Material transfer equipment and material transfer method

Abstract

The invention provides material transfer equipment and a material transfer method. The material transfer equipment comprises a cargo carrying table, a walking mechanism, a lifting mechanism, a pallet fork assembly and a transfer mechanism. The cargo carrying table is used for supporting the material frame; the cargo carrying table is arranged in the walking mechanism, and the walking mechanism is used for driving the cargo carrying table and the material frame to move in the horizontal direction; the lifting mechanism is arranged in the walking mechanism, connected with the cargo carrying table and used for controlling the cargo carrying table and the material frame to ascend and descend in the vertical direction. The fork assembly is fixed to the cargo carrying table and used for moving a full material frame on the full material conveyor to the cargo carrying table and moving a material-free material frame on the cargo carrying table to the material-free conveyor. The pallet fork assembly is further used for outputting the full material frames on the cargo carrying table to the transferring mechanism and moving the material frames without materials on the transferring mechanism to the cargo carrying table. The material loading efficiency of the transfer mechanism is improved, the material conveying requirement of a fast-paced production line is met, and the product production efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of transportation or storage devices, and in particular to a material transfer device and a material transfer method. Background Art

[0002] In the automotive manufacturing process, the transfer of materials (for example, sheet metal for stamping parts) is a critical step. The efficiency of material transfer determines the production rhythm and efficiency of the product. To improve this efficiency, flatbed trucks are currently commonly used to transport materials.

[0003] However, the inventors found that the operation of loading materials onto flatbed trucks is usually done manually, resulting in low material loading efficiency and failure to meet the material transportation needs of fast-paced production lines, resulting in reduced product production efficiency. Summary of the Invention

[0004] The present application provides a material transfer device and a material transfer method to solve the problem that the current material loading efficiency is low and cannot meet the material transportation needs of fast-paced production lines, resulting in reduced product production efficiency.

[0005] In a first aspect, the present application provides a material transfer device comprising: a cargo platform, a walking mechanism, a lifting mechanism, a fork assembly, and a transfer mechanism;

[0006] The cargo platform is used to support the material frame; the material frame is used to place materials;

[0007] The cargo platform is arranged in the walking mechanism, and the walking mechanism is used to drive the cargo platform and the material frame to move in the horizontal direction;

[0008] The lifting mechanism is arranged in the walking mechanism, the lifting mechanism is connected to the cargo platform, and the lifting mechanism is used to control the cargo platform and the material frame to rise and fall in the vertical direction;

[0009] The fork assembly is fixed to the cargo platform, and is used to move a full material frame on the full material conveyor to the cargo platform, and to move an empty material frame on the cargo platform to the empty material conveyor; wherein the full material frame is a material frame on which material is placed; and the empty material frame is a material frame on which no material is placed;

[0010] The fork assembly is also used to output the full material frame on the loading platform to the transfer mechanism, and to move the empty material frame on the transfer mechanism to the loading platform.

[0011] In the above solution, the traveling mechanism comprises: a frame and at least one horizontal track;

[0012] The cargo platform is arranged in the vehicle frame, and the lifting mechanism is fixed inside the vehicle frame;

[0013] The frame is used for moving on the horizontal track.

[0014] In the above solution, the walking mechanism further comprises: a horizontal reduction motor, at least one walking wheel, and at least one horizontal guide wheel set;

[0015] The horizontal reduction motor is fixed on the vehicle frame, the horizontal reduction motor is connected to the running wheel, and the running wheel is in contact with the horizontal track;

[0016] The horizontal guide wheel group is installed on the frame, and the horizontal guide wheel group is in contact with the horizontal track;

[0017] The running wheels are mounted on the vehicle frame, and the running wheels are in contact with the horizontal rails.

[0018] In the above solution, the lifting mechanism includes: a lifting reduction motor, at least one lifting sprocket, at least one lifting chain and a counterweight assembly;

[0019] The lifting and reducing motor is fixed to the top of the frame, and the output shaft of the lifting and reducing motor has at least one transmission gear;

[0020] A lifting chain is wound around a lifting sprocket and a transmission gear, one end of the lifting sprocket is connected to the cargo platform, and the other end of the lifting sprocket is connected to the counterweight assembly.

[0021] In the above solution, the lifting mechanism further comprises: at least one lifting guide rail, at least one lifting guide wheel set;

[0022] The lifting guide rail is fixed inside the vehicle frame, and the cargo platform is movably connected to the lifting guide rail;

[0023] The lifting guide wheel group is installed on the cargo platform, and the lifting guide wheel group is in contact with the lifting guide rail.

[0024] In the above solution, the fork assembly includes: at least one support plate, at least one slideway, a drive mechanism and at least one mounting base plate;

[0025] The support plate is used to support the material frame, and one of the support plates is movably connected to one of the slideways;

[0026] The driving mechanism is used to drive the support plate to move on the slide, and the driving mechanism is fixed to the cargo platform through the mounting base.

[0027] In the above solution, the transfer mechanism includes: a guide mechanism and at least one transfer vehicle;

[0028] The guide mechanism is located on one side of the walking mechanism;

[0029] The transfer vehicle is located in the guide mechanism, the extension direction of the guide mechanism is parallel to the extension direction of the horizontal track, and the guide mechanism is used to constrain the moving direction of the transfer vehicle;

[0030] The transfer vehicle is used to receive the full material frame output by the fork assembly from the loading platform, and the transfer vehicle is also used to carry the material frame.

[0031] The above solution further includes: a busbar assembly;

[0032] The busbar assembly is fixed on one side of the running mechanism, and the length direction of the busbar assembly is consistent with the extension direction of the horizontal track;

[0033] The busbar assembly is movably connected to the horizontal reduction motor of the traveling mechanism;

[0034] The busbar assembly is also movably connected to the lifting and reducing motor of the lifting mechanism.

[0035] The above solution further includes: two or more end buffers, at least one level sensor and at least one lift sensor;

[0036] The end buffer is used to contact the vehicle frame;

[0037] At least one of the end buffers is fixed to one end of the horizontal rail, and at least one of the end buffers is fixed to the other end of the horizontal rail;

[0038] The horizontal sensor is fixed on one end of the horizontal track, and the horizontal sensor is used to detect the position of the frame in the horizontal direction;

[0039] The lifting sensor is fixed on the vehicle frame, and is used to detect the position of the cargo platform in the vertical direction.

[0040] In a second aspect, the present application provides a material transfer method, which is operated in a control system, wherein the control system is connected to any of the material transfer devices described above;

[0041] The material transfer method comprises:

[0042] If the control system receives a loading instruction, the control system controls the walking mechanism to move the cargo platform to the full conveyor, and controls the fork assembly to move the full material frame on the full conveyor to the cargo platform, and the control system controls the walking mechanism to move the cargo platform to the transfer mechanism, and controls the fork assembly to move the full material frame on the cargo platform to the transfer mechanism.

[0043] If the control system receives a down-frame instruction, the control system controls the walking mechanism to move to the transfer mechanism, and controls the fork assembly to move the empty material frame on the transfer mechanism to the cargo platform, and the control system controls the walking mechanism to move the cargo platform to the empty material conveyor, and controls the fork assembly to move the empty material frame on the cargo platform to the empty material conveyor.

[0044] The present application provides a material transfer device and method. By providing a loading platform to support a material frame, the material frame can be used to carry materials of different sizes and specifications, thereby expanding the size and model range of the transferred materials. By providing a walking mechanism and a fork assembly, full material frames can be automatically transported from a full material conveyor to the transfer mechanism, and empty material frames can be automatically transported to an empty material conveyor. This improves the material loading efficiency of the transfer mechanism, meets the material transportation needs of fast-paced production lines, and improves product production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] Figure 1 A schematic diagram of the top view of a material transfer equipment provided in this application;

[0047] Figure 2 This is a front structural diagram of the cargo platform, walking mechanism, lifting mechanism, fork assembly, transfer mechanism and material frame in the material transfer equipment provided by this application;

[0048] Figure 3 This is a side structural schematic diagram of a material transfer equipment provided in this application.

[0049] Reference numerals:

[0050] 1: Cargo platform;

[0051] 2: Walking mechanism;

[0052] 3: Lifting mechanism;

[0053] 4: Fork assembly;

[0054] 5: Transfer agency;

[0055] 6: Material frame;

[0056] 7: Busbar assembly;

[0057] 8: End buffer;

[0058] 9: Level sensor;

[0059] 10: lift sensor;

[0060] 11: Full material conveyor;

[0061] 12: Empty material conveyor;

[0062] 21: frame;

[0063] 22: horizontal track;

[0064] 23: Horizontal reduction motor;

[0065] 24: Travel wheel;

[0066] 25: horizontal guide wheel set;

[0067] 31: lifting and reducing motor;

[0068] 32: lifting sprocket;

[0069] 33: lifting chain;

[0070] 34: counterweight assembly;

[0071] 35: lifting guide rail;

[0072] 36: lifting guide wheel group;

[0073] 37: transmission gear;

[0074] 41: support plate;

[0075] 42: slide;

[0076] 43: driving mechanism;

[0077] 44: Install the base plate;

[0078] 51: guide mechanism;

[0079] 52: Transfer vehicle.

[0080] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0081] Exemplary embodiments are described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numbers in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0082] The following specific embodiments describe in detail the technical solutions of the embodiments of the present application and how the technical solutions of the embodiments of the present application solve the current problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0083] Example 1:

[0084] See also Figure 1-Figure 3 , this embodiment provides a material transfer equipment, including: a cargo platform 1, a walking mechanism 2, a lifting mechanism 3, a fork assembly 4 and a transfer mechanism 5;

[0085] The cargo platform 1 is used to support the material frame 6; the material frame 6 is used to place materials;

[0086] The cargo platform 1 is arranged in the walking mechanism 2, and the walking mechanism 2 is used to drive the cargo platform 1 and the material frame 6 to move in the horizontal direction;

[0087] The lifting mechanism 3 is provided in the walking mechanism 2, and the lifting mechanism 3 is connected to the cargo platform 1. The lifting mechanism 3 is used to control the lifting of the cargo platform 1 and the material frame 6 in the vertical direction;

[0088] The fork assembly 4 is fixed on the cargo platform 1, and is used to move the full material frame 6 on the full material conveyor 11 to the cargo platform, and move the empty material frame 6 on the cargo platform to the empty material conveyor 12; wherein the full material frame 6 is the material frame 6 on which material is placed; the empty material frame 6 is the material frame 6 on which no material is placed;

[0089] The fork assembly 4 is also used to output the full material frame 6 on the loading platform to the transfer mechanism 5, and to move the empty material frame 6 on the transfer mechanism 5 to the loading platform.

[0090] In this example, a cargo platform 1 is provided to support a material frame 6. The material frame 6 is provided to carry materials of different specifications and sizes, thereby expanding the size and model range of the transferred materials.

[0091] By setting up the walking mechanism 2 and the fork assembly 4, the full material frame 6 can be automatically transported from the full material conveyor 11 to the transfer mechanism 5, and the empty material frame 6 can be automatically transported to the empty material conveyor 12, thereby improving the material loading efficiency of the transfer mechanism 5, meeting the material transportation needs of the fast-paced production line, and improving product production efficiency.

[0092] For example, the cargo platform 1 utilizes a high-strength steel frame covered with non-slip, wear-resistant rubber pads. Adjustable stoppers are positioned around the perimeter to ensure a ±2mm positioning accuracy for the material frame 6. The cargo platform 1 is connected to the lifting mechanism 3 via high-precision linear guides, ensuring vertical lifting stability. The material can be stamped sheet metal, other plates, pipes, and other materials.

[0093] The walking mechanism 2 is driven by dual motors synchronously and equipped with a planetary reducer, with a maximum walking speed of 60m / min and an acceleration of 0.5m / s 2 The walking mechanism 2 adopts a double-track four-wheel structure. The tracks are high-precision hardened steel rails with a surface hardness of HRC58-62. The wheel rims are made of nylon to reduce noise.

[0094] Lifting mechanism 3 uses an absolute encoder for position feedback, with an adjustable lifting speed of 0-30 m / min and a repeatability of ±1 mm. Lifting mechanism 3 is equipped with upper and lower limit switches, an overload protection sensor, and an emergency brake button. The upper limit switch stops lifting mechanism 3 when it detects that the platform 1 has reached its upper limit height. The lower limit switch stops lifting mechanism 3 when it detects that the platform 1 has been lowered to its lower limit height, thereby preventing the platform and material frame 6 from colliding with other components of the traveling mechanism 2.

[0095] Fork assembly 4 features a three-stage telescopic fork, each 800mm long, with a maximum reach of 2400mm. Made of high-strength aluminum alloy, it is driven by a double-acting cylinder and equipped with a magnetic switch to detect when the fork is fully extended.

[0096] The walking mechanism 2 adopts the Siemens SINAMICS S120 servo drive system to achieve multi-axis linkage control; the fork assembly 4 uses SMC pneumatic components and Delta inverter to ensure movement accuracy.

[0097] In this embodiment, an RGV (Rail Guided Vehicle) is used as the traveling mechanism 2. An RGV (Rail Guided Vehicle) is an automated transport device that runs on fixed tracks, also known as a "rail-guided shuttle." It navigates along a preset track and uses technologies such as guide rails, magnetic tape, or lasers to achieve precise path planning. It is widely used in logistics warehousing, production lines, and other special scenarios.

[0098] In a preferred embodiment, the traveling mechanism 2 comprises: a frame 21 and at least one horizontal track 22;

[0099] The cargo platform 1 is arranged in the vehicle frame 21, and the lifting mechanism 3 is fixed inside the vehicle frame 21;

[0100] The frame 21 is used to move on the horizontal track 22 .

[0101] For example, the frame 21 is constructed of high-strength alloy steel in a rectangular frame design, with transverse reinforcement beams at the top and bottom to ensure overall rigidity and torsional resistance. The horizontal tracks 22 are constructed of I-beams with a hardened surface. The track cross-section dimensions are designed based on load requirements (e.g., 300mm height x 150mm flange width). The track spacing is fixed by adjustable connectors, allowing for a ±50mm lateral adjustment range.

[0102] The main frame of the cargo platform 1 adopts a rectangular steel pipe welded structure, the surface is sandblasted and then painted with epoxy zinc-rich primer, and the designed load factor is ≥1.5 (safety factor).

[0103] The frame 21 is connected to the top of the frame 21 via eight sets of M24 high-strength bolts, with a pre-tightening torque of 1200 N·m. Precise alignment is achieved with tapered locating pins. Spring washers and lock nuts are used at the bolted joints to prevent loosening.

[0104] Optionally, the frame 21 also has a weighing system, which is located below the cargo platform 1 and in contact with the cargo platform 1. The weighing system integrates 4 spoke-type weighing sensors (range 10t, accuracy 0.1%), and the data is transmitted to the control system through the RS485 interface for weighing the full material frame 6 and the empty material frame 6 on the cargo platform 1.

[0105] Optionally, the frame 21 system also includes a fixed clamping device, which includes two or more hydraulic clamping devices (with a clamping force adjustable up to 5000N), with the operation sequence controlled by a solenoid valve. The two or more hydraulic clamping devices are symmetrically arranged on both sides of the frame 21, and are used to contact the material frame 6 on the support platform to secure the material frame 6 to the support platform.

[0106] In a preferred embodiment, the walking mechanism 2 further includes: a horizontal reduction motor 23, at least one walking wheel 24, and at least one horizontal guide wheel set 25;

[0107] The horizontal reduction motor 23 is fixed on the frame 21, and the horizontal reduction motor 23 is connected to the running wheel 24, and the running wheel 24 is in contact with the horizontal track 22;

[0108] The horizontal guide wheel set 25 is installed on the frame 21, and the horizontal guide wheel set 25 is in contact with the horizontal track 22;

[0109] The running wheels 24 are mounted on the vehicle frame 21 , and the running wheels 24 are in contact with the horizontal rails 22 .

[0110] For example, the horizontal reduction motor 23 uses a helical-worm gear motor (e.g., SEW brand, model MOVIMOT). Its power is calculated based on the load (e.g., a 7.5kW motor is selected for a 5-ton load), and its reduction ratio is adjustable from 1:30 to 1:50. The horizontal reduction motor 23 is directly fixed to the center of the side beam of the frame 21 via a flange. The output shaft is arranged horizontally and connected to the travel wheels 24 via an elastic pin coupling. The travel wheels 24 contact the upper surface of the horizontal track 22.

[0111] The motor housing of horizontal reduction motor 23 is equipped with aluminum cooling fins and a forced air cooling fan (IP55 protection level), and is suitable for ambient temperatures of -20°C to +50°C. The junction box is sealed with an aviation plug, and the cable is led to the control cabinet inside the frame 21 through a metal hose.

[0112] The 24-inch travel wheel has a diameter of 300mm and a width of 80mm. It is forged from 45# steel, surface hardened (HRC45-50), and has a rim height of 30mm. The hub and shaft are connected by double-row tapered roller bearings (model 32210). The bearings are lubricated using a centralized lubrication system (automatically oiled every 50 hours).

[0113] The optional travel wheel 24 shaft is fixed to the bottom of the frame 21 through two spherical roller bearings (model 22313), with an axial adjustable range of ±5mm, and is fixed by a locking nut.

[0114] Two sets of horizontal guide wheel assemblies 25 are arranged on each side of the horizontal track 22 , and each set of horizontal guide wheel assemblies 25 includes a driving guide wheel and a driven auxiliary wheel.

[0115] The active guide wheel is a polyurethane rubber-coated wheel (hardness Shore A90), with a wheel diameter of Φ150mm and a gap of 2-3mm between it and the side of the track.

[0116] The horizontal guide wheel group 25 is installed on the side beam of the frame 21 through an eccentric bushing and is equipped with a trapezoidal thread adjustment rod (pitch 4mm) to manually adjust the lateral position of the wheel group.

[0117] The active guide wheel and the driven guide wheel are provided with disc spring groups (rigidity 500N / mm) to provide a continuous lateral force of 500-1000N.

[0118] Optionally, the horizontal reduction motor 23 is equipped with a closed-loop vector control inverter (e.g., ABB ACS880) and a PG card for encoder feedback. The travel wheel 24 is connected to an incremental rotary encoder (with a resolution of 2048 pulses / rev). The encoder is connected to the closed-loop vector control inverter of the horizontal reduction motor 23. The incremental rotary encoder is used to output the number of rotations to the closed-loop vector control inverter of the horizontal reduction motor 23. The controller determines the current travel distance of the frame 21 based on the number of rotations.

[0119] Optional, closed-loop vector control inverter with built-in electronic overspeed protection, set point 110% rated speed.

[0120] Furthermore, the running wheels 24 are located below the vehicle frame 21 , and the sides of the running wheels 24 contact the sides of one or two horizontal rails 22 , so that the vehicle frame 21 moves on the horizontal rails 22 .

[0121] The walking mechanism 2 is arranged in a preset pit, and the extension direction of the pit is parallel to the extension direction of the horizontal track 22, thereby reducing the height difference between the cargo platform 1 and the upper surface of the full material conveyor 11, the upper surface of the empty material conveyor 12 and the upper surface of the transfer mechanism 5.

[0122] In a preferred embodiment, the lifting mechanism 3 includes: a lifting reduction motor 31, at least one lifting sprocket 32, at least one lifting chain 33 and a counterweight assembly 34;

[0123] The lifting and reducing motor 31 is fixed to the top of the frame 21, and the output shaft of the lifting and reducing motor 31 has at least one transmission gear 37;

[0124] A lifting chain 33 is wound around a lifting sprocket 32 ​​and a transmission gear 37 . One end of the lifting sprocket 32 ​​is connected to the cargo platform 1 , and the other end of the lifting sprocket 32 ​​is connected to the counterweight assembly 34 .

[0125] In this embodiment, the lifting and reducing motor 31 has more than two output shafts, and each output shaft is connected to a transmission gear 37; the lifting chain 33 wrapped around the transmission gear 37 on at least one of the two or more output shafts is connected to one side of the cargo platform 1; the lifting chain 33 wrapped around the transmission gear 37 on at least one of the other two or more output shafts is connected to the other side of the cargo platform 1; to ensure the stability of the cargo platform during lifting.

[0126] Exemplarily, the lifting reduction motor 31 adopts a helical gear-worm reduction motor (such as NORD brand SK 90 series), the power is calculated according to the load (for example, a 3kW motor is selected when the load is 2 tons), and the reduction ratio is adjustable from 1:25 to 1:40.

[0127] The lifting reduction motor 31 is fixed to the center of the top crossbeam of the frame 21 through a flange, and the output shaft is arranged vertically downward and connected to the lifting sprocket 32 ​​through a drum gear coupling.

[0128] The motor housing of the lifting and decelerating motor 31 is equipped with a forced air cooling system (IP66 protection level) and is suitable for ambient temperatures ranging from -20°C to +50°C. The junction box of the lifting and decelerating motor 31 is sealed with an M23 aviation plug, and the cable is led to the control cabinet inside the frame 21 through a metal bellows.

[0129] The main sprocket of the lift sprocket 32 ​​has 17 teeth, a module of 4, and is made of quenched and tempered 40Cr (HRC 45-50), with a hard chrome plated surface (20μm thickness). The sprocket shaft is secured to the top of the frame 21 via a double-row tapered roller bearing (model 32212), with an axial adjustment range of ±3mm. The sprocket shaft of the lift sprocket 32 ​​is connected to the output shaft of the reduction motor via a locking disc to eliminate axial play.

[0130] Lift Chain 33 utilizes RS100 high-strength conveyor chain with a pitch of 101.6mm, a breaking load of ≥50kN, and detachable links (one set per 10 links). Lift Chain 33 is wound in a double-row, cross-wrap pattern with ≥3 turns per row, ensuring a sprocket wrap angle of ≥180°.

[0131] Optionally, the lifting mechanism 3 also includes a tensioning device, which includes a spiral tensioner and a hydraulic buffer; the lower end of the lifting chain 33 is connected to the counterweight assembly 34 through a spiral tensioner (stroke 150mm), and the tensioning force is flexibly tensioned through a hydraulic buffer (damping coefficient is adjustable).

[0132] The counterweight block of the counterweight assembly 34 is made of cast iron, with a mass of 25 kg per block. The total mass is configured to be 45% to 50% of the weight of the cargo platform 1. The counterweight frame of the configuration assembly is welded with rectangular steel pipes, and the surface is sandblasted and then painted with epoxy zinc-rich primer.

[0133] The lifting and reducing motor 31 is provided with a closed-loop vector control inverter (such as Danfoss FC302) and is equipped with a PG card to realize encoder feedback.

[0134] The lifting reduction motor 31 includes two lifting motors and an electronic differential; one lifting motor is connected to a lifting sprocket 32, adopts dual motor drive + electronic differential, and realizes master-slave control through CAN bus, with synchronization error ≤±3mm.

[0135] An absolute encoder (resolution 16 bits) is installed on the shaft end of the lifting sprocket 32. The absolute encoder is connected to the closed-loop vector control inverter in the lifting reduction motor 31. The absolute encoder outputs the number of rotations to the closed-loop vector control inverter. The closed-loop vector control inverter determines the current lifting height of the cargo platform 1 based on the received number of rotations.

[0136] Optionally, the lifting mechanism 3 further includes:

[0137] Upper limit switch and lower limit switch;

[0138] The upper limit switch is arranged at the top end of the lifting path of the cargo platform;

[0139] The lower limit switch is arranged at the bottom end of the lifting path of the cargo platform;

[0140] The upper limit switch includes an upper magnetic switch and an upper hydraulic buffer. The upper magnetic switch is connected to the contact head of the upper hydraulic buffer. The upper magnetic switch is also connected to the closed-loop vector control inverter of the lifting and reduction motor 31. When the cargo platform 1 contacts the upper magnetic switch, the upper magnetic switch sends a stop signal to the closed-loop vector control inverter to stop the lifting and reduction motor 31.

[0141] The lower limit switch includes a lower magnetic switch and a lower hydraulic buffer. The lower magnetic switch is connected under the contact head of the lower hydraulic buffer. The lower magnetic switch is also connected to the closed-loop vector control inverter of the lifting and reduction motor 31. When the cargo platform 1 contacts the lower magnetic switch, the lower magnetic switch sends a stop signal to the closed-loop vector control inverter to stop the lifting and reduction motor 31.

[0142] In a preferred embodiment, the lifting mechanism 3 further includes: at least one lifting guide rail 35, at least one lifting guide wheel set 36;

[0143] The lifting guide rail 35 is fixed inside the vehicle frame 21, and the cargo platform 1 is movably connected to the lifting guide rail 35;

[0144] The lifting guide wheel group 36 is installed on the cargo platform, and the lifting guide wheel group 36 is in contact with the lifting guide rail 35.

[0145] For example, the lifting rail 35 is made of cold-drawn precision seamless steel pipe (GB / T 3639) with an outer diameter of Φ80mm, a wall thickness of 10mm, and a hard chrome plated surface (thickness 20μm). The lifting rail 35 is designed as a "T"-shaped rail with a head width of 60mm, a tail width of 40mm, and a transition radius of R10mm between the head and tail. The lifting rail 35 is fixed to the inside of the frame 21 column with four sets of M24 high-strength bolts, with a bolt spacing of 500mm, and uses tapered locating pins to achieve precise alignment. The bottom of the lifting rail 35 is connected to the concrete foundation via anchor bolts, and a secondary grouting process ensures a verticality of ≤0.5mm / m.

[0146] The lifting guide wheel assembly 36 consists of a driving guide wheel and a driven guide wheel. The driving guide wheel has a diameter of Φ150mm and a width of 40mm. It is covered with polyurethane (Shore A95) with a gradient hardness design (hard center / soft edges). The driving guide wheel uses a double-row angular contact ball bearing (model 7208C) with a 25° contact angle and adjustable preload. The driven auxiliary wheel has a diameter of Φ120mm and a width of 30mm. It is made of MC nylon (PA66 + 30% glass fiber) and is self-lubricating. The driven guide wheel uses a deep groove ball bearing (model 6207) with a double-lip seal.

[0147] In a preferred embodiment, the fork assembly 4 includes: at least one support plate 41, at least one slide 42, a driving mechanism 43 and at least one mounting base 44;

[0148] The support plate 41 is used to support the material frame 6, and one of the support plates 41 is movably connected to one of the slideways 42;

[0149] The driving mechanism 43 is used to drive the support plate 41 to move on the slide 42 . The driving mechanism 43 is fixed to the cargo platform 1 through the mounting base 44 .

[0150] Exemplarily, the support plate 41 is made of Q345B low-alloy high-strength steel with a thickness of 12mm. The surface is sandblasted and then coated with a polyurethane anti-slip coating (friction coefficient ≥ 0.6). It is customized according to the bottom size of the material frame 6 (for example: 1200mm×1000mm), and R50mm chamfers are set at the four corners. Four sets of UHMW-PE (ultra-high molecular weight polyethylene) guide strips are installed at the bottom of the support plate 41, with a gap of 1-2mm with the slide 42, reducing the friction coefficient to below 0.1. The support plate 41 is provided with a T-slot (18mm×6mm), which is used to fix the material frame 6 with a quick clamping device, and the clamping force can be adjusted to 5000N.

[0151] The support plate 41 is provided with a slider assembly. Each support plate 41 of the slider assembly is equipped with eight sets of linear bearings (model LM12UU), with a clearance of 0.05-0.1mm between the slider and the slideway 42. The bearing preload is adjusted by a disc spring to eliminate clearance.

[0152] Slideway 42 is constructed from cold-formed rectangular steel tubing (80mm x 40mm x 4mm), galvanized and Dacromet-treated, and salt spray-resistant for 1000 hours or more. Double V-shaped guide rails (90° angle) are installed inside slideway 42, forming surface contact with the guide rails of support plate 41. Slideway 42 is secured to mounting base 44 with four sets of M16 bolts, torqued to 80 N·m, and fitted with tapered locating pins (0.02mm accuracy).

[0153] The slideway 42 has reinforcing ribs (50mm x 5mm steel plate) every 500mm to increase bending rigidity. The key stress-bearing parts of the slideway 42 are induction hardened (HRC 45-50), with a surface hardness gradient of ≤3HRC / mm.

[0154] Drive mechanism 43 comprises a planetary reduction motor and a transmission mechanism. The planetary reduction motor is connected to support plate 41 via the transmission mechanism. The planetary reduction motor (e.g., SEW brand DRN series) has a power of 1.5 kW, a reduction ratio of 1:10, and an output torque of 1500 N·m. The transmission mechanism is a drive belt or ball screw. The synchronous belt drive is a toothed belt (AT10 type) with a belt width of 30 mm and an automatic compensating tensioner. The ball screw has a diameter of Φ40 mm, a lead of 10 mm, an accuracy grade of C5, and an axial clearance of ≤0.01 mm.

[0155] The driving mechanism 43 also includes: a driving encoder, which is connected to the output end of the planetary reduction motor and the controller. The driving encoder calculates the number of rotations of the planetary reduction motor and outputs the number of rotations to the controller of the planetary reduction motor, so that the planetary reduction motor can run and stop according to the number of rotations.

[0156] Mechanical limits (triggered at the last 20mm of travel) and inductive limits (magnetic switches) are set at both ends of each slideway 42. A current monitoring module is set in the planetary reduction motor to automatically shut down and alarm in case of overload.

[0157] The mounting base plate 44 is made of HT250 gray cast iron, has a thickness of 30 mm, and is finely machined on the surface (flatness 0.05 mm / 500 mm).

[0158] The mounting base plate 44 is fixed to the cargo platform 1 by 8 sets of M20 anchor bolts, the bolt torque is 120 N·m, and a flat key (16mm×10mm) is used to prevent torsion.

[0159] Adjustment bolts (M24) are installed at the four corners of the mounting base 44, with an adjustment range of ±5mm and a levelness adjustment accuracy of 0.05mm / m. Rubber vibration damping pads (Shore A60) with a thickness of 10mm are installed between the mounting base 44 and the cargo platform 1 to suppress high-frequency vibrations.

[0160] Optionally, the fork assembly 4 is an RGV fork, which is a core executive component in a rail-guided vehicle (RGV) for material storage and handling. It is usually coordinated with equipment such as shelves and conveyor lines to achieve automated storage and retrieval of pallets or boxes.

[0161] The RGV forklift precisely grabs and places pallets or bins from shelf access locations through telescoping, lifting, and other movements, enabling automated handling. The forklift's bidirectional telescoping function supports dual-side cargo transport in aisles, improving equipment utilization. The forklift is highly compatible with racks, conveyor lines, and other equipment, ensuring cargo stability during handling. High-precision positioning technologies (such as barcode and laser positioning) achieve millimeter-level docking accuracy.

[0162] The RGV fork comprises: a fork body and a drive mechanism 43;

[0163] The fork body includes:

[0164] Fixed fork body: serves as the basic supporting structure of the fork and is connected to the RGV body.

[0165] Multi-stage telescopic fork: telescopic fork is achieved through gear rack, chain or belt drive mechanism, supporting heavy-load telescopic fork.

[0166] Support casters: Support casters are set at the end of the telescopic fork to enhance the stability of the fork during the extension and retraction process.

[0167] The driving mechanism 43 includes:

[0168] Motor drive: The telescopic movement of the fork is achieved through the meshing transmission of the motor output gear, telescopic gear and rack.

[0169] Transmission mechanism: adopts gear rack, chain or belt transmission to ensure the stability and accuracy of power transmission.

[0170] In a preferred embodiment, the transfer mechanism 5 includes: a guide mechanism 51 and at least one transfer vehicle 52;

[0171] The guide mechanism 51 is located on one side of the walking mechanism 2;

[0172] The transfer vehicle 52 is located in the guide mechanism 51 . The extension direction of the guide mechanism 51 is parallel to the extension direction of the horizontal track 22 . The guide mechanism 51 is used to constrain the moving direction of the transfer vehicle 52 .

[0173] The transfer vehicle 52 is used to receive the full material frame 6 output by the fork assembly 4 from the loading platform, and the transfer vehicle 52 is also used to carry the material frame 6 .

[0174] Exemplarily, the guide mechanism 51 includes: a main rail and an auxiliary rail; the main rail is arranged on a side away from the traveling mechanism 2 , and the auxiliary rail is arranged on a side close to the traveling mechanism 2 .

[0175] The main rail and the auxiliary rail are used to realize a double-track guide structure. The main rail is an I-shaped steel rail (model 30a), and the auxiliary rail is a rectangular steel tube guide rail (80mm×40mm×4mm).

[0176] The main rail is fixed to the concrete foundation with anchor bolts, and secondary grouting is performed to ensure a horizontality of ≤0.5mm / m. The auxiliary rail is fixed to the side of the running mechanism 2 frame 21 with an L-shaped bracket, and the parallel error with the main rail is ≤1mm / 5m.

[0177] The transfer vehicle 52 is connected to the main rails via four sets of guide wheels (two horizontal wheels and two lateral wheels), achieving two degrees of freedom in the plane. The auxiliary rails are equipped with V-shaped guide grooves that cooperate with the guide rollers on the transfer vehicle 52 to prevent the vehicle from rotating.

[0178] Track straightness is calibrated using a laser collimator, with an allowable deviation of ≤2mm / 10m. Track spacing has a tolerance of ±1mm, with fine-tuning enabled by adjustable connectors.

[0179] Main rail material: Q345B low-alloy high-strength steel, surface galvanized + Dacromet treatment, salt spray resistance test ≥ 1000 hours. Auxiliary rail material: 6061-T6 aluminum alloy, surface hard anodized (thickness 25μm), friction coefficient ≤ 0.15.

[0180] The transfer vehicle 52 comprises a frame 21 and driven wheels. The frame 21 utilizes a welded frame structure, with a primary beam constructed of H-shaped steel (HN300×150) and a secondary beam constructed of rectangular steel tubing (80mm×40mm×3mm). The load platform is customized to the dimensions of the material frame 6 (e.g., 1500mm×1200mm) and is covered with 5mm-thick patterned steel plate. The driven wheels consist of four sets of universal casters (Ø150mm diameter) with bearing blocks and vibration damping springs.

[0181] The transfer vehicle 52 also includes horizontal guide wheels, lateral guide wheels, and V-shaped guide wheels. The horizontal guide wheels, which are in two sets and contact the main rail web, have a wheel diameter of 150 mm and use double-row tapered roller bearings (model 32212). The lateral guide wheels, which are in two sets and contact the main rail flange, have a wheel diameter of 100 mm and use deep-groove ball bearings (model 6208). The V-shaped guide wheels, which are in two sets and fit into the auxiliary rail guide grooves, have a wheel diameter of 80 mm and are made of MC nylon (PA66 + 30% glass fiber).

[0182] The transfer vehicle 52 further includes: driving wheels; the driving wheels are two sets of polyurethane rubber-coated wheels (wheel diameter Φ300mm, hardness Shore A90), each driven by an independent servo motor.

[0183] The transfer mechanism 5 also includes: a transfer driving vehicle, which has a transfer servo motor, and the transfer servo motor drives the transfer driving vehicle to move.

[0184] Optionally, a Dolly car is used as the transfer vehicle 52. Dolly car is a general term for short-distance cargo handling tools, mainly used for cargo turnover in warehouses, airports, stations, etc.

[0185] Dolly Car includes:

[0186] Flatbed Dolly: A flatbed dolly with no borders, suitable for transporting regular-shaped goods (such as cartons and pallets).

[0187] Cage Dolly: A frame structure with a fence to prevent goods from sliding, suitable for bulk transportation of fragile or small items.

[0188] Hydraulic lifting platform Dolly: integrated hydraulic lifting function, which can adjust the height of the cargo and facilitate loading and unloading.

[0189] Electric traction dolly: equipped with motor drive, suitable for heavy load or long distance transportation, reducing the burden of manpower.

[0190] In a preferred embodiment, it further comprises: a busbar assembly 7;

[0191] The busbar assembly 7 is fixed on one side of the running mechanism 2, and the length direction of the busbar assembly 7 is consistent with the extension direction of the horizontal track 22;

[0192] The busbar assembly 7 is movably connected to the horizontal reduction motor 23 of the walking mechanism 2;

[0193] The busbar assembly 7 is also movably connected to the lifting and reducing motor 31 of the lifting mechanism 3 .

[0194] Specifically, the busbar assembly 7 includes: at least one conductive rail, two or more insulators and two or more brackets; the conductive rail is arranged along the extension direction of the horizontal rail 22; and both ends of a conductive rail are connected to a bracket through an insulator respectively.

[0195] For example, the conductive rails are made of T2 copper bars (8mm thick, 60mm wide), silver-plated (5μm thick), with a conductivity of ≥98% IACS, modified PVC material, temperature resistance of -20°C to +70°C, and flame retardancy rating of UL94 V-0.

[0196] The conductive rails consist of a main power rail and a signal rail. The main power rail has an I-shaped cross-section (60mm x 40mm) and a dovetail groove at the top to mate with the current collector. The signal rail is a circular copper tube (Φ20mm) used for encoder signal transmission and is spaced 50mm from the main rail.

[0197] The busbar assembly 7 further includes: a current collector for a horizontal reduction motor 23 and a current collector for a lifting reduction motor 31;

[0198] The horizontal reduction motor 23 current collector includes a horizontal carbon brush assembly and a horizontal guide device. The carbon brush assembly is connected to the conductive rail through the guide device. The carbon brush assembly is also connected to the horizontal reduction motor 23 through a flexible cable.

[0199] For example, the carbon brush assembly consists of 4 groups of graphite copper alloy carbon brushes (size 25mm×32mm×10mm), with adjustable spring pressure (1.5-2.5N). The guide device is a double-row ball bearing (model 6205) to ensure uniform pressure on the contact surface between the carbon brush and the conductive rail. The horizontal carbon brush assembly is connected to the conductive rail through a flexible cable (35mm 2 ) is connected to the motor terminal box. The contact surface of the horizontal carbon brush assembly matches the dovetail groove of the conductive rail, and the contact area is ≥80%.

[0200] The busbar assembly 7 further includes: a current collector for the lifting and reducing motor 31 and a current collector for the lifting and reducing motor 31;

[0201] The current collector of the lifting and reducing motor 31 includes a lifting carbon brush assembly and a lifting guide device. The carbon brush assembly is connected to the conductive rail through the guide device, and the carbon brush assembly is also connected to the lifting and reducing motor 31 through a flexible cable.

[0202] For example, the carbon brush assembly consists of 4 groups of graphite copper alloy carbon brushes (size 25mm×32mm×10mm), with adjustable spring pressure (1.5-2.5N). The guide device is a double-row ball bearing (model 6205) to ensure uniform pressure on the contact surface between the carbon brush and the conductive rail. The carbon brush assembly is raised and lowered by a flexible cable (35mm 2) is connected to the motor terminal box. The contact surface of the lifting carbon brush assembly matches the dovetail groove of the conductive rail, and the contact area is ≥80%.

[0203] The number of revolutions received by the horizontal reduction motor 23 and the lifting reduction motor 31 is sent to the central controller via the signal rail. The signal rail uses the RS485 bus with a baud rate of 115200.

[0204] In a preferred embodiment, it further comprises: two or more end buffers 8, at least one level sensor 9 and at least one lifting sensor 10;

[0205] The end buffer 8 is used to contact the vehicle frame 21;

[0206] At least one of the end buffers 8 is fixed to one end of the horizontal rail 22 , and at least one of the end buffers 8 is fixed to the other end of the horizontal rail 22 ;

[0207] The horizontal sensor 9 is fixed on one end of the horizontal rail 22, and the horizontal sensor 9 is used to detect the position of the frame 21 in the horizontal direction;

[0208] The lifting sensor 10 is fixed on the vehicle frame 21 , and is used to detect the vertical position of the cargo platform 1 .

[0209] Specifically, the end buffer 8 includes a primary buffer portion and a secondary buffer portion;

[0210] The first-level buffer part adopts a hydraulic buffer (model ACE MA63) with a rated impact energy of 30,000J and a buffer stroke of 200mm.

[0211] The secondary buffer part adopts a polyurethane buffer block (Shore A95) with a compression stroke of 50mm as the final mechanical limit.

[0212] The end buffer 8 is fixed to the end of the horizontal rail 22 by M24 high-strength bolts with a bolt torque of 150 N·m and a tapered positioning pin (accuracy 0.02 mm).

[0213] The buffer surface of the end buffer 8 and the contact surface with the frame 21 are provided with a stainless steel wear-resistant plate (thickness 10mm), and the surface is hardened (HRC50-55).

[0214] Hydraulic buffer: Absorbs impact energy through the principle of oil throttling, with a built-in return spring (stiffness 500N / m), and a response time of ≤0.1 second. Polyurethane buffer: Utilizes polymer material deformation to absorb energy, suitable for low-speed and light-load conditions, serving as redundant protection for the hydraulic buffer.

[0215] The horizontal sensor 9 includes: a horizontal main sensor and a horizontal redundant encoder. The horizontal main sensor adopts a laser rangefinder (model SICK OD1000) with a measuring range of 0-1000mm, an accuracy of ±1mm, and a repeatability of 0.3mm. The horizontal redundant encoder adopts an incremental encoder (resolution 2048 pulses / rev) and is connected to the travel wheel 24 shaft through a coupling. The horizontal main sensor is fixed at the end of the horizontal track 22, and the installation angle (pitch ±5°, yaw ±3°) is adjusted by an L-shaped bracket (material 6061-T6). The horizontal redundant encoder is installed at the shaft end of the horizontal reduction motor 23 and connected by an elastic pin coupling. The axial movement is ≤0.1mm. The data of the horizontal main sensor and the horizontal redundant encoder are integrated to improve the positioning accuracy to ±0.8mm. When the horizontal main sensor fails, it automatically switches to the encoder data, and the switching time is ≤50ms.

[0216] The lifting sensor 10 includes: a lifting main sensor and a lifting redundant encoder. The lifting main sensor adopts a wire displacement sensor (model Wenglor PT2500) with a measuring range of 0-2500mm, an accuracy of ±0.05%, and IP67 protection. The lifting redundant sensor adopts an absolute encoder (resolution 16 bits) and is installed on the shaft end of the lifting sprocket 32. The lifting main sensor is fixed to the top of the frame 21, and the end of the wire is connected to the cargo platform 1 through a ball joint. The wire tension is adjustable (5-10N). The lifting redundant encoder is installed on the shaft end of the lifting reduction motor 31 and is driven by a synchronous belt (toothed belt AT10) with a transmission ratio of 1:1.

[0217] Combining data from the main lift sensor and redundant lift encoder, the system suppresses vibration and noise during the lift process, achieving a positioning accuracy of ±2mm. If the main lift sensor fails, the system automatically switches to the redundant lift encoder data, with a switching time of ≤30ms.

[0218] When the level sensor 9 detects that the frame 21 is 850mm away from the end buffer, deceleration is triggered; at 20mm, emergency braking is triggered. When the lifting sensor 10 detects that the cargo platform 1 is 100mm away from the limit position, the lifting speed is limited; at 50mm, the machine stops.

[0219] Example 2:

[0220] See also Figure 1-Figure 3 , this embodiment provides a material transfer method, which is operated in a control system, and the control system is connected to the above-mentioned material transfer equipment;

[0221] The material transfer method comprises:

[0222] S101: If the control system receives a loading instruction, the control system controls the walking mechanism 2 to move the cargo platform 1 to the full conveyor 11, and controls the fork assembly 4 to move the full material frame 6 on the full conveyor 11 to the cargo platform, and the control system controls the walking mechanism 2 to move the cargo platform 1 to the transfer mechanism 5, and controls the fork assembly 4 to move the full material frame 6 on the cargo platform to the transfer mechanism 5.

[0223] Specifically, the control system controls the walking mechanism 2 to move the cargo platform 1 to the full material conveyor 11, and controls the fork assembly 4 to move the full material frame 6 on the full material conveyor 11 to the cargo platform, including:

[0224] S11: The control system controls the traveling mechanism 2 to move to one side of the full material conveyor 11;

[0225] In this step, the control system determines the current loading position of the loading platform and the full position of the full conveyor 11 according to the horizontal sensor 9, and determines the loading distance according to the loading position and the full position, and determines the number of loading turns of the horizontal reduction motor 23 according to the loading distance.

[0226] The control system controls the horizontal reduction motor 23 in the traveling mechanism 2 to start, so that the horizontal reduction motor 23 drives the vehicle frame 21 to move on the horizontal track 22 .

[0227] When the control system detects that the number of revolutions of the horizontal reduction motor 23 reaches the preset number of revolutions,

[0228] If the control system detects a contact signal sent by the end sensor on the horizontal track 22 located at one end of the full conveyor 11, it means that the cargo platform 1 has reached one side of the full conveyor 11; the control system outputs a stop signal to the horizontal reduction motor 23, and the horizontal reduction motor 23 stops moving.

[0229] If the control system does not detect the contact signal sent by the end sensor, it means that the cargo platform 1 has not reached the side of the full conveyor 11. The control system sets the rotation speed of the horizontal reduction motor 23 to a slow speed, so that the walking mechanism 2 continues to move toward the full conveyor 11 and reduces the impact of the walking mechanism 2 on the end buffer 8.

[0230] S12 : The control system controls the lifting mechanism 3 to adjust the height of the cargo platform 1 so that the upper surface of the cargo platform 1 is aligned with the upper surface of the full material conveyor 11 on the full material conveyor 11 .

[0231] In this step, the control system controls the lifting and reducing motor 31 to adjust the cargo platform 1 to move in the vertical direction so that the upper surface of the cargo platform 1 is aligned with the upper surface of the full material conveyor 11.

[0232] S13 : The control system controls the fork assembly 4 to insert into the bottom of the full material frame 6 on the full material conveyor 11 and grab the full material frame 6 .

[0233] In this step, the control system controls the driving mechanism 43 to operate, so that the support plate 41 is inserted into the socket at the bottom of the full material frame 6. The control system controls the lifting and reducing motor 31 to operate, so that the cargo platform 1 moves upward to a preset grab height, so that the full material frame 6 is raised and separated from the full material conveyor 11, achieving the technical effect of grabbing the full material frame 6.

[0234] S14: The control system controls the fork assembly 4 to retract and moves the full material frame 6 to the loading platform.

[0235] In this step, the control system controls the driving mechanism 43 to operate, so that the support plate 41 is retracted to the loading platform, and then the full material frame 6 is moved to the loading platform.

[0236] Specifically, the control system controls the walking mechanism 2 to move the cargo platform 1 to the transfer mechanism 5, and controls the fork assembly 4 to move the full material frame 6 on the cargo platform to the transfer mechanism 5, including:

[0237] S15: The control system controls the traveling mechanism 2 to move the full material frame 6 to one side of the transfer mechanism 5 .

[0238] In this step, the control system determines the current loading position of the loading platform and the transfer position of the transfer mechanism 5 based on the horizontal sensor 9, and determines the transportation distance based on the loading position and the transfer position, and determines the number of transportation circles of the horizontal reduction motor 23 based on the transportation distance.

[0239] The control system controls the horizontal reduction motor 23 in the traveling mechanism 2 to start, so that the horizontal reduction motor 23 drives the vehicle frame 21 to move on the horizontal track 22 .

[0240] When the control system detects that the number of revolutions of the horizontal reduction motor 23 reaches the preset number of material transport revolutions, the control system outputs a stop signal to the horizontal reduction motor 23, and the horizontal reduction motor 23 stops moving.

[0241] S16: The control system controls the lifting mechanism 3 to adjust the height of the cargo platform so that the upper surface of the cargo platform is flush with the upper surface of the transfer mechanism 5.

[0242] In this step, the control system controls the lifting and reduction motor 31 to adjust the cargo platform 1 to move in the vertical direction so that the upper surface of the cargo platform is flush with the upper surface of the transfer mechanism 5.

[0243] S17: The control system controls the fork assembly 4 to move the full material frame 6 on the cargo platform 1 to the transfer mechanism 5.

[0244] In this step, the control system controls the operation of the driving mechanism 43, so that the support plate 41 moves the full material frame 6 on the cargo platform 1 to the transfer mechanism 5, and the control system controls the operation of the lifting and reduction motor 31, so that the fork assembly 4 disengages from the upper side wall of the socket of the full material frame 6, so that the support plate 41 of the fork assembly 4 disengages from the full material frame 6; the control system controls the operation of the driving mechanism 43 again, so that the support plate 41 retracts into the cargo platform, and then moves the full material frame 6 to the transfer mechanism 5.

[0245] S102: If the control system receives a down-frame instruction, the control system controls the walking mechanism 2 to move to the transfer mechanism 5, and controls the fork assembly 4 to move the empty material frame 6 on the transfer mechanism 5 to the cargo platform, and the control system controls the walking mechanism 2 to move the cargo platform 1 to the empty material conveyor 12, and controls the fork assembly 4 to move the empty material frame 6 on the cargo platform to the empty material conveyor 12.

[0246] Specifically, the control system controls the walking mechanism 2 to move to the transfer mechanism 5, and controls the fork assembly 4 to move the empty material frame 6 on the transfer mechanism 5 to the cargo platform, including:

[0247] S21: The control system controls the walking mechanism 2 to move to one side of the transfer mechanism 5.

[0248] In this step, the control system determines the current lower frame position of the cargo platform and the transfer position of the transfer mechanism 5 based on the horizontal sensor 9, and determines the lower frame distance based on the lower frame position and the transfer position, and determines the number of frame movement circles of the horizontal reduction motor 23 based on the lower frame distance.

[0249] The control system controls the horizontal reduction motor 23 in the traveling mechanism 2 to start, so that the horizontal reduction motor 23 drives the vehicle frame 21 to move on the horizontal track 22 .

[0250] When the control system detects that the number of revolutions of the horizontal reduction motor 23 reaches the preset number of revolutions for frame movement, the control system outputs a stop signal to the horizontal reduction motor 23 , and the horizontal reduction motor 23 stops moving.

[0251] S22: The control system controls the lifting mechanism 3 to adjust the height of the cargo platform so that the upper surface of the cargo platform is flush with the upper surface of the transfer mechanism 5.

[0252] In this step, the control system controls the lifting and reduction motor 31 to adjust the cargo platform 1 to move in the vertical direction so that the upper surface of the cargo platform is flush with the upper surface of the transfer mechanism 5.

[0253] S23: The control system controls the fork assembly 4 to insert into the bottom of the empty material frame 6 on the transfer mechanism 5 and grab the empty material frame 6.

[0254] In this step, the control system controls the drive mechanism 43 to operate, inserting the support plate 41 into the socket at the bottom of the full material frame 6. The control system controls the lifting and reducing motor 31 to operate, causing the cargo platform 1 to move upward to a preset grab height, thereby raising the empty material frame 6 and separating it from the transfer mechanism 5, thereby achieving the technical effect of grabbing the transfer mechanism 5.

[0255] S24: The control system controls the fork assembly 4 to retract and moves the empty material frame 6 to the loading platform.

[0256] In this step, the control system controls the driving mechanism 43 to operate, so that the support plate 41 is retracted to the cargo platform, and then the empty material frame 6 is moved to the cargo platform.

[0257] Specifically, the control system controls the walking mechanism 2 to move the cargo platform 1 to the empty material conveyor 12, and controls the fork assembly 4 to move the empty material frame 6 on the cargo platform to the empty material conveyor 12, including:

[0258] S25: The control system controls the traveling mechanism 2 to move to one side of the empty material conveyor 12;

[0259] In this step, the control system determines the current empty frame position of the loading platform and the empty material position of the empty material conveyor 12 according to the horizontal sensor 9, and determines the frame transport distance according to the empty frame position and the empty material position, and determines the number of loading circles of the horizontal reduction motor 23 according to the frame transport distance.

[0260] The control system controls the horizontal reduction motor 23 in the traveling mechanism 2 to start, so that the horizontal reduction motor 23 drives the vehicle frame 21 to move on the horizontal track 22 .

[0261] When the control system detects that the number of revolutions of the horizontal reduction motor 23 reaches the preset number of revolutions of the frame,

[0262] If the control system detects a contact signal sent by the end sensor on the horizontal track 22 located at one end of the empty material conveyor 12, it means that the cargo platform 1 has reached one side of the empty material conveyor 12; the control system outputs a stop signal to the horizontal reduction motor 23, and the horizontal reduction motor 23 stops moving.

[0263] If the control system does not detect the contact signal sent by the end sensor, it means that the cargo platform 1 has not reached one side of the empty material conveyor 12. The control system sets the rotation speed of the horizontal reduction motor 23 to a slow speed, so that the walking mechanism 2 continues to move toward the empty material conveyor 12 and reduces the impact of the walking mechanism 2 on the end buffer 8.

[0264] S26 : The control system controls the lifting mechanism 3 to adjust the height of the cargo platform 1 so that the upper surface of the cargo platform 1 is aligned with the upper surface of the empty material conveyor 12 on the empty material conveyor 12 .

[0265] In this step, the control system controls the lifting and reducing motor 31 to adjust the cargo platform 1 to move in the vertical direction so that the upper surface of the cargo platform 1 is aligned with the upper surface of the empty material conveyor 12.

[0266] S27 : The control system controls the fork assembly 4 to move the empty material frame 6 on the cargo platform 1 to the empty material conveyor 12 .

[0267] In this step, the control system controls the operation of the driving mechanism 43 so that the support plate 41 moves the empty material frame 6 on the cargo platform 1 to the empty material conveyor 12, and the control system controls the operation of the lifting and reduction motor 31 so that the fork assembly 4 disengages from the upper side wall of the socket of the empty material frame 6, so that the support plate 41 of the fork assembly 4 disengages from the empty material frame 6; the control system controls the operation of the driving mechanism 43 again so that the support plate 41 retracts into the cargo platform.

[0268] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0269] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to encompass any variations, uses, or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed in the present invention. The specification and examples are to be considered merely as exemplary, and the true scope and spirit of the present invention are indicated by the following claims.

[0270] It should be understood that the embodiments of the present application are not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the appended claims.

Claims

1. A material transfer equipment, characterized in that: include: A cargo platform, a walking mechanism, a lifting mechanism, a fork assembly and a transfer mechanism; The cargo platform is used to support the material frame; the material frame is used to place materials; The cargo platform is arranged in the walking mechanism, and the walking mechanism is used to drive the cargo platform and the material frame to move in the horizontal direction; The lifting mechanism is arranged in the walking mechanism, the lifting mechanism is connected to the cargo platform, and the lifting mechanism is used to control the cargo platform and the material frame to rise and fall in the vertical direction; The fork assembly is fixed to the cargo platform, and is used to move a full material frame on the full material conveyor to the cargo platform, and to move an empty material frame on the cargo platform to the empty material conveyor; wherein the full material frame is a material frame on which material is placed; and the empty material frame is a material frame on which no material is placed; The fork assembly is also used to output the full material frame on the loading platform to the transfer mechanism, and to move the empty material frame on the transfer mechanism to the loading platform.

2. The material transfer equipment according to claim 1, characterized in that: The traveling mechanism comprises: a frame and at least one horizontal track; The cargo platform is arranged in the vehicle frame, and the lifting mechanism is fixed inside the vehicle frame; The frame is used for moving on the horizontal track.

3. The material transfer equipment according to claim 2, characterized in that: The walking mechanism further comprises: a horizontal reduction motor, at least one walking wheel, and at least one horizontal guide wheel set; The horizontal reduction motor is fixed on the vehicle frame, the horizontal reduction motor is connected to the running wheel, and the running wheel is in contact with the horizontal track; The horizontal guide wheel group is installed on the frame, and the horizontal guide wheel group is in contact with the horizontal track; The running wheels are mounted on the vehicle frame, and the running wheels are in contact with the horizontal rails.

4. The material transfer equipment according to claim 2, characterized in that: The lifting mechanism includes: a lifting reduction motor, at least one lifting sprocket, at least one lifting chain and a counterweight assembly; The lifting and reducing motor is fixed to the top of the frame, and the output shaft of the lifting and reducing motor has at least one transmission gear; A lifting chain is wound around a lifting sprocket and a transmission gear, one end of the lifting sprocket is connected to the cargo platform, and the other end of the lifting sprocket is connected to the counterweight assembly.

5. The material transfer equipment according to claim 4, characterized in that: The lifting mechanism further comprises: at least one lifting guide rail and at least one lifting guide wheel set; The lifting guide rail is fixed inside the vehicle frame, and the cargo platform is movably connected to the lifting guide rail; The lifting guide wheel group is installed on the cargo platform, and the lifting guide wheel group is in contact with the lifting guide rail.

6. The material transfer equipment according to claim 1, characterized in that: The fork assembly includes: at least one support plate, at least one slideway, a drive mechanism and at least one mounting base; The support plate is used to support the material frame, and one of the support plates is movably connected to one of the slideways; The driving mechanism is used to drive the support plate to move on the slide, and the driving mechanism is fixed to the cargo platform through the mounting base.

7. The material transfer equipment according to claim 1, characterized in that: The transfer mechanism includes: a guide mechanism and at least one transfer vehicle; The guide mechanism is located on one side of the walking mechanism; The transfer vehicle is located in the guide mechanism, the extension direction of the guide mechanism is parallel to the extension direction of the horizontal track, and the guide mechanism is used to constrain the moving direction of the transfer vehicle; The transfer vehicle is used to receive the full material frame output by the fork assembly from the loading platform, and the transfer vehicle is also used to carry the material frame.

8. The material transfer equipment according to claim 1, characterized in that: Also includes: a busbar assembly; The busbar assembly is fixed on one side of the running mechanism, and the length direction of the busbar assembly is consistent with the extension direction of the horizontal track; The busbar assembly is movably connected to the horizontal reduction motor of the traveling mechanism; The busbar assembly is also movably connected to the lifting and reducing motor of the lifting mechanism.

9. The material transfer equipment according to claim 1, characterized in that: Also includes: Two or more end buffers, at least one level sensor and at least one lift sensor; The end buffer is used to contact the vehicle frame; At least one of the end buffers is fixed to one end of the horizontal rail, and at least one of the end buffers is fixed to the other end of the horizontal rail; The horizontal sensor is fixed on one end of the horizontal track, and the horizontal sensor is used to detect the position of the frame in the horizontal direction; The lifting sensor is fixed on the vehicle frame, and is used to detect the position of the cargo platform in the vertical direction.

10. A material transfer method, characterized in that: operating in a control system connected to the material transfer equipment according to any one of claims 1 to 9; The material transfer method comprises: If the control system receives a loading instruction, the control system controls the traveling mechanism to move the cargo platform to the full material conveyor, and controls the fork assembly to move the full material frame on the full material conveyor to the cargo platform, and the control system controls the traveling mechanism to move the cargo platform to the transfer mechanism, and controls the fork assembly to move the full material frame on the cargo platform to the transfer mechanism; If the control system receives a down-frame instruction, the control system controls the walking mechanism to move to the transfer mechanism, and controls the fork assembly to move the empty material frame on the transfer mechanism to the cargo platform, and the control system controls the walking mechanism to move the cargo platform to the empty material conveyor, and controls the fork assembly to move the empty material frame on the cargo platform to the empty material conveyor.

Images