Material transfer system

Abstract

The utility model relates to a welding workshop production technology, in particular to a material transfer system. The embodiment of the utility model provides a material transfer system which comprises a material frame assembly, a first base, two second bases, a first positioning assembly and a second positioning assembly, and in the first direction, the two second bases are arranged at the two ends of the first base correspondingly; the first positioning assembly is arranged on the first base to limit the position of the material frame assembly in the second direction, and the first direction is perpendicular to the second direction; in the second direction, the second positioning assembly and the first positioning assembly are spaced, the second positioning assembly comprises two second positioning parts oppositely arranged in the second direction, and each second positioning part is arranged on the corresponding second base so as to limit the position of the material frame assembly in the first direction. The technical problem that the unmanned material frame cannot be automatically positioned is solved, and the purpose of automatically positioning the unmanned material frame is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to welding workshop production technology, and in particular to a material transfer system. BACKGROUND

[0002] The part feeding and gripper switching of the body welding production line need to push the material trolley or gripper switching trolley to the ground positioning for accurate positioning. The current ground positioning form is suitable for manually pushing the trolley to switch, and is not suitable for switching using AGV. Moreover, the interference between the traction type AGV trolley and the ground positioning causes the traction type AGV trolley to be unable to enter the inside of the ground positioning, and the switching of the unmanned trolley and the material frame cannot be realized. CONTENT OF THE UTILITY MODEL

[0003] The present application provides a material transfer system, which solves the technical problem of automatic positioning of the unmanned material frame and achieves the purpose of automatic positioning of the unmanned material frame.

[0004] In order to achieve the above purpose, the main technical scheme adopted by the present application comprises:

[0005] The present application provides a material transfer system, which includes a material frame assembly, a first base, two second bases, a first positioning assembly and a second positioning assembly. Along a first direction, the two second bases are respectively arranged at both ends of the first base. The first positioning assembly is arranged on the first base to limit the position of the material frame assembly in a second direction. The first direction and the second direction are perpendicular. Along the second direction, the second positioning assembly is spaced apart from the first positioning assembly. The second positioning assembly includes two second positioning parts arranged oppositely along the second direction. Each second positioning part is arranged on the corresponding second base to limit the position of the material frame assembly in the first direction.

[0006] The material transfer system provided in the present application is provided with the first positioning assembly on the first base to limit the material frame assembly in the second direction. Along the first direction, the two second bases are arranged on both sides of the first base, and the second positioning parts are arranged on the two second bases. When the material frame assembly reaches between the two second bases, the two second positioning parts limit the material frame assembly in the first direction, thereby realizing the automatic docking, automatic positioning and clamping of the material frame assembly.

[0007] Optionally, the material frame assembly includes a material rack and a tray. The material rack is movable relative to the ground. The tray is arranged on the material rack and is adapted to carry the material. The material rack is used to support the tray, and the tray is used to carry the material. The material rack and the tray cooperate with the AGV trolley, and the AGV trolley drives the material rack and the tray to move for material conveying.

[0008] Optionally, the tray comprises a tray body and a column, the column is arranged on one side of the tray body and extends away from the tray body along a third direction; the column is further provided with a plurality of hooks arranged at intervals along the third direction, and the first direction, the second direction and the third direction are perpendicular to each other. The hooks are used to carry materials, and the plurality of hooks arranged at intervals along the third direction increases the space for carrying materials, thereby increasing the amount of materials carried on the shelf assembly.

[0009] Optionally, the column comprises a first sub-column and a second sub-column arranged at intervals, and the interval direction of the first sub-column and the second sub-column is perpendicular to the third direction; the hooks are located between the first sub-column and the second sub-column and are rotatable relative to the first sub-column and the second sub-column, and the column further comprises a limiting column connected to the first sub-column and the second sub-column to limit the rotation of the hooks.

[0010] The hooks are arranged between the first sub-column and the second sub-column and are rotatable relative to the first sub-column and the second sub-column, and a limiting column is arranged between the first sub-column and the second sub-column, when the hooks rotate to abut against the limiting column, the hooks can no longer rotate, the hooks can be used to carry materials, and the limiting column is used to support the hooks while limiting the continuous rotation of the hooks.

[0011] Optionally, the plurality of hooks comprises adjacent first hooks and second hooks, and the first hooks are closer to the tray body than the second hooks; the first hooks and the second hooks are further connected by a connecting rod, and along the length direction of the connecting rod, the connecting rod has a first end and a second end, the first end is hinged to the first hooks, and the second end is provided with an oblong hole, the length direction of the oblong hole is parallel to the length direction of the connecting rod, and the second hooks are provided with a shaft pin matched with the oblong hole.

[0012] The first end of the connecting rod is hinged to the first hooks, and the first end of the connecting rod is rotatable relative to the first hooks. The second end of the connecting rod is provided with an oblong hole, and the second hooks have a shaft pin matched with the oblong hole. When the first hooks rotate towards the corresponding limiting column, the first hooks drive the connecting rod to rotate, and at the same time, the oblong hole of the connecting rod slides relative to the shaft pin, and the second end of the connecting rod moves away from the first hooks, and at the same time, the second hooks are pushed to rotate by a certain angle, so that the first hooks can carry materials, and the second hooks can rotate towards the corresponding limiting column and will not interfere with the first hooks to place materials.

[0013] Optionally, the tray is provided with a locking column extending along the third direction, and the shelf is provided with a locking groove matched with the locking column. When the tray is placed on the shelf, the locking column extends into the locking groove to connect the tray and the shelf, thereby realizing the positioning of the tray.

[0014] Optionally, the second positioning part comprises a driving member and a pressing member, the driving member is arranged on the second base, and a driving end of the driving member is fixedly connected with the pressing member; the second positioning part further comprises a guide assembly, the guide assembly comprises a first sliding rail and a second sliding rail which are matched with each other, the first sliding rail and the second sliding rail both extend along the first direction, the first sliding rail is arranged on the pressing member, and the second sliding rail is arranged on the second base.

[0015] The first sliding rail and the second sliding rail are matched, the first sliding rail is connected with the pressing member, the second sliding rail is arranged on the second base, the driving member drives the pressing member to move along the second sliding rail, so that the material frame assembly is pressed in the first direction, and the material frame assembly is positioned.

[0016] Optionally, a plurality of second positioning assemblies are arranged, and the plurality of second positioning assemblies are arranged at intervals along the second direction. The plurality of second positioning assemblies are arranged at intervals along the second direction, the plurality of second positioning assemblies position the material frame assembly in the first direction, and the positioning accuracy of the material frame assembly is improved.

[0017] Optionally, the material transfer system further comprises two first limiting parts, each of the first limiting parts is arranged on a corresponding second base, each of the first limiting parts is arranged at an interval from the first positioning assembly along the second direction, so as to clamp the material frame assembly on both sides of the second direction. When the material frame assembly reaches the predetermined position, the two first limiting parts and the first positioning assembly jointly clamp the material frame assembly in the second direction.

[0018] Optionally, a plurality of support bearings are arranged on each of the second bases, the plurality of support bearings are arranged at intervals along the second direction, so as to support the material frame assembly in a third direction, and the first direction, the second direction and the third direction are perpendicular to each other. When the material frame assembly reaches the predetermined position, the AGV vehicle places the material frame assembly on the support bearings, so that the AGV vehicle is separated from the material frame assembly. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the description of the specific embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 It is a structural schematic diagram of the material transfer system of the present application;

[0021] Figure 2 It is a structural schematic diagram of the ground positioning device of the present application;

[0022] Figure 3 For Figure 2 the structure diagram of the E area in the middle;

[0023] Figure 4 For the structure diagram of the material frame assembly in the application;

[0024] Figure 5 For Figure 4 the structure diagram of the D area in the middle.

[0025]

Explanation of reference numerals

[0026] 1: material frame assembly; 11: material rack; 111: locking groove; 112: limiting stud; 12: tray; 121: tray body; 122: column; 1221: first sub-column; 1222: second sub-column; 1223: limiting column; 123: locking column; 13: hook; 131: first hook; 132: second hook; 133: shaft pin; 14: connecting rod; 141: first end; 142: second end; 1421: oblong hole;

[0027] 2: first base;

[0028] 3: second base; 31: adjusting bolt; 32: limiting guide;

[0029] 4: first positioning assembly;

[0030] 5: second positioning part; 51: driving part; 52: tightening part;

[0031] 6: guide assembly; 61: first slide rail; 62: second slide rail;

[0032] 7: first limiting part; 71: clamping cylinder; 72: clamping limiting block;

[0033] 8: support bearing;

[0034] 91: nine-hole detection; 92: RFID identification; 93: pneumatic and electric quick insertion unit; 94: RFID identification two-dimensional code; 95: in-place detection block;

[0035] A: first direction; B: second direction; C: third direction. DETAILED DESCRIPTION

[0036] To make the purpose, technical scheme and advantages of the embodiments of the application clearer, the technical scheme in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are some embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the specification herein is for describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, all terms used in disclosing the application, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and this application and will not be interpreted in an overly literal or restricted way unless expressly so defined in the specification.

[0038] Reference throughout this application to "embodiment" means a particular example, implementation or aspect of the application. This application covers any and all embodiments. The term "comprising" as used in this application means "including, but not limited to". The term "coupled" as used in this application means connected, whether directly or indirectly, whether or not it is permanent or temporary connection, whether or not it is mechanical, electrical, or other connection. The term "including" as used in this application means "including, but not limited to". The term "substantially" as used in this application means largely but not necessarily wholly that which is specified, as understood by persons of ordinary skill in the art. The phrase "consisting essentially of" as used in this application means including, but not limited to, the recited components, and any additional components that do not materially change the basic and novel characteristics of the specified components.

[0039] In the description of the application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "attaching" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be direct connection, or indirect connection through intermediate medium; it can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0040] The term "and / or" in this application is only a description of the association relationship between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. In addition, the character " / " in this application generally represents an "or" relationship between the front and rear associated objects.

[0041] "Multiple" appearing in this application refers to two or more (including two), and similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to two or more pieces (including two pieces).

[0042] The current ground positioning device is suitable for manual pushing of the trolley for switching, and is not suitable for switching using AGV. Moreover, the traction type AGV trolley will interfere with the ground positioning device, causing the traction type AGV trolley to be unable to enter the inside of the ground positioning device, and the switching of the unmanned trolley and the material frame cannot be realized. Therefore, a ground material frame and gripper switching trolley positioning technology is needed, which can accurately position the AGV traction gripper switching trolley in an unmanned production line, realize the automatic feeding demand of the unmanned trolley, and realize the automatic switching of the gripper.

[0043] Therefore, the embodiments of the present application provide a material transfer system, which comprises a material frame assembly 1, a first base 2, two second bases 3, a first positioning assembly 4 and a second positioning assembly. Along a first direction A, the two second bases 3 are respectively arranged at two ends of the first base 2; the first positioning assembly 4 is arranged on the first base 2 to limit the position of the material frame assembly 1 in a second direction B, and the first direction A and the second direction B are perpendicular; along the second direction B, the second positioning assembly is spaced apart from the first positioning assembly 4, and the second positioning assembly comprises two second positioning parts 5 arranged oppositely along the second direction B, and each second positioning part 5 is arranged on a corresponding second base 3 to limit the position of the material frame assembly 1 in the first direction A.

[0044] Reference Figure 1 and Figure 2 The material transfer system provided by the embodiments of the present application is provided with the first positioning assembly 4 on the first base 2 to limit the position of the material frame assembly 1 in the second direction B; along the first direction A, the two second bases 3 are arranged on the two sides of the first base 2, and the second positioning parts 5 are arranged on the two second bases 3, so that when the material frame assembly 1 reaches between the two second bases 3, the two second positioning parts 5 limit the position of the material frame assembly 1 along the first direction A, thereby realizing automatic docking, automatic positioning and clamping of the material frame assembly 1.

[0045] Optionally, with reference to Figure 4 , the material frame assembly 1 comprises a rack 11 and a tray 12, the rack 11 is movable relative to the ground, and the tray 12 is arranged on the rack 11 and is adapted to carry materials. The rack 11 is used to support the tray 12, and the tray 12 is used to carry materials. The rack 11 and the tray 12 cooperate with the AGV trolley, and the AGV trolley drives the rack 11 and the tray 12 to move for material conveying.

[0046] Optionally, with reference to Figure 4, the tray 12 comprises a tray body 121 and a column 122, the column 122 is arranged at one side of the tray body 121 and extends away from the tray body 121 along a third direction C; the column 122 is further provided with a plurality of hooks 13 arranged at intervals along the third direction C, the first direction A, the second direction B and the third direction C are perpendicular to each other. The hook 13 is used to carry the material, and the plurality of hooks 13 arranged at intervals along the third direction C increases the space for carrying the material, and improves the amount of material carried on the rack 11 assembly.

[0047] In one embodiment, the tray 12 comprises a tray body 121 and a plurality of columns 122, the plurality of columns 122 are arranged at intervals along a direction perpendicular to the third direction C, and the hooks 13 on the plurality of columns 122 collectively define a support space for preventing the material. Along the third direction C, a plurality of hooks 13 are arranged at intervals on each column 122, and the hooks 13 arranged at the same height along the third direction C define a support platform for placing the material. That is, along the third direction C, the rack assembly 1 defines a plurality of support platforms arranged at intervals.

[0048] In one embodiment, two columns 122 are arranged at intervals on one side of the tray body 121, two columns 122 are arranged at intervals in the middle of the tray body 121, and two columns 122 are arranged at intervals on the other side of the tray body 121. Each column 122 has a plurality of hooks 13 arranged at intervals, and the hooks 13 at the same height define a support platform for placing the material.

[0049] Optionally, referring to Figure 4 and Figure 5 , the column 122 comprises a first sub-column 1221 and a second sub-column 1222 arranged at intervals, the interval direction of the first sub-column 1221 and the second sub-column 1222 is perpendicular to the third direction C; the hook 13 is located between the first sub-column 1221 and the second sub-column 1222 and is rotatable relative to the first sub-column 1221 and the second sub-column 1222, and the column 122 further comprises a limiting column 1223 connected to the first sub-column 1221 and the second sub-column 1222 to limit the rotation of the hook 13.

[0050] The hook 13 is arranged between the first sub-column 1221 and the second sub-column 1222 and is rotatable relative to the first sub-column 1221 and the second sub-column 1222, and the limiting column 1223 is arranged between the first sub-column 1221 and the second sub-column 1222, when the hook 13 rotates to abut against the limiting column 1223, the hook 13 no longer rotates, the hook 13 can be used to carry the material, and the limiting column 1223 limits the continuous rotation of the hook 13 while supporting the hook 13.

[0051] It should be understood that the hook 13 has a stowed state approximately parallel to the third direction C and a supporting state perpendicular to the third direction C, when the hook 13 is in the supporting state and needs to carry the material, the hook 13 rotates relative to the first and second sub-columns 1221 and 1222 to abut against the limiting column 1223, the limiting column 1223 supports the hook 13 while limiting the rotation of the hook 13.

[0052] Optionally, with reference to Figure 4 and Figure 5 , the plurality of hooks 13 includes adjacent first and second hooks 131 and 132, the first hook 131 is closer to the tray body 121 than the second hook 132; the first and second hooks 131 and 132 are further connected by a connecting rod 14, along the length direction of the connecting rod 14, the connecting rod 14 has a first end 141 and a second end 142, the first end 141 is hinged to the first hook 131, the second end 142 is provided with an oblong hole 1421, the length direction of the oblong hole 1421 is parallel to the length direction of the connecting rod 14, and the second hook 132 is provided with a shaft pin matched with the oblong hole 1421.

[0053] The first and second hooks 131 and 132 are arranged adjacent along the third direction C, and the first hook 131 is closer to the tray body 121 than the second hook 132, the first hook 131 has a first side and a second side, the second hook 132 has a third side and a fourth side, the first side of the first hook 131 is selectively abutted against the corresponding limiting column 1223, and the second side of the first hook 131 is connected with the connecting rod 14; the third side of the second hook 132 is selectively abutted against the corresponding limiting column 1223, and the fourth side of the second hook 132 is connected with the connecting rod 14.

[0054] The first end 141 of the connecting rod 14 is hinged to the first hook 131, and the first end 141 of the connecting rod 14 can rotate relative to the first hook 131. The second end 142 of the connecting rod 14 is provided with an oblong hole 1421, and the second hook 132 has a shaft pin matched with the oblong hole 1421. When the first hook 131 rotates towards the corresponding limiting column 1223, the first hook 131 drives the connecting rod 14 to rotate, and at the same time, the oblong hole 1421 of the connecting rod 14 slides relative to the shaft pin, the second end 142 of the connecting rod 14 moves towards the direction away from the first hook 131, and at the same time, the second hook 132 is pushed to rotate by a certain angle, so that the first hook 131 can carry the material, and the second hook 132 can rotate towards the corresponding limiting column 1223 and does not interfere with the first hook 131 to place the material.

[0055] Specifically, when the first hook 131 rotates towards the corresponding limiting column 1223, the first end 141 of the connecting rod 14 is driven to rotate in a direction away from the tray body 121, the second end 142 of the connecting rod 14 is moved relative to the shaft pin in a direction away from the tray body 121, and at the same time, the third side of the second hook 132 is driven to rotate towards the corresponding limiting column 1223, and the fourth side of the second hook 132 is driven to rotate in a direction away from the tray body 121. However, since the connecting rod 14 rotates with the first hook 131, the direction of the connecting rod 14 is at an angle with the third direction C, and the distance that the connecting rod 14 moves in the third direction C is less than the distance that the first hook 131 moves in the third direction C, so the distance that the long circular hole 1421 of the connecting rod 14 moves relative to the shaft pin cannot all act on the rotation of the second hook 132, that is, when the first hook 131 rotates, the distance that the second hook 132 moves in the third direction C is less than the distance that the first hook 131 moves in the third direction C. In other words, when the first hook 131 rotates to abut against the corresponding limiting column 1223, the first hook 131 can only drive the second hook 132 to rotate at a certain angle towards the corresponding limiting column 1223, and cannot drive the second hook 132 to rotate to abut against the corresponding limiting column 1223. Thus, the interference of the second hook 132 to the material when the material is placed on the first hook 131 is reduced. When the material needs to be placed on the second hook 132, the material needs to abut against the second hook 132 to continue to rotate to abut against the corresponding limiting column 1223.

[0056] In one specific embodiment, the plurality of hooks 13 includes adjacent first hooks 131, second hooks 132 and third hooks, the first hooks 131 are closer to the tray body 121 than the second hooks 132, and the second hooks 132 are closer to the tray body 121 than the third hooks. A first connecting rod is connected between the first hooks 131 and the second hooks 132, and a second connecting rod is connected between the second hooks 132 and the third hooks, one end of the first connecting rod is hinged to the first hook 131, and the other end of the first connecting rod is connected to the shaft pin 133 of the second hook 132 through the long circular hole 1421; one end of the second connecting rod is hinged to the second hook 132, and the other end of the second connecting rod is connected to the shaft pin 133 of the third hook through the long circular hole 1421. When the first hook 131 rotates towards the corresponding limiting column 1223, the second hook 132 is driven to rotate at a certain angle towards the corresponding long circular hole 1421 through the first connecting rod, but since the rotation angle of the second hook 132 is small, it is not enough to drive the third hook to rotate through the second connecting rod 14. When the material abuts against the second hook 132 to continue to rotate towards the corresponding limiting column 1223, the second hook 132 drives the second connecting rod 14 to rotate, and drives the third hook 13 to rotate towards the corresponding limiting column 1223.

[0057] Optionally, with reference to Figure 4The tray 12 is provided with a locking column 123 extending along the third direction C, and the rack 11 is provided with a locking groove 111 matched with the locking column 123. When the tray 12 is placed on the rack 11, the locking column 123 extends into the locking groove 111 to connect the tray 12 and the rack 11, so as to realize the positioning of the tray 12. In an embodiment, after the locking column 123 extends into the locking groove 111, the locking column 123 is fastened in the locking groove 111 by a screw, so as to further improve the connection stability between the tray 12 and the rack 11.

[0058] Optionally, referring to Figures 1 to 3 The second positioning assembly 5 includes a driving member 51 and a clamping member 52. The driving member 51 is arranged on the second base 3, and a driving end of the driving member 51 is fixedly connected with the clamping member 52. The second positioning assembly 5 further includes a guide assembly 6. The guide assembly 6 includes a first sliding rail 61 and a second sliding rail 62 matched with each other. The first sliding rail 61 and the second sliding rail 62 both extend along the first direction A. The first sliding rail 61 is arranged on the clamping member 52, and the second sliding rail 62 is arranged on the second base 3.

[0059] The first sliding rail 61 and the second sliding rail 62 are matched with each other. The first sliding rail 61 is connected with the clamping member 52, and the second sliding rail 62 is arranged on the second base 3. The driving member 51 drives the clamping member 52 to move along the second sliding rail 62, so as to clamp the frame assembly 1 along the first direction A and position the frame assembly 1.

[0060] In an embodiment, the first sliding rail 61 is a I-shaped limiting sliding block, and the second sliding rail 62 is a I-shaped limiting sliding rail, so that the first sliding rail 61 linearly slides along the second sliding rail 62. The clamping member 52 is configured as a bull's eye bearing. The second base 3 is provided with a cylinder mounting seat, and the cylinder mounting seat is provided with the driving member 51. The driving member 51 drives the clamping member 52 to drive the first sliding rail 61 to move along the second sliding rail 62, so as to limit the frame assembly 1.

[0061] Optionally, the second positioning assembly is a plurality of assemblies. The plurality of second positioning assemblies are spaced apart along the second direction B. The plurality of second positioning assemblies are spaced apart along the second direction B, and the plurality of second positioning assemblies position the frame assembly 1 along the first direction A, so as to improve the positioning accuracy of the frame assembly 1.

[0062] Optionally, referring to Figure 1 and Figure 2 The material transfer system further includes two first limiting assemblies 7. Each first limiting assembly 7 is arranged on a corresponding second base 3. Along the second direction B, each first limiting assembly 7 is spaced apart from the first positioning assembly 4, so as to clamp the frame assembly 1 on both sides of the second direction B. When the frame assembly 1 reaches a predetermined position, the two first limiting assemblies 7 and the first positioning assembly 4 jointly clamp the frame assembly 1 along the second direction B.

[0063] The two first limiting parts 7 each include a clamping cylinder 71 and a clamping limiting block 72 arranged on the second base 3. When the material frame assembly 1 reaches the predetermined position, the two clamping cylinders 71 respectively drive the clamping limiting blocks 72 to move along the first direction A, so as to clamp the material frame assembly 1 together with the first positioning assembly 4 along the second direction B.

[0064] Specifically, the two first limiting parts 7 are respectively arranged on the sides of the two second bases 3 away from the first base. When the material frame assembly 1 reaches the predetermined position, the two second limiting parts clamp the material frame assembly 1 together with the first positioning assembly along the second direction B.

[0065] Optionally, referring to Figure 2 Each second base 3 is provided with a plurality of support bearings 8 arranged along the second direction B to support the material frame assembly 1 along the third direction C, and the first direction A, the second direction B and the third direction C are perpendicular to each other. The plurality of support bearings 8 are bull's eye bearings. When the material frame assembly 1 reaches the predetermined position, the AGV vehicle places the material frame assembly 1 on the support bearings 8, so as to separate the AGV vehicle from the material frame assembly 1.

[0066] In one specific embodiment, the two second bases 3 are each provided with a mounting seat for mounting the support bearing 8. The two second bases 3 are also provided with an adjusting bolt 31 for adjusting the height of the mounting seat, so as to adjust the support height of the support bearing 8.

[0067] The material transfer system further includes two limiting guides 32, each arranged on the corresponding second base 3. When the AGV vehicle reaches the ground positioning device, if the size of the material frame assembly 1 exceeds the size between the two limiting guides 32 on the two second bases 3, the material frame assembly 1 cannot enter the ground positioning device. Only when the size of the material frame assembly 1 is smaller than the size between the two limiting guides 32 can the material frame assembly 1 enter the ground positioning device and be centered and positioned.

[0068] In one specific embodiment, the lower part of the rack 11 is also provided with a universal caster, so that the material frame assembly 1 can be universally rotated for manual transfer when needed. The rack 11 is provided with a position detection block 95, and the tray 12 is provided with an RFID identification two-dimensional code 94. The first base 2 is provided with a nine-hole detection 91 for engaging with the position detection block 95 on the material to realize the material frame assembly 1 to be in place and vehicle type identification. The first base 2 is provided with an RFID identification 92 for identifying the vehicle type and material of the material frame assembly 1.

[0069] When the AGV vehicle reaches the ground positioning device, the position detection block 95 engages with the nine-hole detection 91 of the ground positioning device, and the nine-hole detection 91 detects the position detection block 95 to obtain the information of the gripper in place and the vehicle, and the RFID identification 92 is double detected to confirm, so as to reduce the error caused by the single detection function failure of the gripper switching.

[0070] The first base 2 is provided with a pneumatic and electric quick insertion propelling cylinder and a pneumatic and electric quick insertion unit 93. When the material frame assembly 1 is a gripper switching trolley, the pneumatic and electric quick insertion propelling cylinder drives the pneumatic and electric quick insertion unit 93 to be connected with the pneumatic and electric unit of the material frame assembly 1, so as to realize the connection of gas and electricity on the material frame assembly 1, and the pneumatic and electric unit of the material frame assembly 1 is used, and the pneumatic and electric automatic connection is realized, and the use range is wide.

[0071] The tray 12 is provided with a guardrail to protect the person when the part is manually loaded. The lower part of the rack 11 is provided with a lifting plate. When the material frame assembly 1 reaches the predetermined position, the lifting mechanism of the AGV trolley props up the lifting plate to lift the material frame assembly 1, and supports the material frame assembly 1 on the supporting bearing 8.

[0072] The lifting plate is provided with a plurality of limiting studs 112 for abutting against the AGV trolley, so as to limit the relative sliding of the material frame assembly 1 relative to the AGV trolley. When the AGV trolley is suddenly braked, the relative sliding of the material frame assembly 1 on the AGV trolley can be reduced, and the probability that the material frame assembly 1 cannot be positioned by the first positioning assembly 4 and the second positioning assembly due to the movement of the material frame assembly 1 is reduced.

[0073] In the present application, the material transfer system comprises the material frame assembly 1 and the ground positioning device.

[0074] The ground positioning device comprises the first base 2 and the second base 3. The second base 3 comprises a first mounting plate, which is mounted on the ground through chemical bolts. The first mounting plate is provided with a connecting angle seat to enhance the strength of the first mounting plate. The first base 2 is provided with the first positioning assembly 4, and the two second bases 3 are respectively provided with the first limiting part 7. Along the second direction B, the first positioning assembly 4 and the first limiting part 7 clamp the material frame assembly 1 on both sides of the material frame assembly 1. The first positioning assembly 4 is configured as a bull eye bearing.

[0075] The two second bases 3 are respectively provided with the second positioning assembly. The second positioning assembly comprises a driving member 51, a tightening member 52, a first sliding rail 61 and a second sliding rail 62. The first sliding rail 61 is connected with the tightening member 52, the second sliding rail 62 is connected with the second base 3, and the driving member 51 drives the tightening member 52 to move along the second sliding rail 62, so that the second positioning assemblies oppositely arranged on the two second bases 3 can jointly clamp the material frame assembly 1 in the first direction A. The tightening member 52 is configured as a bull eye bearing.

[0076] Two second base 3 are provided with a plurality of support bearings 8 for supporting the frame assembly 1. When the frame assembly 1 is in the initial setting position, the AGV car lifts the frame assembly 1 up by 60mm, moves to the front of the self-centering ground positioning device, and moves into the ground positioning device. After passing through the limiting guide 32 on both sides, the frame assembly 1 comes above the support bearing 8, in front of the first positioning assembly 4. The AGV car drives the tray 12 to descend, and when it descends by 35mm, the frame assembly 1 falls onto the support bearing 8. The AGV car drives the tray 12 to continue to descend and separate from the frame assembly 1, and the AGV car leaves to perform other frame assembly 1 moving and loading operations. The frame assembly 1 is positioned by the self-centering ground positioning device to meet the positioning accuracy requirements of the vision-guided gripper for the frame assembly 1, and subsequent vision-guided gripper operations are performed.

[0077] The driving member 51 pushes the first slide rail 61 to slide on the second slide rail 62, and the frame assembly 1 is centered in the first direction A by the second positioning assembly. The first positioning assembly 4 and the first limiting part 7 clamp the frame assembly 1 in place along the second direction B. The nine-hole detection 91 detects the frame assembly 1 in place and detects the vehicle type, and the RFID identification 92 identifies whether the vehicle type is correct and transmits a signal to the vision-guided gripper for photographing and gripping. If the frame assembly 1 is a gripper switching trolley, the pneumatic quick insertion push cylinder pushes the pneumatic quick insertion unit 93 out to realize electrical connection with the gripper switching trolley, and realizes the requirement of the gripper switching function.

[0078] Finally, the frame assembly 1 is positioned by the self-centering ground positioning device to meet the positioning accuracy requirements of the vision-guided gripper for the frame assembly 1. The principle of positioning the gripper switching trolley is consistent with the principle of positioning the frame assembly 1, and the required repeatability accuracy of automatic switching can be realized. At the same time, the self-centering ground positioning device also has a vision calibration plate function, which can establish a camera imaging geometric model to achieve a higher precision vision-guided gripper vision measurement for the requirement of using a vision-guided frame gripper function.

[0079] The material frame assembly 1 includes two parts: a tray 12 and a material rack 11. The tray 12 is a standard universal modular design, compatible with multiple vehicle models of material racks 11. The material rack 11 can be changed with the vehicle model, and the columns 122 can be installed at different positions of the tray 12 as needed to achieve rapid iterative development of vehicle model equipment. The hook 13 rotates around the rotating shaft toward the limiting column 1223. The limiting column 1223 limits the rotation of the hook 13 and forms the hook 13. The first hook 131 and the second hook 132 are rotated to a certain angle through the connecting rod 14. When the first hook 131 is placed with material, the first hook 131 is pressed down to abut against the corresponding limiting column 1223. During the pressing process, the first hook 131 links the connecting rod 14 and drives the second hook 132 to rotate so that the material can be supported when placed. Since the oblong hole 1421 on the connecting rod 14 is designed as a long waist-shaped hole, when the first supporting hook 131 flips, the connecting rod 14 will only flip the adjacent second supporting hook 132, and will not link other supporting hooks 13, so as to avoid the second supporting hook 132 interfering with the material when the part is placed on the first supporting hook 131.

[0080] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0081] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0082] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

[0083] Although the embodiments of the present application have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A material transfer system, characterized by, The material frame assembly comprises a material rack and a tray, the material rack is movable relative to the ground, and the tray is arranged on the material rack and is adapted to carry materials. The tray comprises a tray body and a stand column, the stand column is arranged on one side of the tray body and extends away from the tray body along a third direction. The stand column is further provided with a plurality of hooks arranged at intervals in the third direction, and the first direction, the second direction and the third direction are perpendicular to each other. The stand column comprises a first sub-stand column and a second sub-stand column arranged at intervals, and the interval direction of the first sub-stand column and the second sub-stand column is perpendicular to the third direction. The hooks are located between the first sub-stand column and the second sub-stand column and are rotatable relative to the first sub-stand column and the second sub-stand column, and the stand column further comprises a limiting column connected to the first sub-stand column and the second sub-stand column to limit the rotation of the hooks.

2. The material transfer system of claim 1, wherein, A plurality of hooks comprise adjacent first hooks and second hooks, and the first hooks are closer to the tray body than the second hooks.

3. The material transfer system of claim 2, wherein, The first hooks and the second hooks are further connected by a connecting rod, the connecting rod has a first end and a second end along the length direction of the connecting rod, the first end is hinged to the first hooks, the second end is provided with an oblong hole, the length direction of the oblong hole is parallel to the length direction of the connecting rod, and the second hooks are provided with a shaft pin matched with the oblong hole. The tray is provided with a locking column extending along the third direction, and the material rack is provided with a locking groove matched with the locking column.

4. A material transfer system according to claim 3, wherein, The second positioning part comprises a driving member and a tightening member, the driving member is arranged on the second base, and the driving end of the driving member is fixedly connected with the tightening member. The second positioning part further comprises a guide assembly, the guide assembly comprises a first sliding rail and a second sliding rail matched with each other, the first sliding rail and the second sliding rail both extend along the first direction, the first sliding rail is arranged on the tightening member, and the second sliding rail is arranged on the second base.

5. The material transfer system of claim 4, wherein, The second positioning assembly is a plurality of assemblies, and the plurality of second positioning assemblies are distributed at intervals along the second direction. The material transfer system further comprises two first limiting parts, each of the first limiting parts is arranged on a corresponding second base, each of the first limiting parts is spaced apart from the first positioning assembly along the second direction to clamp the material frame assembly on both sides in the second direction.

6. The material transfer system of claim 2, wherein, ​ 7. The material transfer system of claim 1, wherein, ​ ​ 8. The material transfer system of claim 1, wherein, ​ 9. The material transfer system of claim 1, wherein, ​ 10. The material transfer system of claim 1, wherein, A plurality of support bearings are arranged on each of the second bases and are arranged at intervals along the second direction to support the frame assembly in a third direction, the first direction, the second direction and the third direction being perpendicular to each other.

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