Shielding tank transfer system and transfer method for workshop with cross-clean grade

Abstract

The invention discloses a shielding tank transfer system and transfer method for a workshop crossing clean grades, and relates to the technical field of automation. The system comprises at least two automatic guide transport vehicles arranged in a first area and a second area which are connected through a delivery window; the automatic guide transport vehicle is provided with a conveying component and a pallet fork device; the pallet fork device is provided with a telescopic pallet fork with a bolt block; automatic doors are arranged on two sides of the delivery window, and a temporary storage device with a positioning mechanism is arranged in the delivery window; the tray is used for bearing the shielding tank and is provided with a first interface part matched with the positioning mechanism and a second interface part matched with the bolt block; the conveying component supports and conveys the tray; the pallet fork device grabs or releases the pallet through connection or separation of the plug pin block and the second connector part. And the positioning mechanism is matched with the first interface part to position the tray fed into the temporary storage device. According to the invention, full-automatic, high-precision and reliable transfer of the shielding tank among different clean areas is realized, manual carrying is replaced, and clean isolation among the areas is strictly maintained.

Description

Technical Field

[0001] This invention relates to the field of automated transfer technology for shielded tanks, and more particularly to a shielded tank transfer system and method for cross-cleanliness level workshops. Background Technology

[0002] In the field of radiopharmaceutical repackaging technology, after radiopharmaceutical solutions are repackaged, they must be placed in shielded containers to ensure safe storage and transport. In existing technologies, this process primarily relies on manual operation. Specifically, the shielded containers containing the radiopharmaceutical solution are manually moved from the repackaging area to a transfer window, and then transferred to an external shipping area. Furthermore, empty shielded containers are also manually moved from the outside to the repackaging area via the transfer window for later use. Throughout this process, personnel must repeatedly handle heavy objects and come into close contact with the shielded containers. This high-intensity manual handling method not only leads to low production efficiency but also exposes operators to continuous radiation exposure risks. Summary of the Invention

[0003] The technical problem to be solved by the embodiments of the present invention is: how to provide an effective solution for the safe and efficient automated transfer of shielded containers between areas of different cleanliness levels.

[0004] To address the aforementioned problems, in a first aspect, embodiments of the present invention propose a shielded tank transfer system across cleanroom classes, comprising: An automated guided vehicle includes a mobile chassis, a support platform mounted on the mobile chassis, and a lifting mechanism for driving the support platform to rise and fall. A conveying component is installed on the support platform; A fork assembly is installed on the support platform. The fork assembly includes a telescopic fork that can extend and retract horizontally, and the telescopic fork is provided with a pin block. The transfer window has automatic doors on both sides, and a temporary storage device is installed inside the transfer window. The temporary storage device is equipped with a positioning mechanism. A tray for holding at least one shielding container, the tray being provided with a first interface portion that cooperates with the positioning mechanism and a second interface portion that cooperates with the pin block; At least two of the automated guided vehicles are respectively located in a first area and a second area connected by the transfer window; the conveying component is used to support and convey the pallet; the fork device is used to grab or release the pallet by engaging or disengaging the pin block with the second interface; the positioning mechanism is used to position the pallet by cooperating with the first interface when the pallet is sent into the temporary storage device.

[0005] Optionally, the conveying component is a roller conveyor line.

[0006] Optionally, the positioning mechanism is a spring pin mechanism, which includes a pin shaft with a V-shaped notch; the first interface of the tray is a V-shaped bayonet that mates with the V-shaped notch of the pin shaft.

[0007] Optionally, the second interface portion of the tray is a slot for inserting the pin block.

[0008] Optionally, the first area is a repackaging area, and the second area is an outer area with a cleanliness level lower than that of the repackaging area.

[0009] Optionally, it also includes a temporary storage rack, which is provided with a docking track for docking with the conveying component and a backing plate for stopping the tray.

[0010] Secondly, an automatic shielded container transfer method based on the shielded container transfer system across cleanroom levels described in the first aspect includes: An automated guided vehicle located in the first area uses the forklift device to grab a pallet carrying a shielding can and loads the pallet onto the conveying component; The automated guided vehicle moves to one side of the transfer window corresponding to the first area, and adjusts the height through the lifting mechanism to dock the conveying component with the temporary storage device; then the automatic door on one side of the transfer window corresponding to the first area is opened. The automated guided vehicle pushes the pallet from the conveying component into the temporary storage device through the fork device until the first interface of the pallet engages with the positioning mechanism, thereby positioning the pallet in the temporary storage device; The automated guided vehicle separates the fork pin block from the second interface of the pallet and exits the transfer window; it also closes the automatic door on the side of the transfer window corresponding to the first area. Open the automatic door on the side of the second area corresponding to the transfer window; the automated guided vehicle located in the second area moves to the automatic door on the side of the second area corresponding to the transfer window, and adjusts its height through the lifting mechanism so that the telescopic forks of the fork device can extend into the bottom of the pallet; The automated guided vehicle located in the second area raises the carrying platform, causing the pin block of the fork assembly to insert into the second interface of the pallet; The automated guided vehicle located in the second area unlocks the pallet from the positioning mechanism and pulls it back onto the conveying component via the fork assembly; The automated guided vehicle located in the second area carries the pallet to the target workstation and transfers the pallet from the conveying component to the target workstation.

[0011] Optionally, the first interface portion of the tray cooperates with the positioning mechanism, including: The positioning mechanism has a pin shaft with a V-shaped notch that contacts the V-shaped bayonet of the tray and engages and locks under the action of spring force.

[0012] Optionally, before the pin block is inserted into the second interface of the pallet, the telescopic forks extend horizontally to the bottom of the pallet.

[0013] Optionally, the target workstation is a temporary storage rack; the automated guided vehicle adjusts the height of the conveying component through the lifting mechanism so that the conveying component is aligned with the docking track of the temporary storage rack, and then pushes the pallet onto the docking track through the fork device until the pallet contacts the back plate of the temporary storage rack.

[0014] Compared with the prior art, the technical effects achieved by the embodiments of the present invention include: The technical solution of this invention effectively solves the fundamental problem of relying on manual handling of heavy shielding containers between isolated areas by constructing an integrated automatic transfer system.

[0015] This solution first achieves complete automation of the material handling process. The system replaces manual labor for long-distance movement tasks with automated guided vehicles deployed on both sides, and uses integrated forklifts and conveying components to precisely grasp, carry, and transport pallets, thereby completely freeing operators from heavy manual labor and fundamentally eliminating the risk of close contact with radioactive sources during handling, significantly improving occupational health and safety levels.

[0016] Furthermore, the system ensures the accuracy and reliability of cross-regional handovers by designing dedicated pallets and transfer windows with positioning mechanisms. The pallet, as a standardized carrier, has a first interface and a second interface that specifically cooperate with the positioning mechanism of the transfer window and the forklift of the automated guided vehicle (AGV). Once the pallet is locked in place by the positioning mechanism within the transfer window, its spatial position is precisely fixed. This provides a stable and unique reference for the AGV's automatic grasping on the other side, effectively preventing docking failures or process interruptions due to positional deviations, thus ensuring the continuity and stability of the entire automated operation.

[0017] Furthermore, while achieving high-efficiency automation, this system architecture strictly maintains the necessary isolation between areas of different cleanliness levels. The entire transfer process is controlled by the programmed alternating opening and closing of the automatic doors on both sides of the transfer window, ensuring that a physical isolation barrier always exists to prevent cross-diffusion of air and pollutants, allowing automated material flow to proceed smoothly without compromising the integrity of the clean environment. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0021] Figure 1 This is a schematic diagram of a shielded tank transfer system for cross-cleanliness level workshops proposed in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of an automated guided transport vehicle for a shielded tank transfer system across cleanrooms of different clean levels, as proposed in an embodiment of the present invention. Figure 3 This is another structural schematic diagram of an automated guided transport vehicle for a shielded tank transfer system across cleanrooms according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the temporary storage device of a shielded tank transfer system for cleanrooms of different cleanliness levels, as proposed in an embodiment of the present invention.

[0022] Figure Labels Automated Guided Vehicle 1. Mobile chassis 2. Load-bearing platform 3. Conveying components 4. Forklift device 5. Pin block 6. Pass-through window 7. Pallet 8. First interface 9. Second interface 10. Temporary storage device 11. Spring pin mechanism 12. Pin shaft 13. Temporary storage rack 14. Shielding tank 15. Detailed Implementation

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Similar component reference numerals in the drawings represent similar components. Obviously, the embodiments described below are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0024] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0025] It should also be understood that the terminology used in this specification of embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of the invention. As used in this specification of embodiments of the invention and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0026] See Figures 1-4 This invention proposes a shielded tank transfer system across cleanroom classes, comprising: The automated guided vehicle 1 includes a mobile chassis 2, a support platform 3 mounted on the mobile chassis 2, and a lifting mechanism for driving the support platform 3 to rise and fall. Conveying component 4 is installed on the supporting platform 3; A fork assembly 5 is installed on the support platform 3. The fork assembly 5 includes a telescopic fork that can extend and retract horizontally, and the telescopic fork is provided with a pin block 6. The transfer window 7 has automatic doors on both sides. The transfer window 7 has a temporary storage device 11 inside, and the temporary storage device 11 has a positioning mechanism. The tray 8 is used to hold at least one shielding container 15. The tray 8 is provided with a first interface 9 that cooperates with the positioning mechanism and a second interface 10 that cooperates with the pin block 6. At least two of the automated guided vehicles 1 are respectively located in the first area and the second area connected by the transfer window 7; the conveying component 4 is used to support and convey the pallet 8; the fork device 5 is used to grab or release the pallet 8 by engaging or disengaging the pin block 6 with the second interface 10; the positioning mechanism is used to position the pallet 8 by cooperating with the first interface 9 when the pallet 8 is sent into the temporary storage device 11.

[0027] In a specific implementation, a shielded container transfer system across cleanroom classes is provided. This system includes an automated guided vehicle 1, a conveying component 4, a forklift device 5, a pass-through window 7, and a pallet 8.

[0028] The automated guided vehicle 1 is a programmable mobile platform. Its mobile chassis 2 is equipped with drive wheels, a steering mechanism, and navigation sensors (such as laser navigation or magnetic stripe navigation modules) to achieve autonomous path planning and movement within the workshop. A lifting mechanism is mounted on the mobile chassis 2 and can be at least one of a scissor lift, an electric push rod, or a hydraulic cylinder. Its function is to drive the support platform 3 to move vertically up and down relative to the mobile chassis 2. The support platform 3 is mounted above the lifting mechanism and is used to support other functional components.

[0029] Furthermore, the conveying component 4 is fixedly installed on the upper surface of the carrying platform 3. Specifically, the conveying component 4 can be a belt conveyor driven by a motor, or it can be a roller conveyor composed of multiple freely rotating rollers arranged in parallel. The present invention is not specifically limited to this, and its function is to provide a carrying surface for items that can roll in a specific direction.

[0030] Furthermore, the fork assembly 5 is also mounted on the support platform 3, typically adjacent to the conveying components 4. Specifically, two conveying components 4 are spaced apart, with the fork assembly 5 positioned between them, its height flush with that of the conveying components 4. Two conveying components 4 are used to stably support both sides of the pallet 8, with the fork assembly 5 positioned between them to grip and release the pallet. The core of the fork assembly 5 is the telescopic fork, which can extend and retract horizontally using a multi-stage slider guide mechanism or a sleeve-type telescopic arm. At appropriate locations on the telescopic fork, such as its upper surface, a pin block 6 is fixedly installed; this pin block 6 is typically columnar or block-shaped.

[0031] Furthermore, the pass-through window 7 is a sealed box installed on the partition wall, with an automatic door on each of its two side walls. The automatic doors can be opened and closed by sliding up and down or sliding left and right, and are driven by a motor. The interior space of the pass-through window 7 is equipped with a temporary storage device 11, which has a plane or track for supporting the tray 8. A positioning mechanism is installed on the temporary storage device 11.

[0032] Furthermore, the pallet 8 is a carrier for centrally supporting one or more shielded containers 15 (such as lead containers). Its main body is a rigid frame structure, and the frame is provided with receiving grooves that match the shape of the shielded containers 15. A first interface portion 9 and a second interface portion 10 are provided on the pallet 8. The first interface portion 9 is designed to physically engage with the positioning mechanism inside the transfer window 7, such as a groove or protrusion. The second interface portion 10 is designed to engage or disengage with the pin block 6 on the fork assembly 5, such as a hole or slot.

[0033] Furthermore, at least two identical automated guided vehicles 1 are deployed in two different physical areas, separated by a partition wall and connected by the same pass-through window 7. The first area may be, for example, a high-cleanliness pharmaceutical dispensing room, and the second area may be, for example, a cleaning room or shipping area with relatively low cleanliness requirements.

[0034] This invention effectively solves the problem of automated transfer of shielded containers 15 between isolated areas by constructing a collaborative system consisting of an automated guided vehicle 1, a dedicated pallet 8, and a transfer window 7 with an internal positioning mechanism. The system utilizes the automated guided vehicle 1 to replace manual labor for long-distance movement, and uses the forklift device 5 and conveying components 4 to replace manual labor for grasping, placing, and short-distance transfer, thereby completely freeing operators from heavy physical labor and eliminating the need for personnel to directly contact the heavy shielded containers 15 during handling. Furthermore, the system significantly improves the reliability and accuracy of the transfer process. By providing a dedicated first interface 9 for the pallet 8, which cooperates with the positioning mechanism within the transfer window 7, it ensures that the pallet 8 is precisely fixed in the same position each time it is placed into the transfer window 7. This creates stable and reliable conditions for subsequent automatic grasping by equipment on the other side, avoiding docking failures or equipment damage due to positional deviations. Furthermore, the system architecture has good adaptability. The automated guided vehicle 1, pass-through window 7, and pallet 8 are standardized modules that can be flexibly configured according to the layout and cleanliness requirements of different workshops. This allows the solution to be widely used in scenarios that require automated cross-regional transfer of heavy materials, and is not limited to the field of nuclear medicine.

[0035] In some preferred embodiments, the conveying component 4 is a roller conveyor line.

[0036] In specific implementation, the conveying component 4 is implemented as a roller conveyor line. This roller conveyor line consists of multiple cylindrical rollers arranged in parallel, which are rotatably mounted in brackets on the carrying platform 3 via bearings. The axial direction of the rollers is perpendicular to the pushing and pulling direction when the automated guided vehicle 1 transfers the pallet 8. The rollers can be unpowered free rollers, rotating by the friction generated when the pallet 8 is pushed and pulled; or they can be powered rollers driven by chains or belts. When the pallet 8 is placed on the roller conveyor line, the bottom surface of the pallet 8 contacts the rollers, allowing the pallet 8 to move with low resistance along the roller axis.

[0037] In some preferred embodiments, the positioning mechanism is a spring pin mechanism 12, which includes a pin shaft 13 with a V-shaped notch; the first interface portion 9 of the tray 8 is a V-shaped bayonet that mates with the V-shaped notch of the pin shaft 13.

[0038] In a specific implementation, the positioning mechanism is implemented as a spring pin mechanism 12. This spring pin mechanism 12 mainly includes a pin shaft 13, a return spring, and a mounting base. The pin shaft 13 is slidably mounted on the base of the temporary storage device 11, and its end facing the direction of movement of the tray 8 is machined with a V-shaped notch. The return spring applies a force to the pin shaft 13, causing it to spring towards the center of the movement path of the tray 8. Correspondingly, the first interface portion 9 of the tray 8 is implemented as a V-shaped bayonet. This V-shaped bayonet is a V-shaped groove machined at a specific position (such as the middle) of the tray 8, the shape of which complements the V-shaped notch at the front end of the pin shaft 13.

[0039] The spring-loaded pin mechanism 12, employing a pin shaft 13 with a V-shaped notch and a V-shaped bayonet, enables automatic, precise, and flexible positioning and locking of the tray 8 within the transfer window 7. When the tray 8 is pushed into the transfer window 7, even with some alignment error, the V-shaped bevel of the pin shaft 13 guides the tray 8 to fine-tune its position, allowing the V-shaped bayonet to slide smoothly in and ultimately fully engage with the V-shaped notch. This process has a self-centering function, reducing the stringent requirements for the accuracy of the pushed-in position. The retaining force provided by the spring ensures a stable and reliable engagement state, preventing the tray 8 from shifting within the transfer window 7 due to vibration or inertia.

[0040] In some preferred embodiments, the second interface portion 10 of the tray 8 is a slot for inserting the pin block 6.

[0041] In a specific implementation, the second interface portion 10 of the pallet 8 is specifically implemented as a slot for inserting the pin block 6. The slot is a through hole or blind hole that penetrates a specific area (e.g., near the center) on the bottom of the pallet 8, and its shape and size match the pin block 6 carried by the fork unit 5 on the automated guided vehicle 1.

[0042] In some preferred embodiments, the first area is a packaging area, and the second area is an outer area with a cleanliness level lower than that of the packaging area.

[0043] In practice, the first area is the repackaging area. This first area is typically the core area in radiopharmaceutical production, with extremely high requirements for air cleanliness, temperature, humidity, and microbial content, belonging to a high-cleanliness environment (such as ISO 5 or higher). The second area is the outer area with a lower cleanliness level than the repackaging area, such as a washing room, preparation room, or shipping buffer room. Although the second area also needs to be kept clean, its cleanliness level standard is lower than that of the repackaging area (such as ISO 7 or ISO 8). The pass-through window 7 acts as a physical barrier, installed on the partition wall separating these two areas with different cleanliness levels, allowing items to pass through while maintaining the pressure difference and cleanliness isolation between the two areas.

[0044] In some preferred embodiments, a temporary storage rack 14 is also included, which is provided with a docking track for docking with the conveying component 4 and a backing plate for stopping the tray 8.

[0045] In practice, the temporary storage rack 14 is a fixed shelf structure located in the first or second area for bulk storage of pallets 8 containing shielding containers 15 or empty pallets 8. The temporary storage rack 14 is equipped with one or more sets of docking rails. Each set of docking rails consists of two parallel guide bars or rails, the spacing of which matches the width of the pallet 8 or the bottom slide rail, used to guide and support the pallet 8. At the end of each set of docking rails (i.e., the end of the direction in which the pallet 8 is pushed in), a backing plate is vertically fixed. When the pallet 8 is pushed in along the docking rails, its end eventually contacts and abuts against this backing plate, thus stopping its movement.

[0046] This invention proposes an automatic shielded container transfer method based on the aforementioned shielded container transfer system across cleanroom levels, comprising: S1, an automated guided vehicle located in the first area, uses the forklift device to grab a pallet carrying a shielding can and loads the pallet onto the conveying component.

[0047] S2, the automated guided vehicle moves to one side of the transfer window corresponding to the first area, and adjusts the height through the lifting mechanism to dock the conveying component with the temporary storage device; the automatic door on one side of the transfer window corresponding to the first area is opened.

[0048] S3, the automated guided vehicle pushes the pallet from the conveying component into the temporary storage device through the fork device until the first interface of the pallet cooperates with the positioning mechanism, so that the pallet is positioned in the temporary storage device.

[0049] S4, the automated guided vehicle separates the fork pin block from the second interface of the pallet and exits the transfer window; and closes the automatic door on the side of the transfer window corresponding to the first area.

[0050] S5, open the automatic door on the side of the transfer window corresponding to the second area; the automated guided vehicle located in the second area moves to the automatic door on the side of the transfer window corresponding to the second area, and adjusts its height through the lifting mechanism so that the telescopic forks of the fork device can extend into the bottom of the pallet.

[0051] S6, the automated guided vehicle located in the second area raises the carrying platform so that the pin block of the fork assembly inserts into the second interface of the pallet.

[0052] S7, the automated guided vehicle located in the second area unlocks the pallet from the positioning mechanism and pulls it back onto the conveying component via the fork assembly.

[0053] S8, the automated guided vehicle located in the second area carries the pallet to the target workstation and transfers the pallet from the conveying component to the target workstation.

[0054] In practice, the automated guided vehicle (AGV) located in the first area moves to the position of the pallet carrying the shielding container. The AGV lowers its carrying platform to a low position by controlling its lifting mechanism, so that the pin block mounted on the telescopic forks of the fork assembly is lower than the second interface at the bottom of the pallet. Then, the telescopic forks extend horizontally, moving the pin block directly below the second interface of the pallet. Next, the lifting mechanism drives the carrying platform upward, causing the pin block to move vertically upward and insert into the second interface at the bottom of the pallet, forming a gripping connection. Then, the telescopic forks retract, pulling the pallet up and placing it on the conveying component of the AGV, completing the gripping process.

[0055] Further, the automated guided vehicle (AGV) moves the pallet to the side of the transfer window facing the first area and stops at the preset docking position. The AGV activates its lifting mechanism, adjusting the height of the carrying platform and conveying components so that the conveying surface of the conveying components is at the same level as the carrying surface of the temporary storage device inside the transfer window, completing the spatial docking. The automatic door of the transfer window on the first area side opens. Then, the AGV drives its forks to push the pallet, carried on the conveying components, horizontally into the temporary storage device inside the transfer window. During the pushing process, the first interface on the side of the pallet contacts the positioning mechanism on the temporary storage device. Specifically, the movable part of the positioning mechanism pops out under the action of a spring and engages with the first interface on the side of the pallet, thereby achieving precise positioning and locking of the pallet in the temporary storage device. Subsequently, the AGV controls its lifting mechanism to descend, and the carrying platform drives the forks and the pin block to descend together, causing the pin block to vertically retract from the second interface at the bottom of the pallet, thereby releasing the gripping connection. The telescopic forks retract, and the AGV moves away from the area in front of the transfer window. The automatic door on the first side of the pass-through window closes.

[0056] Further, the automatic door on the second area side of the transfer window opens. Another automated guided vehicle (AGV) located in the second area moves to this side of the transfer window and adjusts its carrying platform to a low position via its lifting mechanism, allowing its telescopic forks to extend horizontally under the bottom of the pallet already positioned in the temporary storage unit, with the latch block positioned directly below the second interface of the pallet. Next, the AGV raises its carrying platform via the lifting mechanism, causing the latch block to move vertically upwards and insert into the second interface at the bottom of the pallet. Once the latch block is fully inserted, the AGV drives its forks to retract. During retraction, the pulling force applied to the pallet by the forks overcomes the holding force of the positioning mechanism spring, forcing the moving part of the positioning mechanism to disengage from the first interface on the side of the pallet, thus unlocking it. The pallet is pulled out of the temporary storage unit and placed on the transport component of the AGV. The automatic door on the second area side of the transfer window closes.

[0057] Furthermore, the automated guided vehicle carries the pallet to the target workstation. After adjusting the height of the conveying component through the lifting mechanism and docking it with the target workstation, the forklift pushes the pallet off the conveying component, completing the transfer.

[0058] In some preferred embodiments, the first interface portion of the tray cooperates with the positioning mechanism, including: the pin shaft with a V-shaped notch of the positioning mechanism contacts the V-shaped bayonet of the tray and engages and locks under the action of spring force.

[0059] In practice, when the automated guided vehicle pushes the pallet into the temporary storage device of the transfer window, the pin shaft of the spring-loaded pin mechanism on the temporary storage device remains extended under the action of the spring. As the pallet moves, the inclined surface of its V-shaped latch first contacts the inclined surface of the V-shaped notch at the front end of the pin shaft. Under the action of the contact force, the V-shaped latch pushes the pin shaft slightly backward against the spring force, while guiding the pallet itself to make a slight lateral position adjustment. When the pallet reaches the preset center position, the pin shaft, pushed by the spring's restoring force, fully engages its V-shaped notch with the pallet's V-shaped latch, producing a slight clicking sound or a clear sense of resistance. At this point, the pallet is locked in the center position of the temporary storage device.

[0060] In some preferred embodiments, the telescopic forks extend horizontally to the bottom of the pallet before the pin block is inserted into the second interface of the pallet.

[0061] In practice, before the automated guided vehicle (AGV) in the second area lifts the carrying platform to insert the pin into the second interface of the pallet, a specific preparatory action is added: the AGV first controls the telescopic forks of its fork assembly to extend smoothly in the horizontal direction. The telescopic forks extend through the transfer window opening, moving horizontally until the pin at its end is completely below the bottom of the pallet in the temporary storage device, and the pin is offset in the height direction from the second interface (slot) at the bottom of the pallet, meaning the upper surface of the pin is lower than the bottom edge of the slot. Only after this horizontal extension is completed is the subsequent lifting and insertion operation performed.

[0062] In some preferred embodiments, the target workstation is a temporary storage rack; the automated guided vehicle adjusts the height of the conveying component through the lifting mechanism so that the conveying component is aligned with the docking track of the temporary storage rack, and then pushes the pallet onto the docking track through the forklift device until the pallet contacts the backing plate of the temporary storage rack.

[0063] In practice, the target workstation is specifically implemented as a temporary storage rack. When the automated guided vehicle (AGV) carrying the pallet moves to the front of the temporary storage rack, it first adjusts the height of its own carrying platform and conveying components through its lifting mechanism. The goal of the adjustment is to make the upper surface of the conveying components (i.e., the top of the rollers or the belt surface) flush with the upper surface of the docking track set on the temporary storage rack, forming a continuous conveying plane. After the height is aligned, the AGV then drives its fork device to move, pushing the pallet horizontally off its own conveying components. The pallet moves forward along the docking track until its front end (or side) contacts and abuts against the backing plate fixedly installed at the end of the track, at which point the movement stops, and the pallet is accurately stored in the predetermined position on the temporary storage rack.

[0064] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0065] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0066] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0067] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0068] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0069] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0070] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Since these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations.

[0071] The above description describes specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A shielded container transfer system for cleanrooms of different cleanliness levels, characterized in that, include: An automated guided vehicle includes a mobile chassis, a support platform mounted on the mobile chassis, and a lifting mechanism for driving the support platform to rise and fall. A conveying component is installed on the support platform; A fork assembly is installed on the support platform. The fork assembly includes a telescopic fork that can extend and retract horizontally, and the telescopic fork is provided with a pin block. The transfer window has automatic doors on both sides, and a temporary storage device is installed inside the transfer window. The temporary storage device is equipped with a positioning mechanism. A tray for holding at least one shielding container, the tray being provided with a first interface portion that cooperates with the positioning mechanism and a second interface portion that cooperates with the pin block; At least two of the automated guided vehicles are respectively located in a first area and a second area connected by the transfer window; the conveying component is used to support and convey the pallet; the fork device is used to grab or release the pallet by engaging or disengaging the pin block with the second interface; the positioning mechanism is used to position the pallet by cooperating with the first interface when the pallet is sent into the temporary storage device.

2. The shielded container transfer system across cleanroom levels according to claim 1, characterized in that, The conveying component is a roller conveyor line.

3. The shielded container transfer system across cleanroom levels according to claim 1, characterized in that, The positioning mechanism is a spring pin mechanism, which includes a pin shaft with a V-shaped notch; the first interface of the tray is a V-shaped bayonet that mates with the V-shaped notch of the pin shaft.

4. The shielded container transfer system across cleanroom levels according to claim 1, characterized in that, The second interface of the tray is a slot for inserting the pin block.

5. The shielded container transfer system across cleanroom levels according to claim 1, characterized in that, The first area is the repackaging area, and the second area is the outer area with a cleanliness level lower than that of the repackaging area.

6. The shielded container transfer system across cleanroom classes according to claim 1, characterized in that, It also includes a temporary storage rack, which is provided with a docking track for docking with the conveying component and a backing plate for stopping the pallet.

7. An automatic shielded container transfer method based on the shielded container transfer system across cleanroom levels as described in any one of claims 1-6, characterized in that, include: An automated guided vehicle located in the first area uses the forklift device to grab a pallet carrying a shielding can and loads the pallet onto the conveying component; The automated guided vehicle moves to one side of the transfer window corresponding to the first area, and adjusts the height through the lifting mechanism to dock the conveying component with the temporary storage device; then the automatic door on one side of the transfer window corresponding to the first area is opened. The automated guided vehicle pushes the pallet from the conveying component into the temporary storage device through the fork device until the first interface of the pallet engages with the positioning mechanism, thereby positioning the pallet in the temporary storage device; The automated guided vehicle separates the fork pin block from the second interface of the pallet and exits the transfer window; it also closes the automatic door on the side of the transfer window corresponding to the first area. Open the automatic door on the side of the second area corresponding to the transfer window; The automated guided vehicle located in the second area moves to the automatic door on the side of the transfer window corresponding to the second area, and adjusts its height through the lifting mechanism so that the telescopic forks of the fork device can extend under the bottom of the pallet; The automated guided vehicle located in the second area raises the carrying platform, causing the pin block of the fork assembly to insert into the second interface of the pallet; The automated guided vehicle located in the second area unlocks the pallet from the positioning mechanism and pulls it back onto the conveying component via the fork assembly; The automated guided vehicle located in the second area carries the pallet to the target workstation and transfers the pallet from the conveying component to the target workstation.

8. The automatic transmission method for shielded containers according to claim 7, characterized in that, The first interface portion of the tray cooperates with the positioning mechanism, including: The positioning mechanism has a pin shaft with a V-shaped notch that contacts the V-shaped bayonet of the tray and engages and locks under the action of spring force.

9. The automatic transmission method for shielded containers according to claim 7, characterized in that, Before the pin block is inserted into the second interface of the pallet, the telescopic forks extend horizontally to the bottom of the pallet.

10. The automatic transmission method for shielded containers according to claim 7, characterized in that, The target workstation is a temporary storage rack; the automated guided vehicle adjusts the height of the conveying component through the lifting mechanism so that the conveying component is aligned with the docking track of the temporary storage rack, and then pushes the pallet onto the docking track through the fork device until the pallet contacts the back plate of the temporary storage rack.

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