Transfer equipment and transfer method

Abstract

The invention relates to the technical field of transfer equipment, and discloses transfer equipment and a transfer method.The transfer equipment comprises a chassis device, an electrical device, a lifting device and a platform device; the electrical device and the lifting device are both installed on the chassis device and connected with the chassis device. The chassis device is used for providing supporting, driving advancing, path navigation and damping; the electrical device is connected with the lifting device; the platform device is installed on the lifting device and used for bearing a container. The platform device has a two-way taking and placing function and is used for carrying out butt joint and transmission on the containers between the platform device and the goods shelf. Two-way picking and placing of the container can be achieved, and the transfer efficiency and flexibility are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automated logistics transfer equipment, in particular to a transfer equipment and a transfer method. BACKGROUND

[0002] With the wide application of automated logistics systems, AGV (Automatic Guided Vehicle) as an important equipment for material transfer has been popularized in factories, workshops and warehouses and other scenes. In practical application, material transfer usually involves the transfer of boxes between different height shelves, and has high requirements for precise docking and safe transportation.

[0003] The existing material transfer equipment has some limitations in function and performance. Most transfer equipment can only take and place goods in one direction, and when facing the demand for two-way transfer, it is inefficient and needs to be turned or detoured. In terms of goods lifting, the common lifting mechanism has limited lifting height and insufficient stability, especially when transferring boxes with four straight wheels, the boxes are prone to tilt or fall. In addition, the existing equipment also has deficiencies in docking accuracy, which is difficult to adapt to the precise positioning requirements in narrow space, resulting in docking failure or unstable taking and placing.

[0004] The platform design of the existing transfer equipment often lacks flexibility, and cannot realize the two-way taking and placing function of the box, which limits the efficiency of logistics transfer. At the same time, the chassis design has defects in driving stability and shock absorption performance, affecting the safety of goods transfer. The lifting device usually adopts simple hydraulic or mechanical lifting structure, which is difficult to meet the precise docking demand between different height shelves.

[0005] Therefore, it is urgent to propose a transfer equipment and a transfer method to solve the above problems. SUMMARY

[0006] The purpose of the present application is to propose a transfer equipment and a transfer method, which can realize the two-way taking and placing of the box, and improve the transfer efficiency and flexibility.

[0007] To solve the above technical problems, the present application provides a transfer equipment, comprising: a chassis device, an electrical device, a lifting device and a platform device;

[0008] The electrical device and the lifting device are installed on the chassis device and connected with the chassis device; the chassis device is used to provide support, drive travel, path navigation and shock absorption; the electrical device and the lifting device are connected; the platform device is installed on the lifting device and used to carry the box; the platform device has a two-way taking and placing function, which is used to dock and transport the box between the platform device and the shelf.

[0009] Further, the chassis device comprises a chassis frame, a driving device, a navigation device and an obstacle avoidance device.

[0010] The driving device, the navigation device and the obstacle avoidance device are all mounted on the chassis frame; the driving device is connected with the navigation device and the obstacle avoidance device; the navigation device and the obstacle avoidance device are connected to jointly control the travel path of the transfer equipment.

[0011] Further, the driving device comprises a plurality of driving wheels, a plurality of driven wheels and a driving suspension;

[0012] The plurality of driving wheels are respectively arranged at both sides of the chassis frame and located at the middle part of the chassis frame; the plurality of driven wheels are respectively arranged at both sides of the chassis frame and located at both sides of the driving wheels on the same side; the driving suspension is connected with the driving wheels for reducing the vibration transmission caused by uneven ground.

[0013] Further, the lifting device comprises a lifting frame, a lifting guide assembly and a lifting driving member;

[0014] The lifting frame is mounted on the chassis frame; the lifting driving member is arranged on the lifting frame; the platform device is slidingly connected with the lifting driving member through the lifting guide assembly; the platform device is located between the opposite inner side walls of the lifting frame.

[0015] Further, the lifting guide assembly comprises a sliding block; the lifting driving member comprises a lifting motor, a plurality of lifting guide rails and a synchronous belt;

[0016] The lifting motor is mounted on the chassis frame; the lifting guide rails are vertically arranged on the inner side of the lifting frame; the side wall of the platform device is slidingly connected with the lifting guide rails through the sliding block; the lifting motor drives the plurality of lifting guide rails to operate simultaneously through the synchronous belt, so as to drive the platform device to move up and down along the vertical direction of the lifting frame.

[0017] Further, the platform device comprises a platform frame, a movable docking platform, a clamping device and a self-locking device;

[0018] The clamping device is arranged at both sides of the movable docking platform to clamp the cargo box; the self-locking device is arranged at both sides of the movable docking platform and close to the end of the movable docking platform to prevent the cargo box from sliding out of the movable docking platform;

[0019] The movable docking platform comprises a platform plate, slide rails and a work sensor; the slide rails are connected to both sides of the platform plate and are slidably installed on the platform frame through the slide rails; the work sensor is located on the platform plate and is connected to the slide rails and the clamping device.

[0020] Further, the clamping device comprises a fixed clamping mechanism and a telescopic clamping mechanism; the fixed clamping mechanism and the telescopic clamping mechanism are oppositely arranged and used for cooperatively clamping the cargo box; the fixed clamping mechanism is used for clamping one side of the cargo box; the telescopic clamping mechanism is used for clamping the other side of the cargo box and can telescopically move relative to the fixed clamping mechanism; the telescopic clamping mechanism comprises a telescopic assembly and a clamping part connected to each other; the telescopic assembly is used for driving the clamping part to telescopically move in the horizontal direction.

[0021] Further, the self-locking device comprises a self-locking mounting plate, a self-locking guide rod, a self-locking limiting plate and an elastic member; the self-locking mounting plate is internally provided with a first through channel and a second through channel which are connected and perpendicular to each other; the self-locking guide rod passes through the first through channel and extends out of the first through channel; the self-locking guide rod is slidably arranged in the first through channel; the self-locking limiting plate is slidably arranged in the second through channel; the elastic member is sleeved on the self-locking guide rod and connected to the inner wall of the first through channel; the self-locking guide rod is provided with a protrusion; the self-locking mounting plate is provided with a first sliding groove; the self-locking limiting plate is provided with a second sliding groove; the protrusion is located in the first sliding groove and the second sliding groove; the first sliding groove and the second sliding groove are at a predetermined angle.

[0022] In addition, the present application also provides a transfer method using the transfer equipment as described above, which specifically comprises the following steps.

[0023] Controlling the chassis device to travel to a target position;

[0024] Monitoring the transfer state by the electrical device;

[0025] Based on the transfer state, driving the lifting device to move the platform device up and down to adjust to a target height;

[0026] Controlling the platform device to realize the bidirectional taking and placing of the cargo box.

[0027] Further, the control of the platform device to realize the bidirectional taking and placing of the cargo box specifically comprises: moving the movable docking platform to the target shelf direction for docking; clamping and transferring the cargo box through the cooperative work of the fixed clamping mechanism and the telescopic clamping mechanism; after the cargo box is fixed on the platform device, starting the self-locking device to prevent the cargo box from slipping off; after the cargo box is transferred, resetting the movable docking platform.

[0028] By the technical scheme, the application has the following beneficial effects:

[0029] By adopting the combined structure of the chassis device, the electrical device, the lifting device and the platform device, the bidirectional taking and placing function of the container can be realized, the docking and transmission operation can be completed without turning the equipment, and the transfer efficiency is greatly improved. The chassis device can provide stable support and damping function to ensure the safety of the container during the transfer process; the lifting device can accurately adjust the platform height to adapt to the docking requirements of different height shelves; the bidirectional taking and placing function of the platform device enables the equipment to flexibly cope with complex working conditions, thereby improving the space utilization and operation efficiency.

[0030] In addition, by setting the clamping device with the movable docking platform with sliding rails, the fixed clamping mechanism and the telescopic clamping mechanism working cooperatively, and the anti-skid mechanism with self-locking function, the device can solve the stability and safety problems of the container during the docking and transmission process. In particular, the self-locking device is provided with a combination structure of a self-locking mounting plate, a self-locking guide rod, a self-locking limiting plate and an elastic member, which can effectively prevent the container from slipping off during the transfer process, and improve the reliability and safety of the transfer. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of the transfer equipment in an embodiment of the application;

[0032] Figure 2 It is a front view of the transfer equipment in an embodiment of the application;

[0033] Figure 3 It is a schematic diagram of the overall structure of the chassis device in the transfer equipment in an embodiment of the application;

[0034] Figure 4 It is a top view of the chassis device in the transfer equipment in an embodiment of the application;

[0035] Figure 5 It is a schematic diagram of the overall structure of the lifting device in the transfer equipment in an embodiment of the application;

[0036] Figure 6 It is a front view of the lifting device in the transfer equipment in an embodiment of the application;

[0037] Figure 7 It is a schematic diagram of the overall structure of the driving suspension in the transfer equipment in an embodiment of the application;

[0038] Figure 8 It is a sectional view of the driving suspension in the transfer equipment in an embodiment of the application;

[0039] Figure 9 It is a schematic diagram of the overall structure of the platform device in the transfer equipment in an embodiment of the application;

[0040] Figure 10 Schematic diagram of the structure of the movable docking platform in the platform device of the transfer equipment in one embodiment of the present invention;

[0041] Figure 11 A bottom view of a movable docking platform in a platform device in a transfer device according to an embodiment of the present invention;

[0042] Figure 12 A side view of a movable docking platform in a platform device in a transfer device according to an embodiment of the present invention;

[0043] Figure 13 Schematic diagram of the overall structure of a fixed clamping mechanism or a clamping portion in a clamping device in a transfer device in one embodiment of the present invention;

[0044] Figure 14 A side view of a fixed clamping mechanism or a clamping portion in a clamping device in a transfer device according to an embodiment of the present invention;

[0045] Figure 15 A top view of a fixed clamping mechanism or a clamping portion in a clamping device in a transfer device according to an embodiment of the present invention;

[0046] Figure 16 A top view of a guide groove for a fixed clamping mechanism or a clamping portion in a clamping device in a transfer device according to an embodiment of the present invention;

[0047] Figure 17 It is a schematic diagram of the overall structure of one direction of the telescopic clamping mechanism in the clamping device of the transfer equipment in one embodiment of the present invention;

[0048] Figure 18 A top view of a telescopic clamping mechanism in a clamping device in a transfer device according to an embodiment of the present invention from one direction;

[0049] Figure 19 This is a schematic diagram of the overall structure of the telescopic clamping mechanism in the clamping device of the transfer equipment in one embodiment of the present invention from another direction;

[0050] Figure 20 A top view of the telescopic clamping mechanism in the clamping device of the transfer equipment in one embodiment of the present invention from another direction;

[0051] Figure 21 Schematic diagram of the structure of the telescopic component in the telescopic clamping mechanism in the clamping device of the transfer equipment in one embodiment of the present invention;

[0052] Figure 22 Schematic diagram of the overall structure of the self-locking device in the platform device of the transfer equipment in one embodiment of the present invention;

[0053] Figure 23Figure 1 is a sectional view of the self-locking device in the platform device of the transfer equipment according to an embodiment of the present application;

[0054] Figure 24 Figure 2 is a top view of the self-locking device in the platform device of the transfer equipment according to an embodiment of the present application;

[0055] Figure 25 Figure 3 is a flow chart of the transfer method according to an embodiment of the present application.

[0056] Figure 1 is a sectional view of the self-locking device in the platform device of the transfer equipment according to an embodiment of the present application;

[0057] 1021, driving member; 1022, hub mounting rack; 1023, guide shaft; 1024, guide bearing; 1025, buffer shaft; 1026, adjusting member; 1027, adjusting block; 1028, elastic member; 1029, connecting plate; 10210, bearing shaft seat; 10211, bearing; 10212, shaft coupling;

[0058] 2, electrical device;

[0059] 202, navigation device; 205, obstacle avoidance device;

[0060] 3, lifting device; 301, lifting frame; 302, lifting guide assembly; 303, lifting driving member; 3031, lifting motor; 3032, lifting guide rail;

[0061] 4, platform device; 401, platform frame;

[0062] 402, fixed clamping mechanism; 4021, fixed frame; 4022, guide block; 4023, clamping plate; 4024, cam follower; 4025, electric push rod; 4026, in-place detection sensor; 4027, target recognition sensor; 4028, guide groove;

[0063] 403, movable docking platform; 4031, platform plate; 4032, sliding rail;

[0064] 4033, self-locking device; 40331, self-locking mounting plate; 403311, first sliding groove; 40332, self-locking guide rod; 40333, self-locking limiting plate; 403331, second sliding groove; 40334, self-locking limiting block; 40335, elastic member; 40336, buffer block; 40337, first through channel; 40338, second through channel; 40339, protrusion;

[0065] 4034, detection sensor; 4035, trigger sensor; 4036, alignment confirmation sensor; 4037, docking in-place sensor;

[0066] 404, telescopic clamping mechanism; 4041, mounting frame; 4042, fixed rack; 4043, movable rack guide; 4044, movable rack; 4045, clamping portion; 4046, gear; 4047, drive motor; 4048, motor guide;

[0067] 5. Cargo box. DETAILED DESCRIPTION

[0068] Based on the teachings of this specification, those skilled in the art may form new technical solutions by cross-combining different implementation methods without generating technical contradictions. Such variations should be deemed to fall within the scope of protection of this patent.

[0069] The following is a more detailed description of a transfer device and transfer method of the present invention, with reference to the accompanying drawings. Preferred embodiments of the present invention are shown, and it should be understood that those skilled in the art may modify the present invention described herein while still achieving the beneficial effects of the present invention. Therefore, the following description should be understood as generally known to those skilled in the art and is not intended to limit the present invention.

[0070] The following paragraphs describe the present invention in more detail by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are greatly simplified and not to exact scale, and are provided solely for the purpose of assisting in the description of the embodiments of the present invention.

[0071] like Figures 1-2 As shown, an embodiment of the present invention provides a transfer device, including: a chassis device 1, an electrical device 2, a lifting device 3 and a platform device 4.

[0072] In this embodiment, the electrical device 2 and the lifting device 3 are both mounted on and connected to the chassis 1. The chassis 1 provides support, propulsion, path guidance, and shock absorption. The electrical device 2 is connected to the lifting device 3. The platform 4 is mounted on the lifting device 3 and is used to carry the cargo box 5. The platform 4 has a bidirectional pick-and-place function, allowing the cargo box 5 to be docked and transferred between the platform 4 and the shelf.

[0073] Preferably, the electrical device 2 includes a controller, multiple industrial control modules, and multiple sensors. The controller is electrically connected to the multiple industrial control modules and the multiple sensors to monitor the transfer status and control the actuators. The multiple sensors include position sensors, distance sensors, and height sensors, which are used to collect real-time information such as the transfer equipment's position, distance from the shelf, and platform height, thereby improving the equipment's positioning accuracy and operational stability.

[0074] In one embodiment, ifFigure 3 and Figure 4 As shown, the chassis device 1 includes a chassis frame 101, a drive device, a navigation device 202, and an obstacle avoidance device 205. The drive device, navigation device 202, and obstacle avoidance device 205 are all mounted on the chassis frame 101. The drive device is connected to the navigation device 202 and the obstacle avoidance device 205. The navigation device 202 and the obstacle avoidance device 205 are connected and jointly control the path of the transfer equipment. The configuration of the chassis device 1 enables the transfer equipment to stably travel along a predetermined path while avoiding obstacles along the path, enhancing the equipment's autonomous navigation capabilities and safety.

[0075] In this embodiment, the driving device includes: a plurality of driving wheels 102, a plurality of driven wheels 103 and a driving suspension. Specifically, the plurality of driving wheels 102 are respectively arranged on both sides of the chassis frame 101 and are located in the middle of the chassis frame 101; the plurality of driven wheels 103 are respectively arranged on both sides of the chassis frame 101 and are located on both sides of the driving wheel 102 on the same side; the driving suspension is connected to the driving wheel 102 to reduce the vibration transmission caused by uneven ground. The driving wheel 102 is usually made of rubber or polyurethane material to increase friction and vibration reduction effect. It is known to those skilled in the art that the number and position of the driving wheels 102 and the driven wheels 103 can be set according to actual needs, and also include other embodiments besides this embodiment.

[0076] Preferably, the navigation device 202 includes a laser radar, a visual navigation module, and an electronic compass. By combining multiple navigation methods, the device's positioning accuracy and path planning capabilities in complex environments are improved. The obstacle avoidance device 205 includes multiple ultrasonic sensors, infrared sensors, and collision protection buffers, distributed around the chassis frame 101. These sensors can detect the surrounding environment and avoid obstacles in a timely manner, enhancing the device's operational safety in confined spaces.

[0077] In one embodiment, if Figures 5-6 As shown, the lifting device 3 includes a lifting frame 301, a lifting guide assembly 302 and a lifting drive 303. Specifically, the lifting frame 301 is mounted on the chassis frame 101. The lifting drive 303 is arranged on the lifting frame 301. The platform device 4 is slidably connected to the lifting drive 303 through the lifting guide assembly 302. The platform device 4 is located between the opposite inner side walls of the lifting frame 301. The setting of the lifting device 3 enables the platform device 4 to move stably in the vertical direction, adapt to the docking requirements of shelves of different heights, and improve the adaptability and flexibility of the transfer equipment.

[0078] In the embodiment, the lifting guide assembly 302 comprises a sliding block. The lifting driving member 303 comprises a lifting motor 3031, a plurality of lifting rails 3032 and a synchronous belt. Specifically, the lifting motor 3031 is installed on the chassis frame 101. The lifting rails 3032 are vertically arranged on the inner side of the lifting frame 301. The side wall of the platform device 4 is slidingly connected with the lifting rails 3032 through the sliding block. The lifting motor 3031 drives the plurality of lifting rails 3032 to operate simultaneously through the synchronous belt, so as to drive the platform device 4 to move up and down along the vertical direction of the lifting frame 301.

[0079] In a specific example, the lifting rails 3032 are made of high-strength aluminum alloy material, and the surface is subjected to hard anodizing treatment, so as to have high wear resistance and rigidity. The synchronous belt is a steel wire reinforced rubber synchronous belt, which has high transmission accuracy and service life. It is known to those skilled in the art that the lifting height range can be set according to the actual application environment.

[0080] In an embodiment, as shown in Figures 7-8 The driving suspension comprises a driving member 1021, a hub mounting bracket 1022, a bearing shaft seat 10210, a shaft coupling 10212, a guide mechanism and a buffer mechanism.

[0081] Specifically, the bearing shaft seat 10210 is installed at the middle part of the hub mounting bracket 1022, and the outer side of the bearing shaft seat 10210 is sleeved with a bearing 10211. The shaft coupling 10212 is sleeved on the bearing 10211 and connected with the driving wheel 102. The output shaft of the driving member 1021 penetrates through the hub mounting bracket 1022 and is connected with the shaft coupling 10212. The guide mechanism and the buffer mechanism are arranged at the end part of the hub mounting bracket 1022.

[0082] In the embodiment, the hub mounting bracket 1022 serves as the basic support structure of the driving suspension, and is used for bearing the driving member 1021 and the driving wheel 102, and providing the mounting positions of the guide mechanism and the buffer mechanism. The hub mounting bracket 1022 can be made of metal material, such as aluminum alloy, steel material, etc., and has sufficient strength and rigidity, so as to be able to bear various stresses in the driving process.

[0083] In a specific example, the hub mounting bracket 1022 can have a “U” shaped structure design. The middle part region is used for installing the bearing shaft seat 10210 and the driving member 1021, and the two end parts are respectively used for installing the guide mechanism and the buffer mechanism. This structure arrangement can improve the overall stability of the hub mounting bracket 1022, and at the same time provides sufficient support for the driving wheel 102.

[0084] Preferably, the driving member 1021 is an electric motor for providing power to the driving wheel 102. The driving member 1021 is connected to the shaft coupling 10212 through its output shaft, thereby driving the driving wheel 102 to rotate. The power of the driving member 1021 can be selected according to the load requirement of the transfer device. Those skilled in the art know that the power of the driving member 1021 can be set according to actual needs, and the driving member 1021 also includes other embodiments such as a hydraulic motor, a pneumatic motor, etc.

[0085] In an embodiment, the guide mechanism includes a guide shaft 1023 and a guide bearing 1024. Specifically, the guide bearing 1024 is arranged inside the hub mounting frame 1022 and is perpendicular to the hub mounting frame 1022; the guide shaft 1023 passes through the guide bearing 1024; the guide bearing 1024 is in sliding connection with the guide shaft 1023 and moves up and down along the side wall of the guide shaft 1023; one end of the guide shaft 1023 is connected to a chassis frame 101, and the other end extends out of the guide bearing 1024. The arrangement of the guide mechanism enables the hub mounting frame 1022 to maintain good directional stability during up and down movement, prevents the hub from deviating laterally during movement, and enhances the driving stability of the driving wheel 102.

[0086] In the present embodiment, the guide shaft 1023 can be made of high-strength steel material and can be subjected to hardening treatment on the surface to improve wear resistance and service life. The guide bearing 1024 can be selected from rolling bearings or sliding bearing structures, and maintains a proper fitting gap with the guide shaft 1023 to improve the stability during up and down movement.

[0087] Preferably, the present embodiment further includes a connecting plate 1029; the other end of the guide shaft 1023 is connected to the connecting plate 1029 together with the buffer mechanism. The connecting plate 1029 can be made of metal plate material and has sufficient strength and rigidity. The connecting plate 1029 connects the ends close to the ground of the guide mechanism and the buffer mechanism into an integrated structure for cooperative work.

[0088] In a specific example, the connecting plate 1029 can have a structure with multiple reinforcing ribs to improve the rigidity of the connecting plate 1029 and reduce possible deformation during work. Meanwhile, multiple mounting holes can be arranged on the connecting plate 1029 to facilitate connection with the guide shaft 1023 and the buffer shaft 1025, and the connection position can be adjusted as needed.

[0089] In the present embodiment, the arrangement of the connecting plate 1029 realizes the cooperative work of the guide mechanism and the buffer mechanism, enabling the two mechanisms to move synchronously and enhancing the structural stability and movement synchronization of the entire driving suspension.

[0090] In an embodiment, the buffering mechanism comprises a buffering shaft 1025, an adjusting piece 1026, an adjusting block 1027, and an elastic component 1028. Specifically, the hub mounting frame 1022 is provided with a through hole; the buffering shaft 1025 passes through the through hole and is in sliding connection with the through hole; one end of the buffering shaft 1025 is connected with a chassis frame 101, and the other end extends to the outside of the hub mounting frame 1022 and is connected with the connecting plate 1029; the adjusting piece 1026 is detachably connected on the buffering shaft 1025; the adjusting block 1027 and the elastic component 1028 are both sleeved on the buffering shaft 1025 and located in the through hole; one end of the elastic component 1028 is connected with the inner side wall of the through hole, and the other end is connected with the adjusting block 1027; the adjusting block 1027 is in sliding connection with the buffering shaft 1025; the adjusting block 1027 is located between the adjusting piece 1026 and the elastic component 1028.

[0091] The through hole is a through hole provided on the hub mounting frame 1022, which is used for the passing of the buffering shaft 1025 and the installation of the elastic component 1028. The inner wall of the through hole can be smoothed to reduce the friction between the buffering shaft 1025 and the elastic component 1028.

[0092] In a specific example, the elastic component 1028 can be selected from a compression spring, a rubber buffer block, or a composite spring structure. When a compression spring is selected, different spring stiffness and materials such as carbon spring steel and alloy spring steel can be selected according to needs. The stiffness of the spring can be matched according to the load condition of the transfer equipment, and a larger stiffness is suitable for heavy load conditions, and a smaller stiffness is suitable for light load conditions. Those skilled in the art can know that the material and stiffness of the elastic component 1028 can be set according to actual needs, and the elastic component 1028 also includes other embodiments in addition to the present embodiment.

[0093] In the present embodiment, the buffering mechanism provides a buffering effect through the elastic component 1028 when the driving wheel 102 encounters uneven ground, which can reduce the transmission of vibration to the overall transfer equipment, improve the stability of the transfer equipment and the safety of the goods. At the same time, through the cooperation of the adjusting piece 1026 and the adjusting block 1027, the buffering effect can be adjusted according to different load conditions, thereby enhancing the adaptability of the device.

[0094] In the present embodiment, the outer diameter of the adjusting piece 1026 is smaller than the inner diameter of the through hole, so that the adjusting piece 1026 will not interfere with the inner wall of the through hole when moving up and down on the buffering shaft 1025. This setting allows the adjusting piece 1026 to freely pass through the through hole during the movement of the hub mounting frame 1022, without limiting the movement range of the hub mounting frame 1022.

[0095] Preferably, the adjusting member 1026 comprises an adjusting nut; the adjusting nut is threadedly connected to the buffer shaft 1025. The adjusting nut is internally provided with threads matching the buffer shaft 1025, and by rotating the adjusting nut, the position of the adjusting nut on the buffer shaft 1025 can be changed, thereby changing the pre-compression amount of the elastic component 1028 and adjusting the buffering effect.

[0096] In this embodiment, the guide mechanism is parallel to the buffer mechanism. Further, one end of the guide mechanism and the buffer mechanism is connected to a chassis frame 101, and the other end is located on the same horizontal plane. The guide mechanism and the buffer mechanism maintain consistent directions in space, making the force directions of the guide shaft 1023 and the buffer shaft 1025 consistent, which can better coordinate the work.

[0097] In this embodiment, when the transfer device is running on the ground, the driving member 1021 drives the coupling 10212 to rotate through the output shaft, and the coupling 10212 in turn drives the driving wheel 102 to rotate, pushing the entire transfer device forward. When encountering uneven ground, the driving wheel 102 will produce up and down displacement, at which time the hub mounting bracket 1022 is elastically connected between the guide mechanism and the buffer mechanism and the chassis frame 101.

[0098] Specifically, when the driving wheel 102 encounters a protrusion, the upward impact force will make the hub mounting bracket 1022 move upward along the guide shaft 1023, while compressing the elastic component 1028 in the buffer mechanism. The compression of the elastic component 1028 absorbs part of the impact energy, reducing the transmission of the impact force to the chassis frame 101. The guide shaft 1023 and the guide bearing 1024 enable the hub mounting bracket 1022 to maintain a stable direction during up and down movement, preventing lateral deviation or distortion.

[0099] When the driving wheel 102 passes through the protrusion, the elastic component 1028 releases the stored energy, pushing the hub mounting bracket 1022 to return to its original position, so that the driving wheel 102 maintains contact with the ground. During the entire process, the guide mechanism and the buffer mechanism work together to improve the directional stability of the driving wheel 102 and provide effective shock absorption capacity.

[0100] In addition, by adjusting the adjusting member 1026, the pre-compression amount of the elastic component 1028 can be changed, thereby adjusting the buffering effect. In the full load state, the pre-compression amount can be increased to provide stronger support force; in the empty load state, the pre-compression amount can be reduced to obtain better buffering effect. This adjustability enables the driving suspension to adapt to different load states and working environments.

[0101] In an embodiment, as Figure 9As shown, the platform device 4 comprises a platform frame 401, a movable docking platform 403, a clamping device and a self-locking device 4033.

[0102] Specifically, the clamping device is arranged on both sides of the movable docking platform 403 to clamp the box 5. The self-locking device 4033 is arranged on both sides of the movable docking platform 403 and close to the end of the movable docking platform 403 to prevent the box 5 from sliding off the movable docking platform 403.

[0103] In an embodiment, in combination with Figures 10-12 As shown, the movable docking platform 403 comprises a platform plate 4031, a slide rail 4032 and a working sensor. The slide rail 4032 is connected to both sides of the platform plate 4031 and is slidably installed on the platform frame 401 through the slide rail 4032. The working sensor is located on the platform plate 4031 and is connected to the slide rail 4032 and the clamping device.

[0104] In a specific example, the slide rail 4032 adopts a high-precision linear guide rail structure, which is matched with a ball bearing to enable the platform plate 4031 to move smoothly on the platform frame 401, reduce friction resistance, and improve the smoothness and accuracy of sliding. This movable arrangement enables the platform to actively adjust the position according to actual needs and accurately dock with external equipment, thereby improving the docking efficiency and success rate.

[0105] In this embodiment, the working sensor comprises a detection sensor 4034, a position confirmation sensor 4036 and a docking in-position sensor 4037. The detection sensor 4034 is arranged on the platform plate 4031 to detect whether there is a box 5 on the platform plate 4031. The position confirmation sensor 4036 is arranged at one end of the platform plate 4031 to confirm the position of the platform plate 4031 and the external equipment. The docking in-position sensor 4037 is arranged at the other end of the platform plate 4031 to confirm the docking state of the platform plate 4031 and the external equipment.

[0106] In a specific example, the detection sensor 4034 can be selected from an infrared sensor, a weight sensor or a photoelectric sensor to monitor the presence of the box 5 on the platform in real time; the position confirmation sensor 4036 and the docking in-position sensor 4037 can be selected from a proximity switch, a laser ranging sensor or a visual recognition system to provide accurate position information feedback. As known by those skilled in the art, the type and number of sensors can be arranged according to actual needs, and other embodiments other than this embodiment are also included. This multi-sensor cooperative working arrangement can enhance the intelligent level of the device and improve the safety and automation degree of the docking and transfer process.

[0107] In the embodiment, the working sensor further comprises a trigger sensor 4035. The trigger sensor 4035 is arranged at one end of the platform plate 4031, and is used to slow down the docking impact in the docking process. In a specific example, the trigger sensor 4035 can adopt a high-sensitivity proximity switch or a force-sensitive sensor, which automatically sends a signal to control the platform to slow down when detecting the proximity of an external device, so that the docking process is more gentle. The arrangement of the trigger sensor 4035 not only can reduce the impact force borne by the goods and the device in the docking process, improve the service life of the entire system, but also can enhance the safety guarantee in the goods transportation process.

[0108] In an embodiment, the sensors share information and work cooperatively. Specifically, the detection sensor 4034, the trigger sensor 4035, the alignment confirmation sensor 4036, and the docking-in-position sensor 4037 are connected to the central controller through a signal processing unit, so as to realize real-time transmission and processing of information.

[0109] In an embodiment, as shown in Figures 13-21 The clamping device comprises a fixed clamping mechanism 402 and a telescopic clamping mechanism 404. Specifically, the fixed clamping mechanism 402 and the telescopic clamping mechanism 404 are arranged oppositely and used to clamp the goods box 5 cooperatively; the fixed clamping mechanism 402 is used to clamp one side of the goods box 5; the telescopic clamping mechanism 404 is used to clamp the other side of the goods box 5 and can move telescopically relative to the fixed clamping mechanism 402; the telescopic clamping mechanism 404 comprises a telescopic assembly and a clamping part 4045 connected to each other; and the telescopic assembly is used to drive the clamping part 4045 to move telescopically in the horizontal direction.

[0110] In a specific example, the fixed clamping mechanism 402 and the telescopic clamping mechanism 404 are arranged symmetrically, one side is fixed, and the other side is movable, which can adapt to goods boxes 5 of different widths and enhance the applicability of the device. The telescopic clamping mechanism 404 can automatically adjust the position according to the width of the goods box 5, thereby improving the accuracy and stability of clamping.

[0111] In an embodiment, continuing to refer to Figures 13-16 As shown in the figure, the fixed clamping mechanism 402 and the clamping part 4045 both comprise a fixed frame 4021, a guide block 4022, a clamping plate 4023, and a motion conversion mechanism.

[0112] Specifically, the guide block 4022 is installed on the fixed frame 4021 and located at both sides of the clamping plate 4023, and is used to limit the moving direction of the clamping plate 4023; the clamping plate 4023 is movably installed on the fixed frame 4021; and the motion conversion mechanism is used to convert a driving force in one direction into the movement of the clamping plate 4023 in a direction perpendicular to the one direction.

[0113] In the embodiment, the motion conversion mechanism comprises a cam follower 4024 and an electric push rod 4025. Specifically, the fixed end of the electric push rod 4025 is fixed on the fixed frame 4021, and the telescopic end is connected to the cam follower 4024; the clamping plate 4023 is provided with a guide groove 4028; the fixed frame 4021 is provided with a sliding groove; one end of the cam follower 4024 is located in the guide groove 4028, and the other end is located in the sliding groove; the electric push rod 4025 drives the cam follower 4024 to move horizontally, and through the cooperation of the guide groove 4028 and the sliding groove, the clamping plate 4023 is driven to move vertically. The motion conversion mechanism utilizes the motion conversion principle of the cam follower 4024 to convert the horizontal thrust generated by the electric push rod 4025 into the vertical movement of the clamping plate 4023, simplifies the control system, and improves the structural compactness.

[0114] In the embodiment, the moving direction of the clamping plate 4023 is perpendicular to the fixed frame 4021. The guide blocks 4022 on both sides of the clamping plate 4023 form a dovetail groove with the fixed frame 4021.

[0115] Preferably, the sliding groove is horizontally arranged relative to the clamping plate 4023, and the guide groove 4028 is obliquely arranged relative to the sliding groove. By arranging the horizontal sliding groove and the oblique guide groove 4028, the cam follower 4024 can drive the clamping plate 4023 to move vertically during horizontal movement along the oblique guide groove 4028. Those skilled in the art know that the inclination angle of the guide groove 4028 can be set according to actual needs, and other embodiments besides the present embodiment are also included. The greater the inclination angle, the greater the vertical movement distance relative to the horizontal movement distance, but the required driving force is also greater; the smaller the inclination angle, the smaller the required driving force, but the vertical movement distance is also correspondingly reduced. Generally, the inclination angle can be set between 30° and 60° to balance the requirements of driving force and movement distance.

[0116] In the embodiment, the fixed clamping mechanism 402 and the clamping part 4045 also comprise a position detection sensor 4026 and a target recognition sensor 4027. Specifically, the position detection sensor 4026 is installed on the fixed frame 4021 and used to detect the position of the clamping plate 4023; the target recognition sensor 4027 is installed on the fixed frame 4021 and used to recognize the position of the container 5; the position detection sensor 4026 and the target recognition sensor 4027 are connected with the telescopic assembly. In a specific example, the position detection sensor 4026 can adopt a photoelectric switch or a Hall sensor to monitor the position state of the clamping plate 4023 in real time, preventing mechanical damage caused by overstroke movement of the clamping plate 4023. The target recognition sensor 4027 can adopt an infrared sensor or a photoelectric tube to accurately recognize the edge position of the container 5, improving the clamping accuracy.

[0117] In a specific example, when the front end of the container 5 is pulled to a position aligned with the fixed clamping mechanism 402 by the telescopic clamping mechanism 404, the fixed clamping mechanism 402 starts to work. The electric push rod 4025 is started after receiving a control signal, the push rod is extended, and the cam follower 4024 is moved in the horizontal direction. One end of the cam follower 4024 slides in the sliding groove, and the other end moves in the inclined guide groove 4028 on the clamping plate 4023. This combined movement converts the horizontal movement of the cam follower 4024 into the vertical movement of the clamping plate 4023 perpendicular to the fixed frame 4021, so that the clamping plate 4023 is stably directed outward and clamps the front end of the container 5. When the position detection sensor 4026 confirms that the clamping is completed, the electric push rod 4025 stops working and keeps the clamping state. When it is necessary to release the container 5, the electric push rod 4025 moves reversely, drives the cam follower 4024 to return to the original position, and the clamping plate 4023 rises to release the clamping of the container 5.

[0118] In an embodiment, continuing to refer to Figures 17-21 As shown, the telescopic assembly comprises a mounting frame 4041, a fixed rack 4042, a movable rack guide rail 4043, a movable rack 4044, a gear 4046, a driving motor 4047, and a motor guide rail 4048.

[0119] Specifically, the mounting frame 4041 is mounted on a movable docking platform 403; the motor guide rail 4048 is fixedly mounted on the mounting frame 4041; the driving motor 4047 is mounted on the motor guide rail 4048 and can slide along the motor guide rail 4048; the fixed rack 4042 and the movable rack guide rail 4043 are both fixedly mounted on the mounting frame 4041; the movable rack 4044 is mounted on the movable rack guide rail 4043 and can slide along the movable rack guide rail 4043; the gear 4046 is connected with the output shaft of the driving motor 4047 and engages with the fixed rack 4042 and the movable rack 4044; the clamping part 4045 is fixedly mounted on the movable rack 4044; and the movable rack 4044 is arranged in parallel with the fixed rack 4042.

[0120] In this embodiment, when the telescopic assembly is in operation, the driving motor 4047 drives the gear 4046 to rotate. Since the gear 4046 engages with the fixed rack 4042, the driving motor 4047 moves along the motor guide rail 4048. At the same time, the gear 4046 engages with the movable rack 4044, driving the movable rack 4044 to move along the movable rack guide rail 4043. Through this gear 4046-rack transmission combination, precise telescopic control of the telescopic clamping mechanism 404 is achieved.

[0121] In a preferred embodiment, the gear 4046 and the movable rack 4044 are both arranged at the middle segment position of the fixed rack 4042, and the fixed rack 4042 and the movable rack 4044 simultaneously engage with one gear 4046. When the driving motor 4047 is in operation, since the gear 4046 simultaneously engages with the fixed rack 4042 and the movable rack 4044, a multiplication effect is generated: while the gear 4046 moves along the fixed rack 4042, the movable rack 4044 also moves relative to the gear 4046. This makes the moving distance of the movable rack 4044 twice the moving distance of the gear 4046, thereby realizing a greater range of telescopic movement in a limited space and increasing the working range of the clamping device.

[0122] In another preferred embodiment, the gear 4046 comprises a first gear and a second gear. Specifically, the first gear is engaged with the fixed rack 4042, and the second gear is engaged with the movable rack 4044. The pitch circle diameters of the first gear and the second gear are different. By using gears 4046 with different pitch circle diameters, the speed ratio and displacement ratio of the movement of the movable rack 4044 relative to the gear 4046 can be adjusted. For example, when the diameter of the second gear is greater than that of the first gear, the movable rack 4044 moves faster and covers a greater distance; conversely, it moves slower but with a greater torque. Those skilled in the art will know that the diameter ratio of the two gears 4046 can be set according to actual needs, and other embodiments in addition to the present embodiment are also included.

[0123] In a specific example, when the driving motor 4047 is started, the gear 4046 on the output shaft thereof is simultaneously engaged with the fixed rack 4042 and the movable rack 4044. Since the fixed rack 4042 is fixed, the rotation of the gear 4046 moves along the fixed rack 4042, driving the entire motor assembly to slide on the motor guide rail 4048; at the same time, the engagement of the gear 4046 with the movable rack 4044 causes the movable rack 4044 to move relatively along the movable rack guide rail 4043. This structural design makes the movable rack 4044 move a distance of two units relative to the mounting frame 4041 when the gear 4046 moves a distance of one unit along the fixed rack 4042, achieving a multiplication effect of the movement stroke. Since the clamping part 4045 is fixedly installed on the movable rack 4044, the movement of the movable rack 4044 directly drives the clamping part 4045 to realize large-range and high-precision expansion and contraction, providing a technical guarantee for the accurate positioning and clamping of the cargo box 5.

[0124] In the present embodiment, in the initial state, both the fixed clamping mechanism 402 and the telescopic clamping mechanism 404 are in a released state, and the platform has been docked with the target shelf. First, the telescopic clamping mechanism 404 drives the gear 4046 to move along the fixed rack 4042 through the driving motor 4047, and the movable rack 4044 drives the clamping part 4045 to extend towards the cargo box 5 until the target recognition sensor 4027 detects the front end position of the cargo box 5. Then, the electric push rod 4025 of the telescopic clamping mechanism 404 is started, pushing the cam follower 4024 to move in the sliding groove and guide groove 4028, converting the horizontal motion into the vertical motion of the clamping plate 4023, and clamping the front end of the cargo box 5. Next, the driving motor 4047 is operated in reverse, the movable rack 4044 drives the clamping part 4045 and the clamped cargo box 5 to move towards the center of the platform, and at the same time, the locking mechanism of the cargo box 5 on the shelf is unlocked.

[0125] When the front end of the container 5 is aligned with the fixed clamping mechanism 402, the electric push rod 4025 of the fixed clamping mechanism 402 is activated to clamp the other side of the front end of the container 5, and the telescopic clamping mechanism 404 is released to clamp the front end. Subsequently, the telescopic clamping mechanism 404 continues to move and adjust the position to the rear end of the container 5, and the clamping plate 4023 is driven to move by the electric push rod 4025 to clamp the rear end of the container 5, at this time the front end of the container 5 is controlled by the fixed clamping mechanism 402, and the rear end is controlled by the telescopic clamping mechanism 404. Finally, the fixed clamping mechanism 402 is released, and the telescopic clamping mechanism 404 controls the container 5 alone and pulls it to the middle position of the platform, completing the entire safe transfer process of the container 5. This cooperative working mode makes the container 5 always in a clamped state during the entire transfer process, greatly improving the stability and safety of the transfer.

[0126] In an embodiment, as shown in Figures 22-24 The self-locking device 4033 includes a self-locking mounting plate 40331, a self-locking guide rod 40332, a self-locking limiting plate 40333, and an elastic member 40335.

[0127] Specifically, the self-locking mounting plate 40331 is provided with a first through channel 40337 and a second through channel 40338 which are connected and perpendicular to each other; the self-locking guide rod 40332 passes through the first through channel 40337 and extends out of the first through channel 40337; the self-locking guide rod 40332 is slidingly arranged in the first through channel 40337; the self-locking limiting plate 40333 is slidingly arranged in the second through channel 40338; the elastic member 40335 is sleeved on the self-locking guide rod 40332 and connected with the inner wall of the first through channel 40337; the self-locking guide rod 40332 is provided with a protrusion 40339; the self-locking mounting plate 40331 is provided with a first sliding groove 403311; the self-locking limiting plate 40333 is provided with a second sliding groove 403331; the protrusion 40339 is located in the first sliding groove 403311 and the second sliding groove 403331; the first sliding groove 403311 and the second sliding groove 403331 are at a predetermined angle. When the self-locking guide rod 40332 is subjected to an external force, the protrusion 40339 drives the self-locking limiting plate 40333 to move under the guidance of the first sliding groove 403311 and the second sliding groove 403331, thereby realizing the automatic locking and unlocking functions of the self-locking device 4033 and improving the safety during the transfer of the container 5.

[0128] Preferably, the first sliding groove 403311 is horizontally arranged, and the second sliding groove 403331 is arranged obliquely relative to the first sliding groove 403311. Through the structure arrangement that the first sliding groove 403311 is horizontally arranged and the second sliding groove 403331 is arranged obliquely, the horizontal pushing force can be converted into the vertical movement of the self-locking limiting plate 40333, and the compactness and operation reliability of the structure are enhanced.

[0129] In addition, the self-locking limiting block 40334 is further included in the embodiment. Specifically, the two sides of the self-locking limiting block 40334 are connected with the self-locking limiting plate 40333, and the self-locking limiting block 40334 moves up and down in the second through channel 40338 under the driving of the self-locking limiting plate 40333. The arrangement of the self-locking limiting block 40334 enhances the limiting effect of the self-locking device 4033 and improves the accuracy and stability of the limiting.

[0130] In the embodiment, the width of the self-locking limiting block 40334 and the self-locking limiting plate 40333 is less than or equal to the width of the second through channel 40338. Such a size matching relationship enables the self-locking limiting block 40334 and the self-locking limiting plate 40333 to move smoothly in the second through channel 40338, and improves the response speed and working reliability of the self-locking device 4033.

[0131] Preferably, the height of the self-locking limiting plate 40333 is greater than the depth of the second through channel 40338. Through such a structure arrangement, the self-locking limiting plate 40333 can partially extend out of the second through channel 40338, and the limiting effect on the container 5 is enhanced, and the reliability of the limiting is improved.

[0132] In the embodiment, the self-locking guiding rod 40332 is connected with the buffer block 40336 at one end. The arrangement of the buffer block 40336 can effectively alleviate the impact force in the docking process, reduce the damage risk of the self-locking mechanism and the container 5, and prolong the service life of the equipment.

[0133] In an embodiment, the outer diameter of the buffer block 40336 is greater than the inner diameter of the first through channel 40337. Through such a size matching relationship, the buffer block 40336 can prevent the self-locking guiding rod 40332 from completely exiting the first through channel 40337 as a limiting structure, and the structural stability and safety of the device are improved.

[0134] Preferably, the first through channel 40337 and the second through channel 40338 jointly form a cross channel. The design of the cross channel improves the compactness and space utilization of the structure, and enables the self-locking guiding rod 40332 and the self-locking limiting plate 40333 to have sufficient movement space, and the working efficiency of the self-locking device 4033 is enhanced.

[0135] The skilled in the art can know that the size and material of the self-locking device 4033 can be set according to actual needs, and the self-locking device 4033 also includes other embodiments in addition to the embodiment. For example, the angle and shape of the first sliding groove 403311 and the second sliding groove 403331 can be adjusted according to specific limiting needs and space limitations; the elastic member 40335 can select springs or other elastic elements of different materials and elastic coefficients; the buffer block 40336 can adopt different materials such as rubber and silica gel to meet different buffering needs.

[0136] In the present embodiment, when the AGV is docked with the shelf, the transfer device driving platform device 4 moves to a proper height and contacts the shelf. At this time, the end of the self-locking guide rod 40332 (usually the end connected with the buffer block 40336) is subjected to the pushing force of the shelf, and the self-locking guide rod 40332 moves inward along the first through channel 40337. Since the protrusion 40339 on the self-locking guide rod 40332 is located in the first sliding groove 403311 and the second sliding groove 403331 at the same time, and the first sliding groove 403311 is horizontally arranged while the second sliding groove 403331 is obliquely arranged. When the self-locking guide rod 40332 moves horizontally, the protrusion 40339 generates a vertical downward component force under the constraint of the two sliding grooves, which drives the self-locking limiting plate 40333 to move downward along the second through channel 40338. The downward movement of the self-locking limiting plate 40333 drives the self-locking limiting block 40334 to descend together, thereby releasing the limiting constraint on the box 5 on the platform device 4, so that the box 5 can be smoothly transferred from the platform to the shelf, or from the shelf to the platform.

[0137] When the external force pushing the self-locking guide rod 40332 disappears, the elastic member 40335 (usually a spring) sleeved on the self-locking guide rod 40332 begins to release the elastic energy, and pushes the self-locking guide rod 40332 to reset outward. With the resetting movement of the self-locking guide rod 40332, the protrusion 40339 drives the self-locking limiting plate 40333 to move upward under the joint action of the first sliding groove 403311 and the second sliding groove 403331. The upward movement of the self-locking limiting plate 40333 simultaneously drives the self-locking limiting block 40334 to rise to the limiting position.

[0138] In this embodiment, first, the movable docking platform 403 moves precisely on the platform frame 401 via slide rails 4032, guided in real time by a multi-sensor system to achieve initial docking with external equipment. Secondly, the telescopic clamping mechanism 404, utilizing the rack-and-pinion transmission principle, extends toward the cargo box 5 under the control of the drive motor 4047, and cooperates with the fixed clamping mechanism 402 to form a coordinated clamping system. Then, the motion conversion mechanism converts horizontal thrust into vertical clamping force via the cam follower 4024, and the electric push rod 4025 drives the clamping plate 4023 to reliably clamp the cargo box 5. Finally, the self-locking device 4033 automatically activates the limit function in an emergency to prevent the cargo box 5 from sliding off the platform. The entire device achieves a complete functional chain of high-precision positioning, reliable clamping, and safe transportation. The transfer equipment adjusts the platform height via a lifting mechanism, enabling the platform device 4 to precisely dock with docking positions at different heights, significantly improving the flexibility and adaptability of the device.

[0139] In summary, the bidirectional pick-and-place functionality described in this embodiment refers to the ability of the platform device 4 to remove and place cargo boxes 5 from shelves in two opposing directions, without requiring the transfer equipment to turn around. This is achieved through the sliding capability of the movable docking platform 403, the coordinated action of the fixed clamping mechanism 402 and the telescopic clamping mechanism 404, and the precise guidance of multiple sensors. Specifically, the platform device 4 can pick up cargo in one direction and place it in the opposite direction, or place it in one direction and pick it up in the opposite direction. This allows the transfer equipment to maintain efficient operation throughout the round-trip transport process without requiring additional steering operations, thereby significantly improving cargo transfer efficiency.

[0140] In addition, this embodiment also proposes a transfer method, using the transfer equipment as described above, which specifically includes the following steps:

[0141] S1, controlling the chassis device 1 to move to the target position;

[0142] S2, monitoring the transport status through the electrical device 2;

[0143] S3, based on the transport state, driving the lifting device 3 to move the platform device 4 up and down to adjust it to the target height; and

[0144] S4, controlling the platform device 4 to realize bidirectional taking and placing of the cargo box 5.

[0145] In this embodiment, the control of the platform device 4 to achieve two-way picking and placing of the cargo box 5 specifically includes: moving the movable docking platform 403 toward the target shelf for docking; clamping and transferring the cargo box 5 through the coordinated work of the fixed clamping mechanism 402 and the telescopic clamping mechanism 404; when the cargo box 5 is fixed on the platform device 4, starting the self-locking device 4033 to prevent the cargo box 5 from slipping; after the cargo box 5 is transferred, resetting the movable docking platform 403.

[0146] In this embodiment, first, after the transfer equipment receives the task instruction, the chassis device 1 controls the driving wheel 102 to drive the entire equipment to the designated target position. During the driving process, the navigation device 202 and the obstacle avoidance device 205 jointly ensure the accuracy and safety of the driving path. Secondly, after reaching the target position, the electrical device 2 monitors the surrounding environment and the equipment state through multiple sensors to obtain the transfer state data. Then, based on the transfer state data, the control lifting device 3 adjusts the height of the platform device 4 to match the height of the target shelf. Next, the movable docking platform 403 of the platform device 4 moves to the target shelf for docking, and the fixed clamping mechanism 402 and the telescopic clamping mechanism 404 work together to clamp and transfer the box 5. When the box 5 is successfully transferred to the platform device 4, the self-locking device 4033 is automatically started to prevent the box 5 from slipping during the transfer process. Finally, after the box 5 is transferred, the movable docking platform 403 is reset, and the equipment is ready for the next transfer task.

[0147] In summary, the transfer equipment and transfer method proposed by the present application have the following advantages:

[0148] By adopting the combination structure of the chassis device, the electrical device, the lifting device and the platform device, the bidirectional taking and placing function of the box can be realized, and the docking and transmission operation can be completed without reversing the equipment, greatly improving the transfer efficiency. The chassis device can provide stable support and damping function to ensure the safety of the box during the transfer process; the lifting device can accurately adjust the platform height to adapt to the docking requirements of shelves of different heights; the bidirectional taking and placing function of the platform device enables the equipment to flexibly cope with complex working conditions, thereby improving the space utilization and operation efficiency.

[0149] In addition, by setting the movable docking platform with sliding rails, the clamping device with the fixed clamping mechanism and the telescopic clamping mechanism working together, and the anti-slip mechanism with self-locking function, the device can solve the stability and safety problems of the box during the docking and transmission process. In particular, the self-locking device is provided with a combination structure of a self-locking mounting plate, a self-locking guide rod, a self-locking limiting plate and an elastic member, which can effectively prevent the box from slipping during the transfer process, and improve the reliability and safety of the transfer.

[0150] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A transfer device, characterized in that: include: Chassis device (1), electrical device (2), lifting device (3) and platform device (4); The electrical device (2) and the lifting device (3) are both installed on the chassis device (1) and connected to the chassis device (1); the chassis device (1) is used to provide support, drive movement, path navigation and shock absorption; the electrical device (2) and the lifting device (3) are connected; the platform device (4) is installed on the lifting device (3) and is used to carry the cargo box (5); the platform device (4) has a two-way pick-up and place function, and is used to enable the cargo box (5) to be docked and transferred between the platform device (4) and the shelf.

2. The transfer equipment according to claim 1, characterized in that The chassis device (1) comprises: a chassis frame (101), a driving device, a navigation device (202) and an obstacle avoidance device (205); The driving device, the navigation device (202) and the obstacle avoidance device (205) are all installed on the chassis frame (101); the driving device is connected to the navigation device (202) and the obstacle avoidance device (205); the navigation device (202) and the obstacle avoidance device (205) are connected to jointly control the travel path of the transfer equipment.

3. The transfer equipment according to claim 2, characterized in that The driving device comprises: a plurality of driving wheels (102), a plurality of driven wheels (103) and a driving suspension; The plurality of driving wheels (102) are respectively arranged on both sides of the chassis frame (101) and are located in the middle of the chassis frame (101); the plurality of driven wheels (103) are respectively arranged on both sides of the chassis frame (101) and are located on both sides of the driving wheel (102) on the same side; and the driving suspension is connected to the driving wheel (102) to reduce vibration transmission caused by uneven ground.

4. The transfer equipment according to claim 2, characterized in that The lifting device (3) comprises: a lifting frame (301), a lifting guide assembly (302) and a lifting drive member (303); The lifting frame (301) is mounted on the chassis frame (101); the lifting drive member (303) is arranged on the lifting frame (301); the platform device (4) is slidably connected to the lifting drive member (303) via the lifting guide assembly (302); and the platform device (4) is located between opposite inner side walls of the lifting frame (301).

5. The transfer equipment according to claim 4, characterized in that: The lifting guide assembly (302) includes a slider; the lifting drive member (303) includes: a lifting motor (3031), a plurality of lifting guide rails (3032) and a synchronous belt; The lifting motor (3031) is mounted on the chassis frame (101); the lifting guide rail (3032) is vertically arranged on the inner side of the lifting frame (301); the side wall of the platform device (4) is slidably connected to the lifting guide rail (3032) through the slider; the lifting motor (3031) operates simultaneously through the synchronous belt to link multiple lifting guide rails (3032) to drive the platform device (4) to move up and down along the vertical direction of the lifting frame (301).

6. The transfer equipment according to claim 1, wherein: The platform device (4) comprises: a platform frame (401), a movable docking platform (403), a clamping device and a self-locking device (4033); The clamping devices are arranged on both sides of the movable docking platform (403) to clamp the cargo box; the self-locking devices (4033) are arranged on both sides of the movable docking platform (403) and close to the ends of the movable docking platform (403) to prevent the cargo box from sliding off the movable docking platform (403); The movable docking platform (403) comprises: a platform plate (4031), a slide rail (4032) and a working sensor; both sides of the platform plate (4031) are connected to the slide rails (4032), and the platform plate (4031) is slidably mounted on the platform frame (401) via the slide rails (4032); the working sensor is located on the platform plate (4031) and is connected to the slide rails (4032) and the clamping device.

7. The transfer equipment according to claim 6, characterized in that The clamping device comprises: a fixed clamping mechanism (402) and a telescopic clamping mechanism (404); the fixed clamping mechanism (402) and the telescopic clamping mechanism (404) are arranged relative to each other and are used to coordinately clamp a cargo box; the fixed clamping mechanism (402) is used to clamp one side of the cargo box; the telescopic clamping mechanism (404) is used to clamp the other side of the cargo box and is capable of telescopic movement relative to the fixed clamping mechanism (402); the telescopic clamping mechanism (404) comprises a connected telescopic assembly and a clamping portion (4045); the telescopic assembly is used to drive the clamping portion (4045) to telescopically move in a horizontal direction.

8. The transfer equipment according to claim 6, characterized in that The self-locking device (4033) comprises: a self-locking mounting plate (40331), a self-locking guide rod (40332), a self-locking limit plate (40333) and an elastic member (40335); a first through-channel (40337) and a second through-channel (40338) which are connected and perpendicular to each other are provided in the self-locking mounting plate (40331); the self-locking guide rod (40332) passes through the first through-channel (40337) and extends outside the first through-channel (40337); the self-locking guide rod (40332) is slidably arranged with the first through-channel (40337); the self-locking limit plate (40333) is slidably arranged in the second through-channel ( 40338); the elastic member (40335) is sleeved on the self-locking guide rod (40332) and connected to the inner wall of the first through channel (40337); the self-locking guide rod (40332) is provided with a protrusion (40339); the self-locking mounting plate (40331) is provided with a first sliding groove (403311); the self-locking limiting plate (40333) is provided with a second sliding groove (403331); the protrusion (40339) is located in the first sliding groove (403311) and the second sliding groove (403331); the first sliding groove (403311) and the second sliding groove (403331) are at a predetermined angle.

9. A method for transporting, using the transporting device according to any one of claims 1 to 8, characterized in that: The details include: Controlling the chassis device (1) to move to a target position; Monitoring the transport status by means of an electrical device (2); Based on the transport state, the lifting device (3) is driven to move the platform device (4) up and down to adjust to a target height; The platform device (4) is controlled to realize bidirectional taking and placing of the cargo box (5).

10. The transport method according to claim 9, wherein: The control of the platform device (4) to realize the bidirectional taking and placing of the cargo box (5) specifically includes: moving the movable docking platform (403) toward the target shelf for docking; clamping and transferring the cargo box (5) through the coordinated work of the fixed clamping mechanism (402) and the telescopic clamping mechanism (404); when the cargo box (5) is fixed on the platform device (4), activating the self-locking device (4033) to prevent the cargo box (5) from slipping; and resetting the movable docking platform (403) after the cargo box (5) is transferred.

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