200. The centering transmission member 422 is disposed along a first direction and outputs movement along the first direction. The centering transmission member 422 is connected to the output end of the centering drive member 421 and one of the receiving end plates 412 of the receiving plate 410.

[0100] When the centering drive member 421 moves, it can drive the centering transmission member 422 to output movement along the first direction, and the centering transmission member 422 can drive the receiving plate 410 to move along the first direction, so that the two receiving plates 410 can move closer to each other or farther away from each other. Moreover, the centering drive member 421 and the centering transmission member 422 are located below the receiving main board 411, so that the space occupied by the centering assembly 420 can be reduced. Optionally, the centering drive member 421 is a combination of a motor and a reducer, etc.

[0101] Referring to Fig. 1, Fig. 8 and Fig. 11, in one embodiment, the centering transmission member 422 is a gear rack member, which includes a centering gear 4221 and a centering rack 4222. The centering rack 4222 is disposed on the receiving end plate 412 of the receiving plate 410 along the first direction, and the centering gear 4221 is disposed at the output end of the centering driving member 421 and meshes with the centering rack 4222. When the centering driving member 421 drives the centering gear 4221 to rotate, the centering gear 4221 can drive the centering rack 4222 to move along the first direction, and then the centering rack 4222 drives the receiving plate 410 to move along the first direction.

[0102] In other embodiments of the present application, the centering transmission member 422 may also be a ball screw component, which has substantially the same structure and principle as the ball screw component in the lifting structure 200 described above, and will not be described in detail herein. Of course, the centering transmission member 422 may also be other components capable of outputting linear motion.

[0103] Referring to Fig. 1, Fig. 3, Fig. 8 and Fig. 11, in one embodiment, the detection assembly 430 includes a support frame 431, a retractable detection probe 432 and a detection body 433. The support frame 431 is disposed on the receiving plate 410, the detection probe 432 extends toward the material rack 20 and can abut against the side wall of the material rack 20, and the detection body 433 is transmission-connected with the detection probe 432. The support frame 431 is a component for supporting the detection assembly 430, the support frame 431 is disposed on the receiving plate 410, and the detection probe 432 and the detection body 433 are disposed on the support frame 431, respectively.

[0104] The detection probe 432 extends toward the first central axis O1 and is connected to the detection body 433. After the material rack 20 contacts the detection probe 432, it can compress the detection probe 432. After the detection probe 432 can generate a trigger signal and feed it back to the detection body 433, the detection body 433 can generate detection information according to the trigger signal and feed it back to the controller. The controller can determine whether the receiving plate 410 can carry the material rack 20 according to the detection information.

[0105] Moreover, after the receiving plate 410 receives the material rack 20, when the centering component 420 drives the receiving plate 410 to move in the first direction, the material rack 20 will continue to compress the detection probe 432. Each detection probe 432 can feed back the length of its compression to the controller through the detection body 433, and the controller can determine which side the material rack 20 is deflected to according to the compression length of the detection probe 432, and then the controller controls the movement distance of the centering component 420 in the first direction respectively to realize the centering of the material rack 20. Optionally, the detection body 433 is a photoelectric sensor, etc., and the detection probe 432 is a touch probe.

[0106] Referring to FIG. 1 and FIG. 11 , in one embodiment, the centering assembly 420 further includes an abutment member 425, which is disposed on the receiving plate 410 along the third direction and has a preset spacing with the edge of the receiving plate 410 in the first direction, and the abutment member 425 can abut against the side wall of the material rack 20. After the receiving plate 410 receives the material rack 20, the abutment member 425 faces the side of the material rack 20. When the two receiving plates 410 approach each other along the first direction, the abutment member 425 can push the material rack 20 to move, and the two abutment members 425 can clamp the material rack 20 to adjust the position of the material rack 20 and realize the centering of the material rack 20.

[0107] In this embodiment, the abutment member 425 is a rolling member. The rolling member is a roller, which can abut against the material rack 20 and push the material rack 20. Of course, in other embodiments of the present application, the abutment member 425 is a stopper protrusion, etc., as long as it can push the material rack 20 to move.

[0108] Referring to FIG. 1 and FIG. 11 , in one embodiment, the centering assembly 420 further includes a first sliding member 423 and a second sliding member 424. The first sliding member 423 is disposed on the lifting structure 200 along the first direction, and the second sliding member 424 is disposed on the receiving plate 410 and can be slidably disposed on the first sliding member 423. The first sliding member 423 is disposed on the supporting plate 231 along the first direction, and the second sliding member 424 is disposed on the receiving end plate 412 and can be slidably disposed on the first sliding member 423. When the centering driving member 421 drives the centering gear 4221 to drive the centering rack 4222 to move along the first direction, the receiving plate 410 can drive the second sliding member 424 to move along the first sliding member 423 to ensure that the receiving plate 410 accurately moves along the first direction.

[0109] Referring to Fig. 9, illustratively, the first sliding member 423 is a guide rail, the second sliding member 424 is a guide slider, and the guide slider can be slidably disposed on the guide rail. Of course, in other embodiments of the present application, the first sliding member 423 can also be a guide slider, the second sliding member 424 can be a guide rail, or the first sliding member 423 and the second sliding member 424 can be a structure that can achieve sliding cooperation, such as a slide rail and a slide groove.

[0110] Referring to Figures 1 and 11, in one embodiment, the centering component 420 also includes two limit members 426, and the two limit members 426 are arranged on the receiving plate 410 at intervals along the first direction. The receiving plate 410 has a limit portion 413 protruding along the third direction. The limit portion 413 is located between the two limit members 426 and can move between the two limit members 426.

[0111] The receiving plate 410 has a limiting portion 413 on one side away from the centering rack 4222, and the limiting portion 413 protrudes from the receiving end plate 412 along the third direction. Two limiting members 426 are protrudingly arranged on the support plate 231, and there is a certain distance between the two along the first direction. The limiting portion 413 is located between the two limiting members 426, and the two limiting members 426 abut against the limiting portion 413 to stop the limiting portion 413 in the lower position, thereby preventing the receiving plate 410 from overtravel in the first direction.

[0112] Optionally, the two limiting members 426 and the limiting portion 413 are limiting protrusions, such as the limiting portion 413. Of course, in other embodiments of the present application, the two limiting members 426 may also be limit switches and the like.

[0113] Referring to Figures 1, 3, 4 and 10, in one embodiment, the loading and unloading device 10 also includes a positioning structure (not shown), the positioning structure includes a first positioning member 510 and a second positioning member 520, the first positioning member 510 is arranged at the bottom of the mounting frame 100, and the second positioning member 520 is arranged on the loading and unloading equipment 40, and the first positioning member 510 and the second positioning member 520 cooperate for positioning.

[0114] The first positioning member 510 is located at the bottom of the installation frame 100, and the second positioning member 520 is located at one end of the loading and unloading equipment 40 near the exit. After the AGV trolley 30 transports the loading and unloading device 10 to the loading and unloading equipment 40, the first positioning member 510 and the second positioning member 520 are correspondingly arranged, so that the loading and unloading device 10 and the AGV trolley 30 can be accurately positioned, so that the first central axis O1 of the loading and unloading device 10 coincides with the third central axis O3 of the loading and unloading equipment 40, so that the loading and unloading device 10 can transport the material rack 20 to the installation space 401.

[0115] Moreover, the second positioning member 520 can be installed and leveled according to the actual position of each loading and unloading equipment 40, so that the position of the loading and unloading device 10 relative to the loading and unloading equipment 40 is unified after positioning, and the first central axis O1 of the loading and unloading device 10 coincides with the third central axis O3 of the loading and unloading equipment 40.

[0116] 1, 4 and 10, in one embodiment, the number of the first positioning members 510 is two and they are located on the side of the mounting frame 100 extending toward the telescopic fork 320, and accordingly, the number of the second positioning members 520 is also two and they are arranged corresponding to the first positioning members 510. Of course, in other embodiments of the present application, other numbers of first positioning members 510 may also be arranged at the bottom of the mounting frame 100, and other numbers of first positioning members 510 are still matched with two second positioning members 520.

[0117] Referring to Fig. 1, Fig. 4 and Fig. 10, in one embodiment of the present application, the first positioning member 510 is a positioning sleeve having a positioning hole, and the second positioning member 520 is a positioning rod. After the loading and unloading device 10 is transported to the loading and unloading equipment 40, the positioning sleeve cooperates with the positioning rod to realize the positioning of the loading and unloading device 10. Of course, in other embodiments of the present application, the first positioning member 510 may also be a positioning rod, and the second positioning member 520 may be a positioning sleeve having a positioning hole.

[0118] In one embodiment, the loading and unloading device 10 further includes a charging component, which is disposed in the mounting frame 100 or the lifting structure 200. The charging component supplies power to the lifting structure 200 and the centering structure 400; the charging component has a charging interface for charging. The charging component is a lithium battery or other types of rechargeable batteries.

[0119] The charging component is arranged in the mounting housing 230, and the charging component is protected by the mounting housing 230. Moreover, after being charged, the charging component can supply power to the electrical components in the lifting structure 200 and the centering structure 400, so that the lifting structure 200 and the centering structure 400 can perform corresponding operations. Moreover, when the charging component is exhausted or the power is low, the AGV trolley 30 can carry the loading and unloading device 10 to the charging station to charge the charging component.

[0120] Referring to Figures 1 to 6, the use process of the loading and unloading device 10 of the present application is: the AGV cart 30 transports the loading and unloading device 10 from the charging station to the equipment 40 to be loaded and unloaded, and positions the loading and unloading device 10 through the first positioning member 510 and the second positioning member 520, so that the first central axis O1 of the loading and unloading device 10 coincides with the third central axis O3 of the equipment 40 to be loaded and unloaded, and then, the loading and unloading device 10 cooperates with the AGV cart 30 to perform loading and unloading operations.

[0121] The two lifting structures 200 are lifted and lowered by the cooperation of the lifting drive and the lifting transmission member 220 which is a ball screw member, and the two lifting structures 200 are lifted and lowered uniformly by synchronous transmission through the transmission belt 223. The screw nut in the lifting drive is installed with the adapter component 240, and the adapter component 240 in the two lifting structures 200 is connected to the connecting component 310 of the feeding structure 300, and the connecting component 310 is connected to the telescopic fork 320, and the telescopic fork 320 is driven to move in the vertical direction through the lifting structure 200. Two centering structures 400 are arranged on the top of the lifting structure 200 and are independently controlled.

[0122] When loading, the detection component 430 is used to determine whether the material rack 20 can fall onto the receiving plate 410. After determining that it can be received, the receiving plate 410 receives the material rack 20 and supports the material rack 20, and the AGV trolley 30 drops the material rack 20 and then exits. Then, the centering drive member 421 drives the receiving plate 410 and the abutment member 425 to move through the centering transmission member 422 to adjust the position of the material rack 20 and realize the centering of the material rack 20, so that the second central axis O2 of the material rack 20 is basically coincident with the first central axis O1 of the loading and unloading device 10.

[0123] After centering, the lifting structure 200 drives the telescopic fork 320 to rise and receive the rack 20, the centering structure 400 retreats, and the lifting structure 200 drives the telescopic fork 320 to descend and transport the rack 20 to the installation space 401. In addition, after the AGV trolley 30 transports the rack 20 to the loading and unloading device 10, the AGV trolley 30 carries the next rack 20 and executes the next round of loading process. It is worth noting that the process of unloading the rack 20 is the reverse process of loading, which will not be repeated here.

[0124] In one embodiment, a track 402 extending along a third direction is provided in the installation space 401 of the loading and unloading device 40, and a rollable roller 201 is provided at the bottom of the rack 20, and the loading and unloading of multiple racks 20 is realized by the cooperation between the roller 201 and the guide rail. When the loading and unloading device 10 is loading, the roller 201 of the rack 20 is just located in the track 402.

[0125] 2 , three racks 20 are generally placed in the installation space 401 of the loading and unloading device 40. When the loading and unloading device 10 conveys the first rack 20, the first rack 20 is located at one end of the installation space 401, when conveying the second rack 20, the second rack 20 can push the first rack 20 to move along the track 402, and when conveying the third rack 20, the third rack 20 can push the second rack 20 to move along the track 402.

[0126] When unloading, the loading and unloading device 10 first takes away the third rack 20, and then the loading and unloading device 10 hooks the bottom of the second rack 20 through the hook 321 of the telescopic fork 320, so that the second rack 20 moves to the end of the child installation space 401, and then the loading and unloading device 10 takes away the second rack 20, repeating the above steps to take away the first rack 20. Of course, in other embodiments of the present application, the racks 20 required by the loading and unloading device 40 can also be other numbers, which will not be repeated here.

[0127] The loading and unloading device 10 of the present application drives the telescopic fork 320 to move along the second direction through the lifting structure 200 to adapt to the height deviation between different equipment 40 to be loaded and unloaded, meet the loading and unloading requirements of different equipment 40 to be loaded and unloaded, and cooperate with the automatic telescopic fork 320 to meet the loading and unloading of the material rack 20 from the installation space 401. In addition, a centering structure 400 is set on the lifting structure 200, and the centering structure 400 receives the material rack 20 and adjusts the position of the material rack 20 to achieve the centering of the material rack 20, so as to meet the position requirements of the loading and unloading equipment 40 to be loaded and unloaded. Furthermore, the loading and unloading device 10 and the equipment 40 to be loaded and unloaded are precisely positioned through the first positioning member 510 and the second positioning member 520 to ensure the accuracy of loading. In addition, a charging component is also provided in the loading and unloading device 10, and the loading and unloading device 10 is transported to the charging station through the AGV trolley 30 to realize automatic charging of the charging component.

[0128] Referring to Figures 2, 5 and 6, the present application also provides a transportation equipment, including an AGV cart 30 and a loading and unloading device 10 of any of the above embodiments, the loading and unloading device 10 loads a material rack 20, the AGV cart 30 receives the loading and unloading device 10, and transports the loading and unloading device 10 and the material rack 20 to a preset position.

[0129] The AGV trolley 30 transports the loading and unloading device 10 to the equipment to be loaded and unloaded 40, and fixes the front end of the loading and unloading device 40. Then, the AGV trolley 30 transports the previous rack 20 to the loading and unloading device 10, and at the same time, the AGV trolley 30 transports the next rack 20. After the loading and unloading device 10 transports the previous rack 20 to the equipment to be loaded and unloaded 40, the loading and unloading device 10 transports the next rack 20 to the loading and unloading device 10, that is, while the loading and unloading device 10 transports the previous rack 20, the AGV trolley 30 transports the next rack 20, so that the continuous transportation of the racks 20 can be achieved, and the transportation efficiency of the racks 20 is improved.

[0130] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A loading and unloading device, characterized in that: include: Install the frame; Two lifting structures are arranged on the mounting frame at intervals along a first direction and are capable of outputting lifting motion along a second direction; A feeding structure, located between the two lifting structures and connected to the output ends of the two lifting structures, the feeding structure can extend out of the lifting structure in a third direction perpendicular to the first direction and the second direction, and is used to transport the material rack to the loading and unloading equipment or remove the material rack from the loading and unloading equipment; as well as Two centering structures, each of which is movably arranged on a lifting structure, the two centering structures are symmetrically arranged, and approach each other or move away from each other along the first direction, and when the two centering structures approach each other, each of which can abut against the outer wall of the material rack to achieve centering.

2. The loading and unloading device according to claim 1, characterized in that: The centering structure includes a receiving plate, a centering component and a detection component. The centering component is arranged on the lifting structure. The output end of the centering component is connected to the receiving plate. The detection component is arranged on the receiving plate and extends toward the material rack. The detection component can abut against the side wall of the material rack, the receiving plate can receive the edge of the material rack, and the centering component can drive the receiving plate to approach or move away from the material rack.

3. The loading and unloading device according to claim 2, characterized in that: The centering assembly includes a centering drive member and a centering transmission member, wherein the centering drive member is arranged on the lifting structure, the centering transmission member is connected to the centering drive member and the receiving plate by transmission, and the centering transmission member is a gear rack member or a ball screw member; And / or, the detection component includes a support frame, a retractable detection probe and a detection body, the support frame is arranged on the receiving plate, the detection probe extends toward the material rack and can abut against the side wall of the material rack, and the detection body is transmission-connected with the detection probe.

4. The loading and unloading device according to claim 3 is characterized in that: The loading and unloading device includes at least one of the following features: The first item, the centering structure further includes an abutment member, which is arranged on the receiving plate along the third direction and has a preset spacing with the edge of the receiving plate in the first direction, and the abutment member can abut against the side wall of the material rack; The abutment member is a stop protrusion, or the abutment member is a rolling member; Second, the centering assembly further comprises a first sliding member and a second sliding member, the first sliding member is disposed on the lifting structure along the first direction, and the second sliding member is disposed on the receiving plate and can be slidably disposed on the first sliding member; Thirdly, the centering assembly further comprises two limit members, the two limit members are spaced apart on the receiving plate along the first direction, the receiving plate has a limit portion protruding along the third direction, the limit portion is located between the two limit members and can move between the two limit members.

5. The loading and unloading device according to any one of claims 1 to 4, characterized in that: The lifting structure comprises a support part, a lifting drive member and a lifting transmission member, wherein the support part is arranged along the second direction, the lifting drive member is arranged on the mounting frame, and the lifting transmission member is arranged on the support part along the second direction and is transmission-connected between the lifting drive member and the feeding structure; The lifting transmission member is a ball screw member, a gear rack transmission member or a belt transmission member.

6. The loading and unloading device according to claim 5, characterized in that: The lifting structure includes at least one of the following features: In the first item, the two lifting structures are driven by a unified lifting drive member, the lifting drive member further comprises a transmission shaft and a transmission belt, the transmission shaft is arranged at the end of the lifting drive member, and the transmission belt drives and connects the transmission shafts of the two lifting structures; or, each lifting structure corresponds to one lifting drive member; Second, the lifting structure further comprises a support plate, the support plate is arranged on the top of the support part, and the support plate is used to install the centering structure; Thirdly, the lifting structure further comprises two side plates and a baffle, the two side plates are arranged on both sides of the support portion along the first direction, and the baffle is arranged on a side of the support portion away from the material rack; Item 4, the lifting structure further includes a guide assembly and a transfer component, the guide assembly includes a first guide member and a second guide member, the first guide member is arranged on the support portion along the second direction, the transfer component connects the lifting transmission member, the second guide member and the feeding structure, and the second guide member can be slidably arranged on the first guide member; Item 5. The number of guide components in the lifting structure is at least two, and they are arranged at intervals along the third direction. The lifting structure also includes a transfer component, which connects the output ends of at least two of the guide components, and the transfer component is also connected to the feeding structure.

7. The loading and unloading device according to any one of claims 1 to 4, characterized in that: The feeding structure comprises a connecting component and a telescopic fork, wherein the connecting component connects the output ends of the two lifting structures, and the telescopic fork is arranged on the connecting component and extends along the third direction; The end of the telescopic fork away from the connecting component has a hook portion, and the hook portion protrudes from the top surface of the telescopic fork and is used to hook the material rack.

8. The loading and unloading device according to any one of claims 1 to 4, characterized in that: The loading and unloading device further comprises a positioning structure, wherein the positioning structure comprises a first positioning member and a second positioning member, wherein the first positioning member is arranged at the bottom of the mounting frame, and the second positioning member is arranged at the equipment to be loaded and unloaded, and the first positioning member cooperates with the second positioning member for positioning; The first positioning member and the second positioning member are a positioning sleeve and a positioning column with positioning holes.

9. The loading and unloading device according to any one of claims 1 to 4, characterized in that: The loading and unloading device further comprises a charging component, and the charging component is arranged in the mounting frame or the lifting structure; The charging component supplies power to the lifting structure and the centering structure; the charging component has a charging interface for charging.

10. A transport device, characterized in that: It comprises an AGV trolley and a loading and unloading device as described in any one of claims 1 to 9, wherein the loading and unloading device loads a material rack, and the AGV trolley receives the loading and unloading device and transports the loading and unloading device and the material rack to a preset position.

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