Sample box transfer mechanism and transfer system

Abstract

The application provides a sample box transfer mechanism and a sample box transfer system, which are used for automatically transferring a sample box between an automatic transport vehicle and a sample cabinet in two directions. The automatic transport vehicle comprises a moving chassis and a transport cabinet. The sample box transfer mechanism comprises a first conveying line, a second conveying line and a positioning assembly. The first conveying line and the second conveying line are arranged in the transport cabinet and the sample cabinet respectively and are suitable for carrying and conveying the sample box in a first direction. The positioning assembly is arranged in the transport cabinet or the sample cabinet and is configured to drive the first conveying line or the second conveying line on the corresponding side to move in a second direction which is orthogonal to the first direction in a horizontal plane when the automatic transport vehicle and the sample cabinet are pre-connected in the first direction, so as to compensate for a lateral positioning deviation of the automatic transport vehicle and align the center lines of the first conveying line and the second conveying line.

Description

Technical Field

[0001] This application relates to the field of sample transportation and storage devices, and in particular to a sample box transfer mechanism and transfer system. Background Technology

[0002] In the field of sample transportation and automated storage, the automatic handover of sample boxes between automated guided vehicles (AGVs) and fixed intelligent sample cabinets is a core component. However, when the AGV reaches the docking position, factors such as navigation accuracy and ground flatness inevitably result in a lateral positioning deviation in its final stopping position. If this deviation is not effectively compensated, it will directly lead to a misalignment between the conveying mechanism on the AGV and the receiving mechanism inside the sample cabinet, causing the sample boxes to face the risks of jamming, collision, or even falling during transfer between the two. While existing technologies employ high-precision navigation or multi-degree-of-freedom robotic arms for grasping and alignment, the former is costly and has stringent environmental requirements, while the latter is complex, inefficient, and inconvenient to maintain.

[0003] Therefore, there is an urgent need for a transfer mechanism that is simple in structure, reliable, and can automatically compensate for parking deviations, so as to achieve seamless and efficient transfer of sample boxes between automated transport vehicles and sample cabinets. Summary of the Invention

[0004] In view of this, embodiments of this application provide a sample box transfer mechanism and transfer system to realize the automatic transfer of sample boxes between an automated transport vehicle and a sample cabinet.

[0005] One embodiment of this application provides a sample box transfer mechanism for bidirectional automatic transfer of sample boxes between an automated transport vehicle and a sample cabinet. The automated transport vehicle includes a mobile chassis and a transport cabinet, and includes a first conveyor line, a second conveyor line, and an alignment component. The first and second conveyor lines are respectively disposed within the transport cabinet and the sample cabinet, and are suitable for carrying and transferring sample boxes along a first direction. The alignment component is disposed within the transport cabinet or the sample cabinet and is configured to drive the first or second conveyor line to move along a second direction orthogonal to the first direction in the horizontal plane when the automated transport vehicle and the sample cabinet are pre-aligned along the first direction, so as to compensate for the lateral positioning deviation of the automated transport vehicle and align the center lines of the first and second conveyor lines.

[0006] According to an embodiment of this application, the alignment component includes a driving mechanism and a detection mechanism. The driving mechanism is configured to drive the first conveyor line or the second conveyor line on the corresponding side to move along the second direction. The detection mechanism moves synchronously with the driven first conveyor line or the second conveyor line and is configured to trigger the driving mechanism to stop when the first conveyor line and the second conveyor line complete centerline alignment.

[0007] According to an embodiment of this application, the driving mechanism includes a horizontal slide rail, a slide table, and a driving unit; the horizontal slide rail is disposed inside the transport cabinet or the sample cabinet and extends along the second direction; the slide table is slidably disposed on the horizontal slide rail and is suitable for mounting the first conveyor line or the second conveyor line on the corresponding side; the driving unit is configured to drive the slide table to reciprocate along the horizontal slide rail.

[0008] According to an embodiment of this application, the detection mechanism includes a detection unit and a detection plate; the detection unit is disposed at the end of the docking side of the slide table; the detection plate is disposed at a corresponding position on the docking side of the transport cabinet or the sample cabinet opposite to the detection unit; the detection unit is adapted to emit a detection signal during the movement of the slide table, and trigger the drive unit to stop when it receives a detection signal reflected by the detection plate.

[0009] According to an embodiment of this application, the first conveyor line and the second conveyor line include roller lines, each including a roller frame, a plurality of rollers, and a pair of guide assemblies; the plurality of rollers are rotatably disposed at equal intervals along the first direction on the roller frame; the pair of guide assemblies are symmetrically disposed on both sides of the roller frame along the second direction.

[0010] According to an embodiment of this application, a guide chassis is further included, disposed at the bottom of the sample box. The docking end of the guide chassis is provided with a horizontal guide portion and a vertical guide portion. The horizontal guide portion is adapted to cooperate with the guide assembly to guide the sample box in the horizontal direction. The vertical guide portion is adapted to cooperate with the cylindrical surface of the roller to compensate for the height difference during docking in the vertical direction.

[0011] According to an embodiment of this application, two blocking mechanisms are further included, respectively disposed on the docking side of the transport cabinet and the sample cabinet, including a vertical slide rail, a blocking plate, and a blocking cylinder; the blocking plate is slidably disposed on the vertical slide rail in the vertical direction, having a blocking position below the top of the sample box to abut against the side wall of the sample box, and a release position above the top of the sample box to allow the sample box to pass; the blocking cylinder is adapted to drive the blocking plate to move up and down along the vertical slide rail.

[0012] According to an embodiment of this application, it further includes multiple pairs of positioning mechanisms, which are respectively spaced apart at the ends of the conveyor lines in the transport cabinet and the sample cabinet; the two positioning mechanisms are configured such that: when only one positioning mechanism is triggered, the conveyor line continues to run, and the sample box automatically corrects its angle by using sliding friction; when both positioning mechanisms are triggered, it is determined that the position of the sample box is accurate, and the conveyor line stops running.

[0013] According to an embodiment of this application, the transport cabinet is provided with at least two first conveyor lines arranged side by side along the second direction; the sample cabinet is correspondingly provided with at least two second conveyor lines arranged side by side along the second direction; the alignment component is configured to selectively align one of the first conveyor lines with one of the second conveyor lines when the automated transport vehicle docks with the sample cabinet along the first direction.

[0014] Another embodiment of this application provides a transfer system, including an automated transport vehicle, a sample cabinet, and a transfer mechanism for the sample boxes. The automated transport vehicle includes a mobile chassis and a transport cabinet disposed on the mobile chassis. The transfer mechanism is used to realize the automatic transfer of sample boxes between the transport cabinet of the automated transport vehicle and the sample cabinet.

[0015] According to embodiments of this application, by using an alignment component installed on the transport cabinet or sample cabinet of the automated transport vehicle, after the pre-dock of the automated transport vehicle and the sample cabinet is completed, the corresponding conveyor line is actively driven to move laterally in the horizontal plane to compensate for the parking deviation of the automated transport vehicle. This solves the problem of conveyor line misalignment caused by inaccurate parking positioning of the automated transport vehicle, thereby achieving automatic and precise alignment of the conveyor lines between the automated transport vehicle and the sample cabinet. This improves the reliability, stability, and success rate of sample box transfer between the two, avoids the risk of jamming and collision, and simplifies the structure of the entire transfer system. Attached Figure Description

[0016] The above and other objects, features and advantages of this application will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0017] Figure 1 A schematic diagram of the transfer system of this application is shown;

[0018] Figure 2 A perspective view of the automated transport vehicle of this application is shown;

[0019] Figure 3 A perspective view of the sample cabinet of this application is shown;

[0020] Figure 4 A schematic diagram of the drive mechanism of this application is shown;

[0021] Figure 5 A schematic diagram of the roller conveyor of this application is shown;

[0022] Figure 6 A schematic diagram of the guide chassis of this application is shown;

[0023] Figure 7 A perspective view of the blocking mechanism of this application is shown;

[0024] Figure 8 A perspective view of the positioning mechanism of this application is shown;

[0025] Figure 9 This paper shows a schematic diagram of the structure of the sample box in an accurate position according to the present application.

[0026] Figure 10 A schematic diagram of the transfer process of the transfer system of this application is shown;

[0027] Figure 11 A schematic diagram of another state during the transfer process of the transfer system of this application is shown.

[0028] In the accompanying drawings, the meanings of the reference numerals are as follows:

[0029] 1. Automated guided vehicles;

[0030] 11. Mobile chassis;

[0031] 12. Shipping container;

[0032] 121. The First Gate;

[0033] 122. First frame;

[0034] 123. Drive wheel;

[0035] 124. Transmission belt;

[0036] 125. Driver block;

[0037] 2. Sample cabinet;

[0038] 21. The second gate;

[0039] 22. Second frame;

[0040] 3. Sample box;

[0041] 31. Limiting part;

[0042] 32. Empty sample box;

[0043] 33. Full sample box;

[0044] 4. Drive mechanism;

[0045] 41. Horizontal slide rail;

[0046] 42. Slide;

[0047] 43. Drive unit;

[0048] 5. Testing institutions;

[0049] 51. Detection unit;

[0050] 52. Detection plate;

[0051] 6. Roller line;

[0052] 61. Roller frame;

[0053] 62. Roller;

[0054] 63. Guiding components;

[0055] 631. Fluency;

[0056] 632. End guide wheel;

[0057] 7. Guided chassis;

[0058] 71. Horizontal guide section;

[0059] 72. Vertical guide section;

[0060] 8. Blocking mechanism;

[0061] 81. Vertical slide rail;

[0062] 82. Baffle plate;

[0063] 83. Blocking cylinder;

[0064] 9. Positioning mechanism;

[0065] 91. Positioning unit;

[0066] 92. Buffer unit. Detailed Implementation

[0067] The embodiments of this application will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of this application. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of this application for ease of explanation. However, it will be apparent that one or more embodiments may be implemented without these specific details. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0068] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or mechanisms, but do not exclude the presence or addition of one or more other features, steps, operations, or mechanisms.

[0069] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0070] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0071] Those skilled in the art will understand that the features described in the various embodiments of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application.

[0072] Figure 1 A schematic diagram of the transfer system of this application is shown; Figure 2 A perspective view of the automated transport vehicle of this application is shown; Figure 3 A perspective view of the sample cabinet of this application is shown.

[0073] Embodiments of this application provide a sample box transfer mechanism for automatically transferring sample boxes 3 bidirectionally between the storage compartments of an automated transport vehicle 1 and a sample cabinet 2. The automated transport vehicle 1 includes a mobile chassis 11 and a transport cabinet 12, such as... Figures 1 to 3 As shown, it includes a first conveyor line, a second conveyor line, and an alignment component; the first and second conveyor lines are respectively disposed in the transport cabinet 12 and the sample cabinet 2, and are suitable for carrying and transporting the sample box 3 along the first direction; the alignment component is disposed in the transport cabinet 12 or the sample cabinet 2, and is configured to drive the first or second conveyor line on the corresponding side to move along the second direction orthogonal to the first direction in the horizontal plane when the automatic transport vehicle 1 and the sample cabinet 2 are pre-aligned along the first direction, so as to compensate for the lateral positioning deviation of the automatic transport vehicle 1 and align the center lines of the first and second conveyor lines.

[0074] In some embodiments, the automated transport vehicle 1 is an automated guided vehicle (AGV), and the mobile chassis 11 is equipped with drive wheels and a navigation system to drive the transport container 12 to move autonomously within the workshop.

[0075] In some embodiments, the first conveyor line and the second conveyor line are parallel continuous conveying structures, and the conveying direction is consistent with the docking direction of the automatic transport vehicle 1; the alignment component is a slide structure that can move laterally, and its moving direction is perpendicular to the conveying direction, which can drive the entire conveyor line to move laterally.

[0076] Based on the above setup, the alignment component actively compensates for the lateral parking deviation of the automated transport vehicle, eliminating the need for a high-precision navigation system or a complex multi-axis robotic arm. This effectively simplifies the overall structure of the transfer mechanism, reduces manufacturing costs and control difficulty, and improves the reliability and success rate of sample box 3 transfer.

[0077] In some embodiments, both the transport cabinet 12 and the sample cabinet 2 are provided with alignment components. The alignment components on both sides are configured to work together to drive the first conveyor line and the second conveyor line to move toward each other along the second direction, jointly compensating for the lateral positioning deviation of the automatic transport vehicle 1, and expanding the compensation range of the lateral deviation.

[0078] Figure 4 A schematic diagram of the drive mechanism of this application is shown.

[0079] In one illustrative embodiment, such as Figures 1 to 4 As shown, the alignment component includes a drive mechanism 4 and a detection mechanism 5; the drive mechanism 4 is configured to drive the first or second conveyor line on the corresponding side to move along the second direction; the detection mechanism 5 moves synchronously with the driven first or second conveyor line and is configured to trigger the drive mechanism 4 to stop when the first or second conveyor line completes centerline alignment.

[0080] In some embodiments, the drive mechanism 4 is a linear drive device that can output stable linear motion and drive the conveyor line to reciprocate along the second direction.

[0081] In some embodiments, the detection mechanism 5 is a non-contact detection device that can detect the position information of the conveyor line in real time. When the center lines of the first and second conveyor lines are detected to coincide, a stop signal is sent to the drive mechanism 4.

[0082] According to the above configuration, the automatic and precise alignment of the first and second conveyor lines can be achieved through the cooperation of the drive mechanism 4 and the detection mechanism 5, thereby improving the automation level and alignment accuracy of the transfer process.

[0083] In one illustrative embodiment, such as Figure 4 As shown, the drive mechanism 4 includes a horizontal slide rail 41, a slide table 42, and a drive unit 43; the horizontal slide rail 41 is disposed inside the transport cabinet 12 or the sample cabinet 2 and extends along the second direction; the slide table 42 is slidably disposed on the horizontal slide rail 41 and is suitable for installing the first conveyor line or the second conveyor line on the corresponding side; the drive unit 43 is configured to drive the slide table 42 to reciprocate along the horizontal slide rail 41.

[0084] In some embodiments, such as Figure 4 As shown, the horizontal slide rail 41 is configured as a plurality of parallel linear guide rails, which are installed on the bottom frame of the transport cabinet 12 or the sample cabinet 2.

[0085] In some embodiments, the slide table 42 is configured as a plate, with the upper surface for mounting a first conveyor line or a second conveyor line, and the lower surface provided with a slider adapted to the horizontal slide rail 41, which can slide smoothly along the horizontal slide rail 41.

[0086] In some embodiments, the drive unit 43 is fixedly installed at one end of the horizontal slide rail 41, and its output end is connected to the slide table 42 for driving the slide table 42 to move.

[0087] According to the above configuration, the cooperation between the horizontal slide rail 41 and the slide table 42 can ensure the stability and straightness of the conveyor line during movement, avoid tilting or jamming, and improve alignment accuracy and operational reliability.

[0088] In some embodiments, the horizontal slide rail 41 is a heavy-duty linear guide rail, which can withstand a large load and is suitable for scenarios involving the transfer of heavy sample boxes 3.

[0089] In some embodiments, the drive unit 43 is a stepper motor, which, in conjunction with a transmission belt, drives the slide 42 to move.

[0090] In some embodiments, the drive unit 43 uses a servo motor, which, in conjunction with a ball screw drive, drives the slide 42 to move.

[0091] In one illustrative embodiment, such as Figures 2 to 4 As shown, the detection mechanism 5 includes a detection unit 51 and a detection plate 52; the detection unit 51 is disposed at the end of the docking side of the slide table 42; the detection plate 52 is disposed opposite to the detection unit 51 at the corresponding position on the docking side of the transport cabinet 12 or the sample cabinet 2; the detection unit 51 is adapted to emit a detection signal during the movement of the slide table 42, and trigger the drive unit 43 to stop when it receives the detection signal reflected by the detection plate 52.

[0092] Specifically, the detection unit 51 is a reflective photoelectric sensor, which is fixedly installed on the end of the slide table 42 facing the sample cabinet 2 or the transport cabinet 12; the detection plate 52 is a metal plate with high reflectivity, which is fixedly installed on the docking side opposite to the detection unit 51, and its center position coincides with the center line of the corresponding conveyor line.

[0093] According to the above configuration, the detection unit 51 and the detection plate 52 work together to accurately detect whether the center lines of the two conveyor lines are aligned. The response speed is fast, the reliability is high, and it is not affected by ambient light.

[0094] In some embodiments, the detection unit 51 employs a laser reflection sensor, which enables a longer detection distance and higher detection accuracy.

[0095] In some embodiments, the detection plate 52 adopts an adjustable mounting structure, which can adjust its position according to actual needs to ensure alignment accuracy.

[0096] Figure 5 A schematic diagram of the roller line of this application is shown.

[0097] In one illustrative embodiment, such as Figure 4 and Figure 5 As shown, the first conveyor line and the second conveyor line include a roller line 6, which includes a roller frame 61, a plurality of rollers 62 and a pair of guide assemblies 63; the plurality of rollers 62 are rotatably arranged at equal intervals along a first direction on the roller frame 61; the pair of guide assemblies 63 are symmetrically arranged on both sides of the roller frame 61 along a second direction.

[0098] Specifically, the roller frame 61 is a metal welded frame structure, which is fixedly installed on the upper surface of the slide table 42; multiple rollers 62 are rotatably installed on the roller frame 61 through bearings, and the distance between adjacent rollers 62 is less than the length of the sample box 3; a pair of guide components 63 are respectively arranged on the left and right sides of the roller frame 61 to guide the sample box 3 to move along the conveying direction.

[0099] According to the above configuration, the sample box 3 can be transported by the roller conveyor 6, which can achieve stable and efficient transmission. At the same time, the guide component 63 can prevent the sample box 3 from shifting during transmission, thus improving the stability of the transfer.

[0100] In some embodiments, roller 62 is a rubber-coated roller, which can increase the friction between it and the sample box 3, prevent slippage, and reduce transmission noise.

[0101] In some embodiments, the guide assembly 63 includes a flow bar 631 and an end guide wheel 632. The flow bar 631 is arranged along the conveying direction, and the end guide wheel 632 is arranged at the inlet end of the roller line 6, which can better guide the sample box 3 into the roller line 6.

[0102] In some embodiments, the flow bar 631 consists of a metal base and a plurality of guide rollers.

[0103] Specifically, the metal base is a long, bent profile structure that is bolted to the two vertical plates on both sides of the roller frame 61 and extends straight along the conveying direction of the sample box 3. Multiple guide rollers are rotatably embedded in the inner groove of the metal base at equal intervals. The axis of the guide rollers is arranged vertically, and the outer ring protrudes from the side of the metal base, forming a rolling contact with the bottom side wall of the sample box 3.

[0104] In some embodiments, roller 62 adopts an integrated electric roller structure with a built-in drive motor.

[0105] Specifically, the drive motor and other transmission mechanisms are sealed and integrated inside the cylinder of the roller 62, eliminating the need for traditional external transmission components such as external motors, sprockets, chains and transmission belts; the built-in drive unit and the cylinder of the roller are coaxially and concentrically arranged, and the overall structure is highly integrated and compact, without occupying external installation space of the roller line.

[0106] Figure 6 A schematic diagram of the guide chassis of this application is shown.

[0107] In one illustrative embodiment, such as Figure 6 As shown, it also includes a guide chassis 7, which is disposed at the bottom of the sample box 3. The docking end of the guide chassis 7 is provided with a horizontal guide part 71 and a vertical guide part 72. The horizontal guide part 71 is suitable for cooperating with the guide assembly 63 to guide the sample box 3 in the horizontal direction. The vertical guide part 72 is suitable for cooperating with the cylindrical surface of the roller 62 to compensate for the height difference during docking in the vertical direction.

[0108] Specifically, the guide base 7 is a metal plate that is fixedly connected to the bottom of the sample box 3 by screws; the horizontal guide part 71 is a chamfered structure on the two edges of the docking end of the guide base 7, which can cooperate with the end guide wheel 632 of the guide assembly 63 to guide the sample box 3 into the roller line in the horizontal direction; the vertical guide part 72 is an inclined transition structure on the bottom edge of the docking end of the guide base 7, which can cooperate with the cylindrical surface of the roller 62 to compensate for the height difference between the two roller lines in the vertical direction.

[0109] In some embodiments, the chamfer angle of the horizontal guide portion 71 is 30° to 45°, which can reduce resistance during the guiding process while ensuring the guiding effect.

[0110] In some embodiments, the vertical guide 72 extends upward from the bottom edge of the guide base 7 to form an integrated slope structure, with a smooth transition shape that is higher on the outside and lower on the inside. The tilt angle is set to 15° to 30°. The slope and the outer circle of the roller 62 form a smooth fit and contact, which can adapt to the vertical height deviation caused by docking and prevent hard bumps and jamming when the sample box 3 enters the line.

[0111] In some embodiments, the vertical guide 72 adopts an arc transition structure instead of a straight slope. The arc curvature is adapted to the outer circle curvature of the roller 62 to form an arc-shaped guide, which makes the contact transition smoother and can further buffer the impact caused by vertical alignment error.

[0112] According to the above configuration, the horizontal guide 71 and vertical guide 72 of the guide chassis 7 can simultaneously compensate for docking deviations in the horizontal and vertical directions, further improving the reliability of sample box 3 transfer and avoiding jamming or collision.

[0113] In some embodiments, the guide chassis 7 is made of wear-resistant steel plate, which can improve its service life.

[0114] Figure 7 A perspective view of the blocking mechanism of this application is shown;

[0115] In one illustrative embodiment, such as Figure 2 , Figure 3 and Figure 7 As shown, it also includes two blocking mechanisms 8, which are respectively disposed on the docking side of the transport cabinet 12 and the sample cabinet 2, including a vertical slide rail 81, a blocking plate 82 and a blocking cylinder 83; the blocking plate 82 is slidably disposed on the vertical slide rail 81 in the vertical direction, having a blocking position below the top of the sample box 3 to abut against the side wall of the sample box 3, and a release position above the top of the sample box 3 to allow the sample box 3 to pass through; the blocking cylinder 83 is adapted to drive the blocking plate 82 to rise and fall along the vertical slide rail 81.

[0116] Specifically, the vertical slide rail 81 includes two parallel linear guide rails installed above both ends of the conveyor line docking side; the baffle plate 82 is a rectangular strip metal plate with sliders at both ends that are adapted to the vertical slide rail 81, and can slide up and down along the vertical slide rail 81; the baffle cylinder 83 is a single-acting cylinder, and its piston rod is connected to the baffle plate 82 through a floating joint, which is used to drive the baffle plate 82 to rise and fall.

[0117] According to the above configuration, the blocking mechanism 8 can fix the sample box 3 on the conveyor line after the sample box 3 is transferred, preventing the sample box 3 from moving or falling during the automatic transport vehicle 1, thus improving the safety of the transfer process.

[0118] In some embodiments, the blocking cylinder 83 is a double-acting cylinder, which can achieve more stable lifting control and maintain the blocking state in the event of a power failure.

[0119] In some embodiments, the surface of the baffle plate 82 is provided with a buffer pad, which can absorb the impact energy when the sample box 3 collides with the baffle plate 82, and protect the sample box 3 and the baffle mechanism 8.

[0120] In some embodiments, an independent pneumatic system is also included to power the blocking cylinder 83. The independent pneumatic system includes a small air pump, an air tank, a solenoid valve, an air filter, and a pressure regulating valve, which are integrated and installed at the bottom of the transport container 12.

[0121] Figure 8 A perspective view of the positioning mechanism of this application is shown; Figure 9 A schematic diagram of the structure of the sample box in the accurate position state of this application is shown.

[0122] In one illustrative embodiment, such as Figure 2 , Figure 3 , Figure 8 and Figure 9 As shown, it also includes multiple pairs of positioning mechanisms 9, which are respectively spaced at the ends of the conveyor lines in the transport cabinet 12 and the sample cabinet 2; the two positioning mechanisms 9 are configured such that: when only one positioning mechanism 9 is triggered, the conveyor line continues to run, and the sample box 3 automatically corrects its angle by using sliding friction; when both positioning mechanisms 9 are triggered, it is determined that the position of the sample box 3 is accurate, and the conveyor line stops running.

[0123] Specifically, the positioning mechanism 9 includes a buffer unit 92 and a positioning unit 91. The buffer unit 92 is set on the frame at the end of the conveyor line and is used to absorb the impact energy of the sample box 3 during the transmission process. The positioning unit 91 is a photoelectric detection switch and is set on one side of the buffer unit 92 to detect whether the sample box 3 has reached the positioning surface. The two positioning mechanisms 9 are arranged at intervals along the second direction and correspond to the left and right sides of the sample box 3 respectively.

[0124] Furthermore, such as Figure 5 , Figure 6 and Figure 9 As shown, the limiting part 31 at the end of the sample box 3 is a rectangular boss structure extending laterally. The installation height of the buffer unit 92 and the positioning unit 91 is the same as the center height of the limiting part 31. When the sample box 3 is transferred to the end of the conveyor line, the limiting part 31 first makes perpendicular contact with the end face of the buffer unit 92 to uniformly absorb the remaining impact energy during the transfer process and prevent the sample box 3 from rebounding. Then, the side of the limiting part 31 enters the detection area of ​​the positioning unit 91, triggering the positioning unit 91 to output a positioning signal.

[0125] According to the above configuration, the pair of positioning mechanisms 9 can achieve automatic angle correction of the sample box 3, eliminate the accumulation of angle deviation when the automatic transport vehicle 1 is aligned, and ensure that the sample box 3 can be accurately placed in the designated position every time.

[0126] In some embodiments, the buffer unit 92 employs a hydraulic damper, which can provide a smoother buffering effect, effectively absorb impact energy, and prevent the sample box 3 from rebounding.

[0127] In some embodiments, the positioning unit 91 employs a photoelectric detection switch, which enables non-contact detection, thereby improving the reliability and service life of the detection.

[0128] In one illustrative embodiment, such as Figure 2 and Figure 3 As shown, the transport cabinet 12 is provided with at least two first conveyor lines arranged side by side along the second direction; the sample cabinet 2 is provided with at least two second conveyor lines arranged side by side along the second direction; the alignment component is configured to selectively align one first conveyor line with one second conveyor line when the automatic transport vehicle 1 and the sample cabinet 2 are docked along the first direction.

[0129] Specifically, multiple first conveyor lines in the transport cabinet 12 are arranged side by side along the second direction, respectively for carrying empty sample boxes and full sample boxes; multiple second conveyor lines in the sample cabinet 2 are arranged one-to-one with the first conveyor lines; the alignment component can drive the first conveyor line or the second conveyor line to move along the second direction, so that different first conveyor lines are aligned with the corresponding second conveyor lines in turn.

[0130] Based on the above setup, by setting up multiple parallel conveyor lines, it is possible to automatically exchange empty and full sample boxes, thereby improving transfer efficiency and reducing the number of round trips by the automated transport vehicle.

[0131] In some embodiments, the alignment component can automatically select the conveyor line to be docked according to the system's preset program, thereby achieving fully automated sample transfer.

[0132] Embodiments of this application also provide a transfer system, such as Figure 1 As shown, it includes: an automated transport vehicle 1, including a mobile chassis 11 and a transport cabinet 12 disposed on the mobile chassis 11; a sample cabinet 2; and a sample box transfer mechanism for realizing the automatic transfer of sample boxes 3 between the transport cabinet 12 and the sample cabinet 2 of the automated transport vehicle 1.

[0133] Specifically, the automated transport vehicle 1 is an automated guided vehicle equipped with a real-time dynamic differential positioning module (Real-Time Kinematic, RTK), which can achieve coarse positioning at the centimeter level; the sample cabinet 2 is an intelligent sample cabinet, which is fixedly installed in a designated location in the workshop and has multiple storage compartments for storing sample boxes 3; the transfer mechanism is set on the automated transport vehicle 1 and the sample cabinet 2, which can realize the fully automated, unmanned transfer of sample boxes 3 between the two.

[0134] Based on the above setup, the combination of automated guided vehicles, intelligent sample cabinets, and transfer mechanisms enables the entire process of sample box 3 from sampling to testing to be automated without human intervention, saving a significant amount of manpower and resources, while also improving the timeliness and accuracy of sample transfer.

[0135] In some embodiments, such as Figure 1 and Figure 2 As shown, the transport container 12 includes a first frame 122 and a first door 121. The first frame 122 is a metal welded frame structure used to install the first conveyor line and alignment components. The first door 121 is located on the docking side of the transport container 12 and is an automatic lifting protective door.

[0136] In some embodiments, such as Figure 1 and Figure 3As shown, the sample cabinet 2 includes a second frame 22 and a second door 21. The second frame 22 is a metal welded frame structure used to install the second conveyor line and the test plate 52. The second door 21 is located on the docking side of the sample cabinet 2 and is an automatic lifting protective door with the same structure as the first door 121. It is used in conjunction with a limit switch to achieve automatic opening and closing for testing.

[0137] In some embodiments, such as Figures 1 to 3 As shown, both the first door 121 and the second door 21 are equipped with an automatic door opening mechanism. The automatic door opening mechanism includes two drive wheels 123, a transmission belt 124, and a drive block 125. The two drive wheels 123 are vertically arranged at the upper and lower ends of the two sides of the door body, respectively. The transmission belt 124 is sleeved on the outside of the two drive wheels 123 on the same side to form a closed-loop transmission structure. The drive block 125 is fixedly installed on the belt body of the transmission belt 124 and fixedly connected to the side of the door body. When the drive wheels 123 rotate, they drive the transmission belt 124 to rotate. The drive block 125 pulls the door body up and down along the vertical guide rail to realize the automatic opening and closing of the door body.

[0138] In some embodiments, the automated transport vehicle 1 is also equipped with a lidar and visual navigation system, which enables more precise navigation and obstacle avoidance, improving operational safety and reliability.

[0139] Figure 10 A schematic diagram of the transfer process of the transfer system of this application is shown;

[0140] Figure 11 A schematic diagram of another state during the transfer process of the transfer system of this application is shown.

[0141] In some embodiments, such as Figure 10 and Figure 11 As shown, the transfer mechanism in the automatic transport vehicle 1 is equipped with two first conveyor lines arranged side by side along the second direction, which respectively carry empty sample boxes 32 and full sample boxes 33, and two second conveyor lines are correspondingly arranged in the sample cabinet 2.

[0142] The complete automated transfer process is as follows: The sampling personnel place the sample into the empty sample box 32 in the sample cabinet 2. Once full, the system automatically records the position information, and the personnel can leave. The automated transport vehicle 1 navigates to the docking position of the sample cabinet 2 via the RTK positioning module. When the deviation from the preset coordinates is within a preset range (e.g., ±1cm to ±2cm), the rough docking is considered complete. The first door 121 of the automated transport vehicle 1 and the second door 21 of the sample cabinet 2 open synchronously and automatically under the drive of the automatic door opening mechanism. The drive unit 43 of the alignment component drives the slide table 42 to move the first conveyor line along the second direction. The detection unit 51 stops when it detects the reflected signal from the detection plate 52. At this time, the center line of the first conveyor line is precisely aligned with the center line of the second conveyor line corresponding to the empty position in the sample cabinet 2. The blocking mechanism 8 on the side of the transport cabinet 12 opens, the first conveyor line starts, and the empty sample box 32 is transported. The second conveyor line to sample cabinet 2; when both positioning mechanisms 9 inside sample cabinet 2 are triggered, the second conveyor line stops, the blocking mechanism 8 on the side of sample cabinet 2 closes, and the transfer of empty sample box 32 is completed; the automatic transport vehicle 1 moves in a staggered manner along the second direction, and the alignment component drives the slide table 42 to adjust its position so that the center line of the first conveyor line carrying full sample box 33 is aligned with the center line of the second conveyor line corresponding to the full position inside sample cabinet 2; the blocking mechanism 8 on the side of sample cabinet 2 opens, the second conveyor line starts, and the full sample box 33 is transported to the first conveyor line of automatic transport vehicle 1; when both positioning mechanisms 9 inside transport cabinet 12 are triggered, the first conveyor line stops, the blocking mechanism 8 on the side of transport cabinet 12 closes, and the transfer of full sample box 33 is completed; the first door 121 and the second door 21 close simultaneously, and the automatic transport vehicle 1 leaves sample cabinet 2 and proceeds to the next docking position or quality inspection area.

[0143] The embodiments of this application have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of this application. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Without departing from the scope of this application, those skilled in the art can make various substitutions and modifications, all of which should fall within the scope of this application.

Claims

1. A sample box transfer mechanism for automatically transferring sample boxes bidirectionally between an automated transport vehicle and a sample cabinet, the automated transport vehicle comprising a mobile chassis and a transport cabinet, characterized in that, include: The first conveyor line and the second conveyor line are respectively installed in the transport cabinet and the sample cabinet, and are suitable for carrying and transporting sample boxes along the first direction; An alignment component, disposed in the transport cabinet or the sample cabinet, is configured to drive the first or second conveyor line on the corresponding side to move along a second direction orthogonal to the first direction on the horizontal plane when the automated transport vehicle and the sample cabinet are pre-aligned in a first direction, so as to compensate for the lateral positioning deviation of the automated transport vehicle and align the center lines of the first and second conveyor lines.

2. The transfer mechanism according to claim 1, characterized in that, The alignment component includes: The drive mechanism is configured to drive the first or second conveyor line on the corresponding side to move along the second direction; The detection mechanism moves synchronously with the driven first or second conveyor line and is configured to trigger the drive mechanism to stop when the center lines of the first and second conveyor lines are aligned.

3. The transfer mechanism according to claim 2, characterized in that, The drive mechanism includes: A horizontal slide rail is provided inside the transport cabinet or the sample cabinet and extends along the second direction; A slide table is slidably mounted on the horizontal slide rail and is suitable for mounting the first or second conveyor line on the corresponding side. The drive unit is configured to drive the slide table to reciprocate along the horizontal slide rail.

4. The transfer mechanism according to claim 3, characterized in that, The testing institutions include: The detection unit is located at the end of the docking side of the slide table; The detection plate is disposed at the corresponding position on the docking side of the transport cabinet or the sample cabinet, opposite to the detection unit; The detection unit is adapted to emit a detection signal during the movement of the slide table, and to trigger the drive unit to stop when it receives a detection signal reflected by the detection plate.

5. The transfer mechanism according to claim 1, characterized in that, The first conveyor line and the second conveyor line include roller lines, the roller lines comprising: Roller frame; Multiple rollers are rotatably arranged at equal intervals along the first direction on the roller frame; A pair of guide components are symmetrically arranged on both sides of the roller frame along the second direction.

6. The transfer mechanism according to claim 5, characterized in that, It also includes a guide chassis, which is disposed at the bottom of the sample box, and the docking end of the guide chassis is provided with a horizontal guide part and a vertical guide part; The horizontal guide is adapted to cooperate with the guide assembly to guide the sample box in the horizontal direction; The vertical guide is adapted to mate with the cylindrical surface of the roller to compensate for the height difference during docking in the vertical direction.

7. The transfer mechanism according to claim 1, characterized in that, It also includes two blocking mechanisms, respectively disposed on the docking sides of the transport cabinet and the sample cabinet, including: Vertical slide rail; A baffle plate is slidably disposed on the vertical slide rail in the vertical direction, having a blocking position below the top of the sample box to abut against the side wall of the sample box, and a release position above the top of the sample box to allow the sample box to pass through; A blocking cylinder is used to drive the blocking plate to move up and down along the vertical slide rail.

8. The transfer mechanism according to claim 1, characterized in that, It also includes multiple pairs of positioning mechanisms, which are respectively spaced apart at the ends of the conveyor lines inside the transport cabinet and the sample cabinet; The two positioning mechanisms are configured such that when only one positioning mechanism is triggered, the conveyor line continues to run, and the sample box automatically corrects its angle using sliding friction; when both positioning mechanisms are triggered, the sample box is determined to be in an accurate position, and the conveyor line stops running.

9. The transfer mechanism according to any one of claims 1-8, characterized in that, The transport cabinet is equipped with at least two first conveyor lines arranged side by side along the second direction; The sample cabinet is equipped with at least two second conveyor lines arranged side by side along the second direction; The alignment component is configured to selectively align one of the first conveyor lines with one of the second conveyor lines when the automated transport vehicle docks with the sample cabinet in a first direction.

10. A transfer system, characterized in that, include: An automated transport vehicle includes a mobile chassis and a transport container disposed on the mobile chassis; Sample cabinet; as well as The transfer mechanism as described in any one of claims 1-9 is used to realize the automatic transfer of sample boxes between the transport cabinet of the automated transport vehicle and the sample cabinet.

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