Transfer system and control method thereof

Abstract

The invention belongs to the technical field of mechanical equipment, and discloses a transfer system and a control method of the transfer system. The transfer system comprises two transfer machines which are arranged at intervals, each transfer machine comprises a box body and a transfer device, and through openings are formed in the sides, facing each other, of the box bodies of the two transfer machines; the transfer device is movably arranged on the box body between a first position and a second position and movably penetrates through the through hole; the first position is the position where the transfer devices of the two transfer machines are in butt joint with each other, so that materials can be conveyed between the two transfer machines; the second position is the position where the transfer devices of the two transfer machines are separated from each other; the distance between the transfer devices of the two transfer machines at the second position is larger than or equal to the distance threshold value. During maintenance operation, the transfer device is controlled to move from the first position to the second position, so that a channel allowing maintenance personnel to pass through is avoided, the maintenance personnel can pass through the channel between the two transfer machines without climbing an aerial ladder, the maintenance operation difficulty and the safety risk are reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to a transfer system and a control method of the transfer system. Background Art

[0002] In a transfer system that requires two transfer machines to dock and transfer materials, the two transfer machines are arranged at an interval and each includes a box and a transfer device arranged in the box. The transfer device has a buffer flow channel. The docking flow channels of the two transfer machines extend out of the box for docking, thereby realizing the transfer of materials from one transfer machine to the flow channel of another transfer machine.

[0003] However, since the docking channels of the two transfer machines are docked at the gap between the two transfer machines, occupying the space between the two transfer machines, maintenance personnel cannot pass through the space between the two transfer machines and can only rely on the erected ladder to enter the next workstation for maintenance work, which brings inconvenience to the maintenance work. Moreover, in order to cross the higher transfer machine, the ladder also needs to be erected at a higher height, which increases the risk factor for maintenance personnel to climb the ladder and poses a high safety hazard.

[0004] Therefore, there is an urgent need for a transfer system and a control method of the transfer system to solve the above problems existing in the prior art. Summary of the invention

[0005] The object of the present invention is to provide a transfer system and a control method of the transfer system, which can enable maintenance personnel to pass through the passage between two transfer machines without climbing a ladder, thereby reducing the difficulty of maintenance operations, improving maintenance operation efficiency, and reducing safety risks during maintenance operations.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] In one aspect, a transfer system is provided, comprising two transfer machines arranged at an interval, the transfer machines comprising:

[0008] Box body, the boxes of the two transfer machines are provided with through openings on the sides facing each other;

[0009] A transfer device, which is movably disposed on the box body between a first position and a second position and movably passes through the through opening;

[0010] Among them, the first position is the position where the transfer devices of the two transfer machines are connected to each other, and the second position is the position where the transfer devices of the two transfer machines are separated from each other; the distance between the transfer devices of the two transfer machines when in the second position is greater than or equal to the distance threshold.

[0011] As an optional solution of the transfer system provided by the present invention, the transfer machine also includes a first driving mechanism, the shell of the first driving mechanism is connected to the box body, the output end of the first driving mechanism is transmission-connected to the transfer device, and the first driving mechanism is used to drive the transfer device to move linearly.

[0012] As an optional solution of the transfer system provided by the present invention, a connection component is provided at the output end of the first driving mechanism;

[0013] A bearing base is provided in the box body, a first through hole is provided on the bearing base, a first driving mechanism is installed at the bottom of the bearing base, a transfer device is slidably connected to the upper part of the bearing base, a connecting component is passed through the first through hole and connected to the transfer device;

[0014] And / or, the connecting assembly includes a first connecting frame and a second connecting frame; the first connecting frame includes a connecting plate and support plates respectively arranged at both ends of the connecting plate, a floating joint is provided at the output end of the first driving mechanism, the second connecting frame is engaged with the floating joint and is connected to the connecting plate, the support plate extends in a direction away from the second connecting frame, and one end of the support plate away from the connecting plate is connected to the transfer device.

[0015] As an optional solution of the transfer system provided by the present invention, a bearing base is arranged in the box body, a guide rail is arranged on the bearing base, the guide rail extends along the moving direction of the transfer device, and a slider is arranged at the bottom of the transfer device, and the slider slides with the guide rail.

[0016] As an optional solution of the transfer system provided by the present invention, a first limit assembly is provided on the transfer device, and the transfer device at the first position abuts against the box body through the first limit assembly;

[0017] And / or, a second limiting assembly is provided on the transfer device, and the transfer device at the second position abuts against the box body through the second limiting assembly.

[0018] As an optional solution of the transfer system provided by the present invention, the first limit assembly and the second limit assembly both include:

[0019] A first mounting plate connected to the transfer device;

[0020] The buffer comprises a fixed shell and a buffer head, wherein the fixed shell is connected to the first mounting plate, the buffer head is elastically and telescopically arranged on the fixed shell, and the buffer head is elastically abutted against the box body;

[0021] The rigid stopper is connected to the first mounting plate and is rigidly abutted against the box body.

[0022] As an optional solution of the transfer system provided by the present invention, a bearing base is arranged in the box body, and a limiting hole is arranged on the bearing base;

[0023] The first limiting component is connected to the bottom of the transfer device and is movably arranged in the limiting hole. The first limiting component can abut against the inner wall of the limiting hole to stop the transfer device at the first position.

[0024] A stop plate is connected above the bearing base, and the second limit assembly is located above the bearing base and can abut against the stop plate to stop the transfer device at the second position.

[0025] As an optional solution of the transfer system provided by the present invention, a first positioning hole and a second positioning hole are provided on the transfer device, and the transfer machine further includes a positioning mechanism, the positioning mechanism includes a positioning shell and a positioning end, the positioning shell is connected to the box body, and the positioning end is telescopically provided on the positioning shell;

[0026] The positioning end can be plugged and matched with the first positioning hole when the transfer device moves to the first position, and the positioning end can be plugged and matched with the second positioning hole when the transfer device moves to the second position.

[0027] As an optional solution of the transfer system provided by the present invention, the transfer device does not extend beyond the through opening when in the second position.

[0028] As an optional solution of the transfer system provided by the present invention, the transfer machine also includes a control unit and an operating button. The operating button is arranged on the outer wall of the box body and is communicatively connected with the control unit. The operating button is used to receive the user's operating instructions, and the control unit is used to control the transfer device to switch between the first position and the second position after receiving the operating instructions.

[0029] As an optional solution of the transfer system provided by the present invention, the transfer device includes:

[0030] A carrier unit is movably arranged on the box body;

[0031] A transfer unit, provided on the carrier unit;

[0032] The docking flow channel unit is arranged on the carrier unit and is used to transfer materials; the docking flow channel units of the two transfer machines can at least partially extend out of the through opening and dock separately under the drive of the corresponding carrier unit;

[0033] The transfer unit is used to transfer materials to the docking flow channel unit or to transfer materials on the docking flow channel unit out.

[0034] As an optional solution of the transfer system provided by the present invention, the transfer device further includes:

[0035] A protective cover shell is connected to the carrier unit and movably penetrates the through-hole. The protective cover shell is provided with a first window, and at least a part of the docking flow channel unit passes through the first window.

[0036] When the transfer device is in the first position, the protective cover shell at least partially extends out of the through opening.

[0037] As an optional solution of the transfer system provided by the present invention, the protective cover shell includes a surrounding plate and a baffle, the baffle is arranged opposite to the through opening, the surrounding plate is arranged around the baffle, the first window is opened on the baffle, and the baffle and / or the surrounding plate are connected to the carrier unit.

[0038] As an optional solution of the transfer system provided by the present invention, the transfer unit includes a support frame, a second drive mechanism, a third drive mechanism, a first clamping mechanism, a fourth drive mechanism, a fifth drive mechanism, and a second clamping mechanism;

[0039] The support frame is connected to the carrier unit;

[0040] The third driving mechanism is connected to the output end of the second driving mechanism, the first clamping mechanism is connected to the output end of the third driving mechanism, the second driving mechanism drives the third driving mechanism to move along the first direction, the third driving mechanism drives the first clamping mechanism to move along the second direction, and the first clamping mechanism clamps the material;

[0041] The fifth driving mechanism is connected to the output end of the fourth driving mechanism, the second clamping mechanism is connected to the output end of the fifth driving mechanism, the fourth driving mechanism drives the fifth driving mechanism to move along the first direction, the fifth driving mechanism drives the second clamping mechanism to move along the second direction, and the second clamping mechanism clamps the material;

[0042] The second driving mechanism and the fourth driving mechanism are respectively arranged on both sides of the support frame along the third direction;

[0043] The first direction, the second direction and the third direction are perpendicular to each other.

[0044] As an optional solution of the transfer system provided by the present invention, the transfer device further includes:

[0045] A first flow channel unit and a second flow channel unit, wherein the first flow channel unit, the second flow channel unit and the docking flow channel unit are sequentially arranged in intervals along a first direction, the first flow channel unit and the second flow channel unit both convey materials along a third direction, and the docking flow channel unit conveys materials along the first direction;

[0046] The first clamping mechanism transfers the material between the first flow channel unit and the second flow channel unit under the drive of the second driving mechanism and the third driving mechanism;

[0047] The second clamping mechanism is driven by the fourth driving mechanism and the fifth driving mechanism to transfer materials between the first flow channel unit, the second flow channel unit and the docking flow channel unit.

[0048] On the other hand, a control method of a transfer system is provided, which is applied to the above transfer system, and the control method includes:

[0049] Receiving operation instructions, wherein the operation instructions include work instructions and maintenance instructions;

[0050] When the received operation instruction is a work instruction, controlling the transfer device to move from the second position to the first position;

[0051] When the received operation instruction is a maintenance instruction, the transfer device is controlled to move from the first position to the second position.

[0052] Beneficial effects of the present invention:

[0053] The transfer system and the control method of the transfer system provided by the present invention are configured such that the transfer device is movable in a box body. When materials need to be transferred between two transfer machines, the transfer devices of the two transfer machines are controlled to move to a first position so that the two transfer machines are docked so as to transfer materials on one of the transfer devices to the other transfer device. When maintenance personnel need to pass through, the transfer devices of the two transfer machines are controlled to move from the first position to the second position so that the transfer devices of the two transfer machines are separated from each other, thereby avoiding a passage for maintenance personnel to pass through, so that maintenance personnel can pass through the passage between the two transfer machines without climbing a ladder, thereby reducing the difficulty of maintenance operations, improving maintenance operation efficiency, and reducing safety risks during maintenance operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments of the present invention are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the drawings without creative work.

[0055] Figure 1 is a structural schematic diagram of a transfer system provided in a specific embodiment of the present invention (the transfer device is in a first position);

[0056] Figure 2 is a first view of a transfer machine provided by a specific embodiment of the present invention;

[0057] Figure 3 It is a schematic diagram of the installation of the transfer device of the transfer machine provided in a specific embodiment of the present invention on the bearing base;

[0058] Figure 4 It is a schematic diagram of the installation of the transfer device provided in a specific embodiment of the present invention in a box;

[0059] Figure 5 yes Figure 3 A partial enlarged view of the middle A;

[0060] Figure 6It is a structural schematic diagram of a bearing base provided in a specific embodiment of the present invention;

[0061] Figure 7 is a first view of a transfer device of a transfer machine provided in a specific embodiment of the present invention;

[0062] Figure 8 is a second view of the transfer device of the transfer machine provided in a specific embodiment of the present invention;

[0063] Fig. 9 is a third view of the transfer device of the transfer machine provided in a specific embodiment of the present invention;

[0064] Fig.10 It is a schematic structural diagram of a protective cover shell of a transfer device provided in a specific embodiment of the present invention;

[0065] Fig.11 It is a structural schematic diagram of a docking flow channel unit of a transfer device provided in a specific embodiment of the present invention;

[0066] Fig.12 is a structural schematic diagram of a first flow channel unit of a transfer device provided in a specific embodiment of the present invention;

[0067] Fig.13 It is a schematic diagram of the structure of a conveying device provided in a specific embodiment of the present invention;

[0068] Fig.14 It is a second view of the transfer machine provided by the specific embodiment of the present invention.

[0069] In the figure:

[0070] 1000, transfer machine; 2000, materials;

[0071] 1. Box body; 2. Transfer device; 3. First driving mechanism; 4. Connecting assembly; 5. Carrying base; 7. First limiting assembly; 8. Second limiting assembly; 9. Positioning mechanism; 10. Operating button; 20. Conveying device; 30. Power socket;

[0072] 11. through-hole; 12. first chamber; 13. second chamber; 14. third chamber; 15. partition plate; 16. first door body; 17. second door body; 18. third door body; 19. first operation panel; 110. second operation panel; 120. first delivery port; 130. second delivery port;

[0073] 21. Carrier unit; 22. Transfer unit; 23. Docking flow channel unit; 24. Protective cover; 25. First flow channel unit; 26. Second flow channel unit; 27. Mounting bracket;

[0074] 211, first positioning hole; 212, second positioning hole;

[0075] 221, support frame; 222, second driving mechanism; 223, third driving mechanism; 224, first clamping mechanism; 225, fourth driving mechanism; 226, fifth driving mechanism; 227, second clamping mechanism;

[0076] 231, first fixing frame; 232, first motor; 233, first belt transmission mechanism; 234, first position detection mechanism; 235, first blocking mechanism;

[0077] 241, hoarding; 242, baffle;

[0078] 2411, second window; 2421, first window; 2422, extension plate;

[0079] 251, second fixing frame; 252, second motor; 253, second belt transmission mechanism; 254, second position detection mechanism; 255, second blocking mechanism;

[0080] 31. Floating joint;

[0081] 41. a first connecting frame; 42. a second connecting frame;

[0082] 411, connecting plate; 412, supporting plate; 421, bayonet;

[0083] 51. first through-hole; 52. second through-hole; 53. limiting hole; 54. stop plate;

[0084] 61. Guide rail; 62. Slider;

[0085] 71. first mounting plate; 72. buffer; 73. rigid stopper;

[0086] 721, fixed housing; 722, buffer head;

[0087] 91. Positioning housing; 92. Positioning end; 93. Positioning mounting plate. DETAILED DESCRIPTION

[0088] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0089] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0090] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0091] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0092] In this embodiment, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects before and after are in an "or" relationship.

[0093] In the embodiments of the present invention, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments.

[0094] like Figure 1As shown, it is a schematic diagram of the structure of the transfer system provided in this embodiment, and the transfer system includes two transfer machines 1000 arranged at an interval, and materials 2000 can be transferred between the two transfer machines 1000, for example, the material 2000 on one transfer machine 1000 is transferred to the other transfer machine 1000. The transfer system provided in the embodiment of the present application enables maintenance personnel to pass through the passage between the two transfer machines 1000 without climbing a ladder, thereby reducing the difficulty of maintenance operations, improving the efficiency of maintenance operations, and reducing safety risks during maintenance operations.

[0095] Specifically, see Figure 1 and Figure 2 The transfer machine 1000 provided in the embodiment of the present application includes a box body 1 and a transfer device 2. A through opening 11 is provided on the side of the boxes 1 of the two transfer machines 1000 facing each other. The inside of the box body 1 has a space for installing the transfer device 2, and the through opening 11 is arranged through the side wall of the box body 1. The transfer device 2 is movably arranged in the box body 1 between a first position and a second position, and movably passes through the through opening 11. The first position is a position where the transfer devices 2 of the two transfer machines 1000 are docked with each other, and the second position is a position where the transfer devices 2 of the two transfer machines 1000 are separated from each other; the distance between the transfer devices 2 of the two transfer machines 1000 when in the second position is greater than or equal to the distance threshold.

[0096] In the above-mentioned transfer system, by setting the transfer device 2 to be movable in the box body 1, when it is necessary to transfer material 2000 between two transfer machines 1000, the transfer devices 2 of the two transfer machines 1000 are controlled to move to the first position so that the two are docked so as to transfer the material 2000 on one of the transfer devices 2 to the other transfer device 2. When maintenance personnel need to pass through, the transfer devices 2 of the two transfer machines 1000 are controlled to move from the first position to the second position so that the transfer devices 2 of the two transfer machines 1000 are separated from each other, thereby avoiding a passage for maintenance personnel to pass through, so that maintenance personnel can pass through the passage between the two transfer machines 1000 without climbing a ladder, thereby reducing the difficulty of maintenance operations, improving maintenance operation efficiency, and reducing safety risks during maintenance operations.

[0097] The above-mentioned spacing threshold can be set to allow a single maintenance personnel to pass through, and illustratively, the spacing threshold is greater than or equal to 0.35m. For example, the spacing threshold is 0.35m, 0.4m, 0.45m, 0.5m, 0.55m, 0.6m, etc., but is not limited to the listed values.

[0098] In some embodiments of the present application, the transfer device 2 does not exceed the through opening 11 when in the second position, so that the passage size between the two transfer machines 1000 that allows maintenance personnel to pass through is maximized. Figure 1, the distance L between the two transfer machines 1000 is 0.5 m. When the transfer device 2 moves to the second position, a maintenance passage with a width of 0.5 m can be formed between the two transfer machines 1000 for maintenance personnel to pass through.

[0099] In some embodiments, the transfer device 2 in the second position may be flush with the through opening 11. In other embodiments, the transfer device 2 in the second position may be located on the side of the through opening 11 close to the inside of the box body 1, that is, at this time, the transfer device 2 is completely located inside the box body 1, and there is a distance between the transfer device 2 and the through opening 11, which can prevent maintenance personnel from accidentally touching the transfer device 2 when passing through the passage between the two transfer machines 1000, thereby improving safety.

[0100] Exemplarily, the distance between the two transfer machines 1000 is 0.5 m. When the transfer device 2 moves to the second position, it is exactly flush with the through opening 11. On the one hand, it can form a maintenance channel with the maximum width between the two transfer machines 1000, that is, a maintenance channel of 0.5 m. On the other hand, it can shorten the moving stroke of the transfer device 2, thereby helping to reduce the size of the transfer machine 1000 to a certain extent.

[0101] like Figure 3 As shown, in some embodiments of the present application, the transfer machine 1000 further includes a first drive mechanism 3, the shell of the first drive mechanism 3 is connected to the box body 1, the output end of the first drive mechanism 3 is transmission-connected to the transfer device 2, and the first drive mechanism 3 is used to drive the transfer device 2 to move linearly relative to the box body 1, so that the transfer device 2 switches between the first position and the second position. By setting the first drive mechanism 3, the automatic and intelligent control of the transfer device 2 can be realized, and the transfer device 2 can be more conveniently moved to the second position to avoid the maintenance channel, thereby improving the convenience during maintenance operations.

[0102] In other embodiments of the present application, the entire transfer device 2 can also be manually pushed to move between the first position and the second position, for example, a slideway is provided in the box body 1, and the transfer device 2 slides with the slideway, and the position switching of the transfer device 2 can also be achieved manually. Furthermore, a locking mechanism can be provided in the box body 1, and when the transfer device 2 moves to the first position and the second position, the transfer device 2 is locked to keep the transfer device 2 in the first position or the second position.

[0103] In this embodiment, two transfer machines 1000 are set apart along the first direction, and the moving direction of the transfer device 2 is also the first direction, that is, the driving direction of the first driving mechanism 3 is the first direction, so that the transfer device 2 extends or retracts through the through opening 11 along the first direction.

[0104] like Figure 3 and Figure 4As shown, the first direction is the X direction in the figure, Figure 4 The state shown is the state when the transfer device 2 is in the first position. The height direction of the transfer machine 1000 is the Z direction, and the width direction is the Y direction, wherein the X direction, the Y direction and the Z direction are perpendicular to each other.

[0105] like Figure 3 and Figure 5 As shown, in some embodiments of the present application, the first drive mechanism 3 is a linear drive mechanism, such as a cylinder, an oil cylinder, an electric push rod, etc., and a connecting component 4 is provided at its output end, and the connecting component 4 is used to connect the output end of the first drive mechanism 3 and the transfer device 2. Figure 6 The first through-hole 51 is provided on the bearing base 5 in the box body 1, the first driving mechanism 3 is installed at the bottom of the bearing base 5, the transfer device 2 is slidably connected to the upper part of the bearing base 5, and the connecting component 4 is passed through the first through-hole 51 and connected to the transfer device 2. The transfer device 2 and the first driving mechanism 3 are arranged at the upper part and the bottom part of the bearing base 5 respectively, so that the space in the box body 1 can be better utilized, and the structural layout is more reasonable and compact. The arrangement of the first through-hole 51 and the connecting component 4 facilitates the transmission connection between the first driving mechanism 3 and the transfer device 2.

[0106] In other embodiments, the first driving mechanism 3 may also include a motor, a gear and a rack, the rack is arranged in the bearing base 5, the gear is connected to the output end of the motor, the housing of the motor is slidably connected to the bearing base 5, and is connected to the bottom of the transfer device 2, which can also realize the movement of the transfer device 2. Alternatively, the first driving mechanism 3 may also include a motor and a lead screw nut mechanism, which can also drive the transfer device 2 to move linearly.

[0107] Specifically, see Figure 5 , the connecting assembly 4 includes a first connecting frame 41 and a second connecting frame 42. The first connecting frame 41 includes a connecting plate 411 and support plates 412 respectively arranged at both ends of the connecting plate 411. A floating joint 31 is provided at the output end of the first driving mechanism 3, the second connecting frame 42 is engaged with the floating joint 31 and connected to the connecting plate 411, the support plate 412 extends in a direction away from the second connecting frame 42, and one end of the support plate 412 away from the connecting plate 411 is connected to the transfer device 2. By providing the floating joint 31, the eccentric angle between the output end of the first driving mechanism 3 and the driven transfer device 2 can be absorbed, the transmission accuracy requirements between the two can be reduced, and the safety and stability during transmission can be ensured. The connecting plate 411 and the support plates 412 at both ends of the connecting plate 411 roughly constitute a U-shaped first connecting frame 41, so that the supporting area of ​​the connecting assembly 4 for the transfer device 2 is expanded, which can improve the stability of the driving transfer device 2 when moving, and at the same time help to improve the force balance.

[0108] Furthermore, the second connecting frame 42 is roughly an L-shaped plate structure, and its first end is fixedly connected to the connecting plate 411 of the first connecting frame 41, and the second end is provided with a bayonet 421. The floating joint 31 is provided with a recessed slot. The second end of the second connecting frame 42 is engaged with the slot on the floating joint 31 through the bayonet 421, and the connection is convenient and stable.

[0109] See also Figure 7 , Figure 8 as well as Fig. 9 A guide rail 61 is provided on the bearing base 5, and the guide rail 61 extends along the moving direction of the transfer device 2, that is, along the first direction. A slider 62 is provided at the bottom of the transfer device 2, and the slider 62 is slidably matched with the guide rail 61. When the transfer device 2 moves between the first position and the second position, the slider 62 slides along the guide rail 61 to improve the moving accuracy and stability of the transfer device 2 and avoid displacement.

[0110] Furthermore, two guide rails 61 are provided on the bearing base 5 along the Y direction, and sliders 62 are provided at the bottom of the transfer device 2 at positions corresponding to the two guide rails 61. By providing two guide rails 61, the stability of the transfer device 2 during movement and the guiding accuracy of the transfer device 2 can be further increased, and the transfer device 2 can be effectively prevented from moving in an oblique manner.

[0111] In some embodiments of the present application, the transfer device 2 is provided with a first limit assembly 7 and a second limit assembly 8. The transfer device 2 at the first position abuts against the box body 1 through the first limit assembly 7, so that the transfer device 2 is stopped at the first position, and the transfer device 2 at the second position abuts against the box body 1 through the second limit assembly 8, so that the transfer device 2 is stopped at the second position. By providing the first limit assembly 7 and the second limit assembly 8, the transfer device 2 can be prevented from moving over the travel, so that the transfer device 2 is accurately stopped at the first position or the second position.

[0112] Specifically, see Figure 3 , Figure 7 and Figure 8, the first limiting assembly 7 and the second limiting assembly 8 both include a first mounting plate 71, a buffer 72 and a rigid stopper 73. The first mounting plate 71 is fixedly connected to the transfer device 2, and is used to provide a mounting base for the buffer 72 and the rigid stopper 73. The buffer 72 includes a fixed shell 721 and a buffer head 722, the fixed shell 721 is connected to the first mounting plate 71, the buffer head 722 can be elastically and telescopically arranged on the fixed shell 721, and the buffer head 722 elastically abuts against the box body 1. When the transfer device 2 is about to reach the first position or the second position, the buffer head 722 of the buffer 72 first touches the inside of the box body 1, so that the buffer head 722 moves toward the inside of the fixed shell 721 until the transfer device 2 stops at the first position or the second position, which plays a role in buffering, vibration absorption and noise reduction. The rigid stopper 73 is connected to the first mounting plate 71, and can be rigidly abutted against the box body 1. The rigid stopper 73 rigidly abuts against the interior of the box body 1 only after the buffer 72 abuts against the interior of the box body 1 to prevent a large collision noise. Due to the rigid abutment, the transfer device 2 can be stably stopped at the first position or the second position to effectively avoid the phenomenon of overtravel.

[0113] Exemplarily, the buffer 72 is an oil pressure buffer.

[0114] Exemplarily, the first mounting plate 71 is an L-shaped plate structure, a first end of which is fixedly connected to the transfer device 2, and a second end is used to install the buffer 72 and the rigid stopper 73. The rigid stopper 73 is a bolt, which is passed through the first mounting plate 71 and is locked and fixed by a nut.

[0115] More specifically, see Figure 3 and Figure 6 The bearing base 5 is provided with a limiting hole 53. The first limiting component 7 is connected to the bottom of the transfer device 2 and is movably arranged in the limiting hole 53. The first limiting component 7 can abut against the inner wall of the limiting hole 53 to stop the transfer device 2 at the first position. Figure 7 and Figure 8 A stop plate 54 is connected to the upper part of the bearing base 5, and the second limit assembly 8 is located above the bearing base 5 and can abut against the stop plate 54 to stop the transfer device 2 at the second position. By providing the limit hole 53 and the stop plate 54 on the bearing base 5, abutment surfaces can be provided for the first limit assembly 7 and the second limit assembly 8 respectively, so that the structure layout is more reasonable and compact while ensuring that the transfer device 2 can be accurately stopped at the first position and the second position.

[0116] For example, two first limit assemblies 7 arranged along the Y direction are provided at one end of the transfer device 2, and two second limit assemblies 8 arranged along the Y direction are provided at the other end of the transfer device 2 to ensure the reliability of the stopping of the transfer device 2. In other embodiments, the number of the first limit assemblies 7 and the second limit assemblies 8 can be one or more, without limitation.

[0117] like Figure 3 , Figure 5 as well as Fig. 9 As shown, the transfer device 2 is provided with a first positioning hole 211 and a second positioning hole 212, and the transfer machine 1000 further includes a positioning mechanism 9, the positioning mechanism 9 includes a positioning shell 91 and a positioning end 92, the positioning shell 91 is connected to the box body 1, and the positioning end 92 is telescopically arranged on the positioning shell 91. When the transfer device 2 moves to the first position, the positioning end 92 can be plugged and matched with the first positioning hole 211, so that the entire transfer device 2 is firmly positioned in the first position and will not move. When the transfer device 2 needs to move to the second position, the positioning end 92 moves relative to the positioning shell 91 to disengage from the first positioning hole 211. The positioning end 92 can be plugged into and cooperated with the second positioning hole 212 when the transferring device 2 moves to the second position, so that the transferring device 2 is firmly positioned in the second position and will not move, so as to avoid a maintenance passage for maintenance personnel to pass through. When the maintenance work is completed, the transferring device 2 needs to be moved to the first position and the transferring operation is performed again between the two transfer machines 1000. At this time, the positioning end 92 moves relative to the positioning shell 91 to disengage from the second positioning hole 212, and is reinserted into the first positioning hole 211 when the transferring device 2 stops at the first position.

[0118] Exemplarily, the positioning mechanism 9 is a gas cylinder or an oil cylinder. Taking the gas cylinder as an example, the positioning housing 91 is the cylinder body of the gas cylinder, and the positioning end 92 is the end of the telescopic rod of the gas cylinder or a positioning block installed at the end of the telescopic rod.

[0119] Further, see Figure 5 The positioning mechanism 9 is installed on the supporting base 5 through the positioning mounting plate 93, and the positioning mechanism 9 is arranged vertically so that its driving direction is the Z direction.

[0120] See also Figure 5 and Figure 6 A second through hole 52 is provided on the bearing base 5 , and the positioning mechanism 9 is installed on the bottom of the bearing base 5 through the positioning mounting plate 93 , and its positioning end 92 passes through the second through hole 52 and is inserted into the first positioning hole 211 or the second positioning hole 212 .

[0121] The second through hole 52 is connected to the first through hole 51, which is more convenient for processing. Exemplarily, the second through hole 52 extends along the Y direction and is connected to the first through hole 51 to form a T-shaped hole structure. Two positioning mechanisms 9 are provided. Correspondingly, two first positioning holes 211 and two second positioning holes 212 are also provided, and they correspond to the two positioning mechanisms 9 one by one. The positioning ends 92 of the two positioning mechanisms 9 pass through the two ends of the second through hole 52 respectively, and are plugged into the corresponding first positioning holes 211 or the second positioning holes 212.

[0122] In this embodiment, see Figure 2 The transfer machine 1000 also includes a control unit (not shown) and an operating button 10. The operating button 10 is disposed on the outer wall of the housing 1 and is in communication connection with the control unit, and the control unit is in communication connection with the first drive mechanism 3. The operating button 10 is used to receive the user's operating instructions. The control unit is used to control the first drive mechanism 3 to start after receiving the operating instructions, so that the first drive mechanism 3 drives the transfer device 2 to switch between the first position and the second position. During maintenance work, the maintenance personnel only need to operate the operating button 10 to automatically retract the transfer device 2 into the housing 1 and stop at the second position, thereby avoiding the maintenance passage between the two transfer machines 1000.

[0123] For example, the operating button 10 is a button or a knob, which can be pressed and turned by an operator to send an operation instruction. Alternatively, the operating button 10 can also be a click button of a touch screen.

[0124] like Figure 4 , Figure 7 as well as Figure 8 As shown, the transfer device 2 includes a carrier unit 21, a transfer unit 22 and a docking flow channel unit 23. The carrier unit 21 is movably arranged on the bearing base 5 in the box body 1. Specifically, the carrier unit 21 is provided with the above-mentioned first positioning hole 211, the second positioning hole 212 and the slider 62, and the first limit assembly 7 and the second limit assembly 8 are installed on the carrier unit 21 and are respectively arranged on the upper and lower sides of the carrier unit 21. The transfer unit 22 is arranged on the carrier unit 21 for transferring materials 2000. The docking flow channel unit 23 is arranged on the carrier unit 21 for conveying materials 2000. The docking flow channel units 23 of the two transfer machines 1000 can at least partially extend out of the through-port 11 and dock separately under the drive of the corresponding carrier unit 21, that is, when the transfer devices 2 of the two transfer machines 1000 move to the first position, the docking flow channel units 23 of the two transfer machines 1000 dock to convey the materials 2000. For example, the material 2000 on one of the docking flow channel units 23 is transferred to another docking flow channel unit 23. The transfer unit 22 is used to transfer the material 2000 to the docking flow channel unit 23 or to transfer the material 2000 on the docking flow channel unit 23 out.

[0125] In this embodiment, the transfer device 2 further includes a protective cover 24, which is connected to the carrier unit 21 and movably passes through the through opening 11. Figure 2 The protective cover 24 is provided with a first window 2421, and the docking flow channel unit 23 at least partially passes through the first window 2421 to dock with the docking flow channel unit 23 of another transfer machine 1000. When the transfer device 2 is in the first position, the protective cover 24 at least partially extends out of the through-hole 11 to cover the docking flow channel unit 23 and / or the transfer unit 22. By providing the protective cover 24, effective protection can be provided for the portion of the transfer device 2 in the first position that extends out of the through-hole 11 to prevent personnel or equipment from accidentally touching the transfer device 2. At the same time, the first window 2421 opened in the protective cover 24 can facilitate the extension of the docking flow channel unit 23 to achieve docking with another transfer machine 1000.

[0126] It can be understood that the transfer devices 2 of the two transfer machines 1000 are provided with a protective cover 24 at one end facing each other.

[0127] Specifically, see Figure 7 , Fig. 9 as well as Fig.10 The protective cover 24 includes a surrounding plate 241 and a baffle 242. The baffle 242 is arranged opposite to the through-opening 11, that is, the normal line of the plane where the baffle 242 is located is parallel to the axis of the through-opening 11. The surrounding plate 241 is arranged around the circumference of the baffle 242. The first window 2421 is opened on the baffle 242. The baffle 242 and / or the surrounding plate 241 are connected to the carrier unit 21. The surrounding plate 241 and the baffle 242 jointly enclose a protective space for covering one end of the transfer device 2, which is convenient to manufacture and install.

[0128] See also Figure 2 A second window 2411 is also provided on the enclosure 241, and the second window 2411 is connected to the first window 2421, and a portion of the docking flow channel unit 23 can be exposed through the second window 2411, so that personnel can observe the conveying status of the material 2000.

[0129] See also Figure 7 , Fig. 9 as well as Fig.10The side of the enclosure 241 is provided with a flange, which is installed on the carrier unit 21 through an L-shaped mounting bracket 27 and fasteners such as screws and bolts; the bottom of the enclosure 241 and the baffle 242 are both provided with flanges, which are fixed to the carrier unit 21 through fasteners such as screws and bolts; an extension plate 2422 extends inward from one side of the first window 2421, and a flange is provided at one end of the extension plate 2422 away from the first window 2421, which is installed on the carrier unit 21 through an L-shaped mounting bracket 27 and fasteners such as screws and bolts, ensuring that the protective cover shell 24 is stably and securely fixed to the carrier unit 21, thereby providing effective protection for the portion of the transfer device 2 extending out of the through-opening 11.

[0130] See also Figure 7 and Figure 8 The transfer unit 22 of the transfer device 2 provided in this embodiment includes a support frame 221, a second driving mechanism 222, a third driving mechanism 223, a first clamping mechanism 224, a fourth driving mechanism 225, a fifth driving mechanism 226, and a second clamping mechanism 227. The X direction in the figure is defined as the first direction, the Z direction is the second direction, and the Y direction is the third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

[0131] The support frame 221 is connected to the carrier unit 21 , and the second driving mechanism 222 and the fourth driving mechanism 225 are respectively disposed on two sides of the support frame 221 along the third direction.

[0132] The third driving mechanism 223 is connected to the output end of the second driving mechanism 222, and the first clamping mechanism 224 is connected to the output end of the third driving mechanism 223. The second driving mechanism 222 is used to drive the third driving mechanism 223 to move along the first direction, and the third driving mechanism 223 is used to drive the first clamping mechanism 224 to move along the second direction. The first clamping mechanism 224 is used to clamp the material 2000, and can move along the first direction and the second direction under the drive of the second driving mechanism 222 and the third driving mechanism 223 to transfer the material 2000 to the designated position and release it.

[0133] The fifth driving mechanism 226 is connected to the output end of the fourth driving mechanism 225, and the second clamping mechanism 227 is connected to the output end of the fifth driving mechanism 226. The fourth driving mechanism 225 is used to drive the fifth driving mechanism 226 to move along the first direction, and the fifth driving mechanism 226 is used to drive the second clamping mechanism 227 to move along the second direction. The second clamping mechanism 227 is used to clamp the material 2000 and can move along the first direction and the second direction under the drive of the fourth driving mechanism 225 and the fifth driving mechanism 226 to transfer the material 2000 to the designated position and release it.

[0134] By arranging the second driving mechanism 222 and the fourth driving mechanism 225 on both sides of the support frame 221 along the Y direction, the material 2000 can be clamped and transferred on both sides of the support frame 221, and the transfer function is more abundant.

[0135] Exemplarily, the second driving mechanism 222 and the fourth driving mechanism 225 are both linear modules, the third driving mechanism 223 and the fifth driving mechanism 226 are both air cylinders or oil cylinders, and the first clamping mechanism 224 and the second clamping mechanism 227 are both claw cylinders.

[0136] Continue reading Figure 7 and Figure 8 The transfer device 2 also includes a first flow channel unit 25 and a second flow channel unit 26. The first flow channel unit 25, the second flow channel unit 26 and the docking flow channel unit 23 are arranged in sequence along the first direction (X direction). The first flow channel unit 25 and the second flow channel unit 26 both convey the material 2000 along the third direction (Y direction), and the docking flow channel unit 23 conveys the material 2000 along the first direction (X direction). The first clamping mechanism 224 is used to transfer the material 2000 between the first flow channel unit 25 and the second flow channel unit 26 under the drive of the second driving mechanism 222 and the third driving mechanism 223. The second clamping mechanism 227 is used to transfer the material 2000 between the first flow channel unit 25, the second flow channel unit 26 and the docking flow channel unit 23 under the drive of the fourth driving mechanism 225 and the fifth driving mechanism 226.

[0137] For example, in Figure 1 In the transfer machine 1000 on the left side, the material 2000 entering the first end of the first flow channel unit 25 can be clamped by the first clamping mechanism 224 and transferred to the first end of the second flow channel unit 26, and then transferred to the second end on the second flow channel unit 26, and then enter the next station; or, the material 2000 entering the first end of the first flow channel unit 25 can be transferred to the second end of the first flow channel unit 25 on the first flow channel unit 25, and then enter the next station. The second end of the first flow channel unit 25 and the second end of the second flow channel unit 26 are directly opposite to the docking flow channel unit 23.

[0138] exist Figure 1In the transfer machine 1000 on the right side, the movement mode of the material 2000 entering the first end of the first flow channel unit 25 is consistent with that of the transfer machine 1000 on the left side, and further, the material 2000 conveyed to the second end by the first flow channel unit 25 and the material 2000 conveyed to the second end by the second flow channel unit 26 can be transferred to the docking flow channel unit 23 in the right transfer machine 1000 under the drive of the second clamping mechanism 227. The conveying direction of the docking flow channel units 23 of the two transfer machines 1000 is the same, for example, both convey to the left side, then after the two docking flow channel units 23 are docked, the material 2000 on the right docking flow channel unit 23 can be conveyed to the left docking flow channel unit 23, and the material 2000 on the left docking flow channel unit 23 can then be clamped by the second clamping mechanism 227 and transferred to the second end of the second flow channel unit 26, and further flow to the next station.

[0139] like Fig.11 As shown, the docking flow channel unit 23 includes a first fixed frame 231, a first motor 232, a first belt transmission mechanism 233, a first position detection mechanism 234 and a first blocking mechanism 235. The first fixed frame 231 is fixedly mounted on the carrier unit 21, two groups of first belt transmission mechanisms 233 are arranged along the Y direction and are in transmission connection, the first motor 232 and the first belt transmission mechanism 233 are both mounted on the first fixed frame 231, and the first motor 232 is in transmission connection with the driving wheel of one of the first belt transmission mechanisms 233 to drive the two first belt transmission mechanisms 233 to transmit along the X direction, thereby transmitting the material 2000 placed on the conveyor belt of the first belt transmission mechanism 233. The first position detection mechanism 234 is arranged on the first fixed frame 231, and is used to detect whether there is a material 2000 at the current position, and the first blocking mechanism 235 is used to rise when the first position detection mechanism 234 detects the existence of a material 2000 to block the material 2000 from continuing to move forward, so as to facilitate the location of a single material 2000.

[0140] Exemplarily, the first position detection mechanism 234 includes two opposing optical fiber sensors, one of which is a transmitter and the other is a receiver. When the optical fiber emitted by the transmitter cannot be received by the receiver, it indicates that the optical fiber is blocked by the material 2000, and the material 2000 exists at the detection position. The first blocking mechanism 235 includes a cylinder and a block. The cylinder is installed on the first fixed frame 231, and blocks the material 2000 or avoids the material 2000 by driving the block to rise or fall.

[0141] The structures of the first flow channel unit 25 and the second flow channel unit 26 are similar. Taking the first flow channel unit 25 as an example, Fig.12As shown, the first flow channel unit 25 includes a second fixing frame 251, a second motor 252, a second belt transmission mechanism 253, a second position detection mechanism 254 and a second blocking mechanism 255. The second fixing frame 251 is fixedly mounted on the carrier unit 21.

[0142] Two groups of second belt transmission mechanisms 253 are arranged along the X direction and are in transmission connection. The second motor 252 and the second belt transmission mechanism 253 are both installed on the second fixed frame 251, and the second motor 252 is in transmission connection with the driving wheel of one of the second belt transmission mechanisms 253 to drive the two second belt transmission mechanisms 253 to move along the Y direction, thereby conveying the material 2000 placed on the conveyor belt of the second belt transmission mechanism 253. The second position detection mechanism 254 is arranged on the second fixed frame 251, and is used to detect whether there is a material 2000 at the current position. The second blocking mechanism 255 is used to rise when the second position detection mechanism 254 detects the existence of the material 2000 to block the material 2000 from continuing to move forward, so as to facilitate the location of a single material 2000.

[0143] Exemplarily, the second position detection mechanism 254 includes two opposing optical fiber sensors, one of which is a transmitter and the other is a receiver. When the optical fiber emitted by the transmitter cannot be received by the receiver, it indicates that the optical fiber is blocked by the material 2000, and the material 2000 exists at the detection position. The second blocking mechanism 255 includes a cylinder and a block. The cylinder is installed on the second fixed frame 251, and blocks the material 2000 or avoids the material 2000 by driving the block to rise or fall.

[0144] Further, see Figure 2 A first conveying port 120 is provided on both sides of the box body 1 along the Y direction. The first conveying port 120 is opposite to the first flow channel unit 25 and the second flow channel unit 26 to receive the material 2000 through the first conveying port 120 or allow the material 2000 to enter the next station.

[0145] like Fig.13 and Fig.14 As shown, a conveying device 20 is also provided in the box body 1 for conveying the material 2000 along the Y direction. The conveying device 20 is provided below the transfer device 2 and fully utilizes the internal space of the transfer machine 1000 to transport the material 2000.

[0146] See also Figure 2 , Figure 4 and Fig.14The bearing base 5 is located in the middle of the box body 1, and the internal space of the box body 1 is divided into an upper space and a lower space. The upper space is a first chamber 12 for installing the transfer device 2. A partition plate 15 is provided in the lower space, and the partition plate 15 extends vertically to divide the lower space into a second chamber 13 and a third chamber 14. Among them, the second chamber 13 is provided with a power socket 30 and some other electrical components, and the third chamber 14 is provided with the above-mentioned conveying device 20.

[0147] like Fig.13 As shown, the conveying device 20 includes a third fixed frame, a third motor and a third belt transmission mechanism arranged on the third fixed frame, the third fixed frame is arranged on the bottom wall of the third chamber 14, and the third motor and the third belt transmission mechanism are in transmission connection, so as to realize the conveying of the material 2000 along the Y direction. Fig.14 A second conveying port 130 is provided on both sides of the box body 1 along the Y direction. The second conveying port 130 specifically passes through the side wall of the third chamber 14. The second conveying port 130 is opposite to the conveying device 20 to receive the material 2000 through the second conveying port 130 or allow the material 2000 to enter the next workstation.

[0148] See also Figure 2 and Fig.14 The box body 1 is provided with a first door body 16, a second door body 17 and a third door body 18. The first door body 16 is used to open or close the first chamber 12, the second door body 17 is used to open or close the second chamber 13, and the third door body 18 is used to open or close the third chamber 14, so as to facilitate maintenance and inspection of the devices or components inside the three chambers.

[0149] See also Fig.14 The outer wall of the box body 1 is also provided with a first operation panel 19 and a second operation panel 110. The operator can operate through the first operation panel 19 and the second operation panel 110 to realize human-computer interaction. For example, the first operation panel 19 is provided with buttons such as start, stop, reset, lighting and emergency stop, and the second operation panel 110 is provided with a power button, a gas source button, a pressure gauge and a debugging interface, etc., which can be arranged according to design requirements and are not limited to the listed buttons or instruments.

[0150] This embodiment further provides a control method for a transfer system, which is applied to the transfer system as described above. The control method for the transfer system includes:

[0151] S1. Receive operation instructions, where the operation instructions include work instructions and maintenance instructions;

[0152] S2, when the received operation instruction is a work instruction, controlling the transfer device 2 to move from the second position to the first position;

[0153] When the received operation instruction is a maintenance instruction, the transfer device 2 is controlled to move from the first position to the second position.

[0154] The above-mentioned work instruction is an instruction to dock the transfer devices 2 of the two transfer machines 1000, and the maintenance instruction is an instruction to separate the transfer devices 2 of the two transfer machines 1000 to avoid a maintenance passage for maintenance personnel to pass through. Specifically, the operator can issue an operation instruction through the operation button 10, and the operation instruction is then received by the control unit. If it is a maintenance instruction, the control unit controls the first drive mechanism 3 to operate, so that the first drive mechanism 3 drives the transfer device 2 to move from the first position to the second position, which is convenient for maintenance personnel to pass through, so that maintenance personnel can pass through the passage between the two transfer machines 1000 without climbing a ladder, thereby reducing the difficulty of maintenance operations, improving maintenance operation efficiency, and reducing safety risks during maintenance operations.

[0155] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A transfer system, characterized in that: The invention comprises two transfer machines (1000) arranged at an interval, wherein the transfer machine (1000) comprises: A box body (1), wherein the boxes (1) of the two transfer machines (1000) are provided with through openings (11) on the sides facing each other; A transfer device (2), the transfer device (2) being movably disposed on the box body (1) between a first position and a second position and movably passing through the through opening (11); The first position is a position where the transfer devices (2) of the two transfer machines (1000) are connected to each other, and the second position is a position where the transfer devices (2) of the two transfer machines (1000) are separated from each other; the distance between the transfer devices (2) of the two transfer machines (1000) when they are in the second position is greater than or equal to a distance threshold.

2. The transfer system according to claim 1, characterized in that: The transfer machine (1000) further comprises a first driving mechanism (3), a shell of the first driving mechanism (3) being connected to the box body (1), an output end of the first driving mechanism (3) being transmission-connected to the transfer device (2), and the first driving mechanism (3) being used to drive the transfer device (2) to move linearly.

3. The transfer system according to claim 2, characterized in that: The output end of the first driving mechanism (3) is provided with a connecting component (4); A bearing base (5) is arranged in the box body (1), a first through-hole (51) is arranged on the bearing base (5), the first driving mechanism (3) is installed at the bottom of the bearing base (5), the transfer device (2) is slidably connected to the upper part of the bearing base (5), and the connecting component (4) is passed through the first through-hole (51) and connected to the transfer device (2); And / or, the connecting assembly (4) comprises a first connecting frame (41) and a second connecting frame (42); the first connecting frame (41) comprises a connecting plate (411) and support plates (412) respectively arranged at two ends of the connecting plate (411); a floating joint (31) is arranged at the output end of the first driving mechanism (3); the second connecting frame (42) is engaged with the floating joint (31) and connected to the connecting plate (411); the support plate (412) extends in a direction away from the second connecting frame (42); and one end of the support plate (412) away from the connecting plate (411) is connected to the transfer device (2).

4. The transfer system according to claim 1, characterized in that: A bearing base (5) is arranged in the box body (1), a guide rail (61) is arranged on the bearing base (5), the guide rail (61) extends along the moving direction of the transfer device (2), a slider (62) is arranged at the bottom of the transfer device (2), and the slider (62) is slidably matched with the guide rail (61).

5. The transfer system according to claim 1, characterized in that: The transfer device (2) is provided with a first limiting component (7), and the transfer device (2) at the first position abuts against the box body (1) via the first limiting component (7); and / or the transfer device (2) is provided with a second limiting component (8), and the transfer device (2) at the second position abuts against the box body (1) via the second limiting component (8).

6. The transfer system according to claim 5, characterized in that: The first limiting assembly (7) and the second limiting assembly (8) both include: A first mounting plate (71) connected to the transfer device (2); The buffer (72) comprises a fixed shell (721) and a buffer head (722), wherein the fixed shell (721) is connected to the first mounting plate (71), the buffer head (722) is elastically and telescopically arranged on the fixed shell (721), and the buffer head (722) elastically abuts against the box (1); A rigid stopper (73) is connected to the first mounting plate (71) and is in rigid contact with the box body (1).

7. The transfer system according to claim 5, characterized in that: A bearing base (5) is arranged in the box body (1), and a limiting hole (53) is arranged on the bearing base (5); The first limiting component (7) is connected to the bottom of the transfer device (2) and is movably inserted into the limiting hole (53). The first limiting component (7) can abut against the inner wall of the limiting hole (53) so that the transfer device (2) is stopped at the first position. A stop plate (54) is connected above the bearing base (5), and the second limit assembly (8) is located above the bearing base (5) and can abut against the stop plate (54) to stop the transfer device (2) at the second position.

8. The transfer system according to claim 1, characterized in that: The transfer device (2) is provided with a first positioning hole (211) and a second positioning hole (212). The transfer machine (1000) further comprises a positioning mechanism (9). The positioning mechanism (9) comprises a positioning shell (91) and a positioning end (92). The positioning shell (91) is connected to the box body (1). The positioning end (92) is telescopically arranged on the positioning shell (91). The positioning end (92) can be plugged into and matched with the first positioning hole (211) when the transfer device (2) moves to the first position, and the positioning end (92) can be plugged into and matched with the second positioning hole (212) when the transfer device (2) moves to the second position.

9. The transfer system according to claim 1, characterized in that: The transfer device (2) does not extend beyond the through opening (11) when in the second position.

10. The transfer system according to claim 1, characterized in that: The transfer machine (1000) further comprises a control unit and an operating button (10), wherein the operating button (10) is arranged on the outer wall of the box body (1) and is communicatively connected with the control unit, the operating button (10) is used to receive an operating instruction from a user, and the control unit is used to control the transfer device (2) to switch between the first position and the second position after receiving the operating instruction.

11. The transfer system according to any one of claims 1 to 10, characterized in that: The transfer device (2) comprises: A carrier unit (21) movably arranged on the box body (1); A transfer unit (22), arranged on the carrier unit (21); A docking flow channel unit (23) is provided on the carrier unit (21), and the docking flow channel unit (23) is used to transfer materials (2000); the docking flow channel units (23) of the two transfer machines (1000) can at least partially extend out of the through opening (11) and dock separately under the drive of the corresponding carrier unit (21); The transfer unit (22) is used to transfer the material (2000) to the docking flow channel unit (23) or to transfer the material (2000) on the docking flow channel unit (23) out.

12. The transfer system according to claim 11, characterized in that: The transfer device (2) further comprises: A protective cover (24) is connected to the carrier unit (21) and movably passes through the through opening (11); the protective cover (24) is provided with a first window (2421), and the docking flow channel unit (23) at least partially passes through the first window (2421); When the transfer device (2) is in the first position, the protective cover shell (24) at least partially extends out of the through opening (11).

13. The transfer system according to claim 12, characterized in that: The protective cover shell (24) includes a surrounding plate (241) and a baffle (242); the baffle (242) is arranged opposite to the through opening (11); the surrounding plate (241) is arranged around the baffle (242); the first window (2421) is opened on the baffle (242); the baffle (242) and / or the surrounding plate (241) are connected to the carrier unit (21).

14. The transfer system according to claim 11, characterized in that: The transfer unit (22) comprises a support frame (221), a second driving mechanism (222), a third driving mechanism (223), a first clamping mechanism (224), a fourth driving mechanism (225), a fifth driving mechanism (226), and a second clamping mechanism (227); The support frame (221) is connected to the carrier unit (21); The third driving mechanism (223) is connected to the output end of the second driving mechanism (222), the first clamping mechanism (224) is connected to the output end of the third driving mechanism (223), the second driving mechanism (222) drives the third driving mechanism (223) to move along a first direction, the third driving mechanism (223) drives the first clamping mechanism (224) to move along a second direction, and the first clamping mechanism (224) clamps the material (2000); The fifth driving mechanism (226) is connected to the output end of the fourth driving mechanism (225), the second clamping mechanism (227) is connected to the output end of the fifth driving mechanism (226), the fourth driving mechanism (225) drives the fifth driving mechanism (226) to move along the first direction, the fifth driving mechanism (226) drives the second clamping mechanism (227) to move along the second direction, and the second clamping mechanism (227) clamps the material (2000); The second driving mechanism (222) and the fourth driving mechanism (225) are respectively arranged on two sides of the support frame (221) along the third direction; The first direction, the second direction and the third direction are perpendicular to each other.

15. The transfer system according to claim 14, characterized in that: The transfer device (2) further comprises: A first flow channel unit (25) and a second flow channel unit (26), wherein the first flow channel unit (25), the second flow channel unit (26) and the docking flow channel unit (23) are sequentially arranged at intervals along the first direction, the first flow channel unit (25) and the second flow channel unit (26) both transport materials (2000) along the third direction, and the docking flow channel unit (23) transports materials (2000) along the first direction; The first clamping mechanism (224) transfers the material (2000) between the first flow channel unit (25) and the second flow channel unit (26) under the drive of the second drive mechanism (222) and the third drive mechanism (223); The second clamping mechanism (227) is driven by the fourth driving mechanism (225) and the fifth driving mechanism (226) to transfer materials (2000) between the first flow channel unit (25), the second flow channel unit (26) and the docking flow channel unit (23).

16. A control method for a transfer system, characterized in that: Applied to the transfer system according to any one of claims 1 to 15, the control method comprises: Receiving an operation instruction, wherein the operation instruction includes a work instruction and a maintenance instruction; When the received operation instruction is the working instruction, controlling the transfer device (2) to move from the second position to the first position; When the received operation instruction is the maintenance instruction, the transfer device (2) is controlled to move from the first position to the second position.

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