Feeding and discharging device and transportation equipment

Abstract

The utility model relates to a feeding and discharging device and transportation equipment. The feeding and discharging device comprises a mounting frame; the two lifting structures are arranged on the mounting frame in a spaced mode in the first direction and can output lifting motion in the second direction; the feeding structure is located between the two lifting structures, is connected with the output ends of the two lifting structures and is used for conveying the material frame to the to-be-loaded and unloaded equipment or taking down the material frame from the to-be-loaded and unloaded equipment; each centering structure is movably arranged on one lifting structure, the two centering structures are symmetrically arranged and get close to each other or get away from each other in the first direction, and when the two centering structures get close to each other, each centering structure can abut against the outer wall of the material frame, so that centering of the material frame is achieved. When the two centering structures get close to each other in the first direction, the material frame is borne, centering of the material frame is achieved, deviation between the material frame and the installation space during feeding is avoided, the feeding accuracy of the feeding and discharging device is guaranteed, and the feeding efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of automated loading and unloading technology, and in particular to a loading and unloading device and a transport equipment. Background Technology

[0002] Currently, AGVs are commonly used to transport material racks in factory assembly line production processes. Typically, the loading / unloading equipment has installation space, and the racks need to be transported to or removed from that space. During loading, the racks are mounted on the forks of the AGV, which then transports them to the required equipment or location (such as the installation space).

[0003] Typically, the installation space is small, and after the material rack is transported into the installation space, there is a small gap between the material rack and the inner wall of the installation space. The AGV (Automated Guided Vehicle) has poor precision; when using the AGV for loading and unloading, there is a deviation between the material rack and the installation space of the equipment to be loaded or unloaded. The material rack cannot accurately enter the installation space, failing to meet the requirements for automatic loading and unloading. Manual adjustment of the material rack's position is required later, resulting in poor loading and unloading efficiency. Utility Model Content

[0004] Therefore, it is necessary to address the problem that the deviation between the material rack and the installation space of the equipment to be loaded / unloaded during AGV loading affects the loading / unloading efficiency. This invention provides a loading / unloading device and transportation equipment that can avoid the deviation between the material rack and the installation space of the equipment to be loaded / unloaded during loading, ensure the accuracy of loading / unloading, eliminate the need for manual adjustment of the material rack position, reduce the labor intensity of operators, and improve feeding efficiency.

[0005] A loading and unloading device, comprising:

[0006] Mounting framework;

[0007] Two lifting structures are spaced apart on the mounting frame along a first direction and are capable of outputting lifting motion along a second direction;

[0008] A feeding structure, located between the two lifting structures and connected to the output ends of the two lifting structures, extends out of the lifting structures in a third direction perpendicular to the first and second directions, for conveying the material rack to or removing the material rack from the material rack; and

[0009] Two centering structures are provided, each of which is movably mounted on a lifting structure. The two centering structures are symmetrically arranged and move closer to or further away from each other along the first direction. When the two centering structures move closer to each other, each centering structure can abut against the outer wall of the material rack to achieve centering.

[0010] In one embodiment of this application, the centering structure includes a receiving plate, a centering component, and a detection component. The centering component is disposed on the lifting structure, the output end of the centering component is connected to the receiving plate, and the detection component is disposed on the receiving plate and extends toward the material rack.

[0011] The detection component can abut against the side wall of the rack, the receiving plate can support the edge of the rack, and the centering component can drive the receiving plate to move closer to or away from the rack.

[0012] In one embodiment of this application, the centering component includes a centering drive and a centering transmission component. The centering drive is disposed on the lifting structure, and the centering transmission component is drivingly connected to the receiving plate. The centering transmission component is a gear and rack component or a ball screw component.

[0013] And / or, the detection assembly includes a support frame, a retractable detection probe, and a detection body. The support frame is disposed on the receiving plate, the detection probe extends toward the material rack and is able to abut against the side wall of the material rack, and the detection body is transmittedly connected to the detection probe.

[0014] In one embodiment of this application, the loading and unloading device includes at least one of the following features:

[0015] The first item, the centering structure further includes an abutment member, which is disposed on the receiving plate along the third direction and has a preset distance from the edge of the receiving plate in the first direction, and the abutment member can abut against the side wall of the material rack;

[0016] The abutment is a stop protrusion, or the abutment is a rolling element;

[0017] Secondly, the centering component further includes a first sliding member and a second sliding member. The first sliding member is disposed on the lifting structure along the first direction, and the second sliding member is disposed on the receiving plate and slidably disposed on the first sliding member.

[0018] Thirdly, the centering component further includes two limiting members, which are spaced apart on the receiving plate along the first direction. The receiving plate has a limiting portion protruding along a third direction, which is located between the two limiting members and can move between the two limiting members.

[0019] In one embodiment of this application, the lifting structure includes a support part, a lifting drive component, and a lifting transmission component. The support part is arranged along the second direction, the lifting drive component is arranged on the mounting frame, and the lifting transmission component is arranged along the second direction on the support part and is drivingly connected to the feeding structure.

[0020] The lifting transmission component is a ball screw component, a gear and rack transmission component, or a belt transmission component.

[0021] In one embodiment of this application, the lifting structure includes at least one of the following features:

[0022] In the first aspect, the two lifting structures are driven by a unified lifting drive component, and the lifting drive component also includes a drive shaft and a drive belt. The drive shaft is located at the end of the lifting drive component, and the drive belt drives the drive shafts of the two lifting structures; or, each lifting structure corresponds to one lifting drive component.

[0023] Secondly, the lifting structure further includes a support plate, which is disposed on the top of the support portion and is used to install the centering structure;

[0024] Thirdly, the lifting structure further includes two side plates and a baffle. The two side plates are arranged on both sides of the support part along the first direction, and the baffle is arranged on the side of the support part away from the material rack.

[0025] Fourthly, the lifting structure further includes a guide assembly and a connecting component. The guide assembly includes a first guide member and a second guide member. The first guide member is disposed on the support part along the second direction. The connecting component connects the lifting transmission member, the second guide member, and the feeding structure. The second guide member is slidably disposed on the first guide member.

[0026] Fifthly, the lifting structure has at least two guide components, which are spaced apart along the third direction. The lifting structure also includes a transfer component, which connects to the output ends of at least two of the guide components and is also connected to the feeding structure.

[0027] In one embodiment of this application, the feeding structure includes a connecting component and a telescopic fork. The connecting component connects the output ends of the two lifting structures, and the telescopic fork is disposed on the connecting component and extends along the third direction.

[0028] The telescopic fork has a hook at the end away from the connecting component, the hook protruding from the top surface of the telescopic fork for hooking the material rack.

[0029] In one embodiment of this application, the loading and unloading device further includes a positioning structure, the positioning structure including a first positioning member and a second positioning member, the first positioning member being disposed at the bottom of the mounting frame, and the second positioning member being disposed at the loading and unloading equipment, the first positioning member and the second positioning member cooperating for positioning;

[0030] The first positioning element and the second positioning element are a positioning sleeve and a positioning post with positioning holes.

[0031] In one embodiment of this application, the loading and unloading device further includes a charging component, which is disposed in the mounting frame or the lifting structure;

[0032] The charging component supplies power to the lifting structure and the centering structure; the charging component has a charging interface for charging.

[0033] A transport device includes an AGV trolley and a loading / unloading device as described in any of the above technical features, the loading / unloading device loading a rack, the AGV trolley receiving the loading / unloading device and transporting the loading / unloading device and the rack to a preset position.

[0034] By adopting the above technical solution, this application has at least the following technical effects:

[0035] The loading / unloading device and conveying equipment of this application include two lifting structures spaced apart along a first direction, each outputting lifting motion in a second direction. A feeding structure is located between the two lifting structures and connected to their output ends, extending out of the lifting structures along a third direction. Two centering structures are movably mounted on the two lifting structures and symmetrically arranged, allowing them to move closer or further apart along the first direction. When the AGV transports the rack to the feeding structure, the two centering structures move closer together along the first direction, causing the centering detection device to abut against the outer wall of the rack. The centering structure then supports the rack to center it. Subsequently, the lifting structure drives the feeding structure to rise and support the rack on the centering structure.

[0036] This loading and unloading device uses two centering structures that approach each other along a first direction to receive the material rack and center it, ensuring that the first central axis of the loading and unloading device is substantially coincident with the second central axis of the material rack. During material feeding, the first central axis of the loading and unloading device is substantially coincident with the third central axis of the installation space of the equipment to be loaded or unloaded, further ensuring that the second and third central axes of the material rack are substantially coincident, thus preventing deviations between the material rack and the installation space. This ensures the accuracy of material feeding, eliminates the need for manual adjustment of the material rack position later, reduces the labor intensity of operators, and improves feeding efficiency. Attached Figure Description

[0037] Figure 1 This is a perspective view of a material receiving rack of a loading / unloading device according to an embodiment of this application.

[0038] Figure 2 for Figure 1 The diagram shows the loading and unloading device working in conjunction with the AGV trolley and the equipment to be loaded and unloaded.

[0039] Figure 3 for Figure 1 The front view of the loading and unloading device receiving rack is shown.

[0040] Figure 4 for Figure 1 The diagram shows the loading and unloading device working in conjunction with one of a number of devices to be loaded or unloaded.

[0041] Figure 5 for Figure 1 The diagram shown illustrates the loading and unloading device, which is transported by an AGV trolley.

[0042] Figure 6 for Figure 5 The diagram shows the AGV trolley conveyor rack.

[0043] Figure 7 for Figure 1 The top view of the loading / unloading device receiving rack is shown.

[0044] Figure 8 for Figure 1 The side view of the loading and unloading device receiving the material rack is shown.

[0045] Figure 9 for Figure 1 A partial drawing of the lifting structure in the loading and unloading device shown.

[0046] Figure 10 for Figure 8 Sectional view at AA.

[0047] Figure 11 for Figure 1 A schematic diagram of the centering structure in the loading and unloading device shown.

[0048] The components are as follows: 10. Loading / unloading device; 100. Mounting frame; 200. Lifting structure; 210. Support part; 220. Lifting transmission component; 221. Lead screw shaft; 222. Transmission shaft; 223. Transmission belt; 224. Tensioner wheel; 230. Mounting housing; 231. Support plate; 232. Side plate; 233. Baffle; 240. Transfer component; 250. Guide assembly; 251. First guide component; 252. Second guide component; 300. Feeding structure; 310. Connecting component; 320. Telescopic fork; 321. Hook; 400. Centering structure; 410. Receiving plate; 411. Receiving main plate; 412. Receiving end plate; 41 3. Limiting part; 420. Centering assembly; 421. Centering drive component; 422. Centering transmission component; 4221. Centering gear; 4222. Centering rack; 423. First sliding component; 424. Second sliding component; 425. Abutting component; 426. Limiting component; 430. Detection assembly; 431. Support frame; 432. Detection probe; 433. Detection body; 510. First positioning component; 520. Second positioning component; 20. Material rack; 201. Roller; 30. AGV trolley; 40. Loading / unloading equipment; 401. Installation space; 402. Track; O1. First central axis; O2. Second central axis; O3. Third central axis. Detailed Implementation

[0049] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0050] Currently, in factory assembly line production processes, AGVs (Automated Guided Vehicles) are commonly used to transport material racks to the installation space of the equipment to be loaded / unloaded. Typically, the installation space is small, resulting in a small gap between the rack and the inner wall of the space after the rack is transported. Due to the poor precision of AGVs, deviations occur between the rack and the installation space when loading / unloading, preventing the rack from accurately entering the space and failing to meet the requirements for automated loading / unloading. This necessitates manual adjustment of the rack's position, leading to poor loading / unloading efficiency.

[0051] See also Figure 1 and Figure 2 Therefore, this application provides a novel loading and unloading device 10. Figure 1 This is a perspective view of the loading / unloading device 10 receiving the material rack 20 according to an embodiment of this application. Figure 2 for Figure 1The diagram shows the loading / unloading device 10 cooperating with the AGV trolley 30 and the loading / unloading equipment 40. The loading / unloading device 10 is used in a transport device (not shown) and cooperates with the AGV trolley 30 within the transport device. Materials are loaded into the rack 20, which needs to be transported to the installation space 401 of the loading / unloading equipment 40, where the materials in the rack 20 are processed.

[0052] This application does not limit the shape of the rack 20 or the materials loaded on it, nor does it limit the type of the loading / unloading device 40, as long as the loading / unloading device 10 can support the rack 20. The loading / unloading device 10 has a first central axis O1, and the rack 20 has a second central axis O2. The rack 20 is axially symmetrical with respect to the second central axis O2, so that the loading / unloading device 10 can support the rack 20 transported by the AGV trolley 30. Figure 1 and Figure 3 As shown, the material rack 20 has a roughly cross-shaped hollow structure. Figure 3 for Figure 1 The image shows a front view of the loading / unloading device 10 receiving the material rack 20. Of course, in other embodiments of this application, the material rack 20 may also be rectangular, square, or other shapes that facilitate receiving by the loading / unloading device 10.

[0053] The loading and unloading equipment 40 is hollow, with its hollow cavity serving as an installation space 401, which can accommodate the material rack 20. For example... Figure 2 and Figure 4 As shown, the equipment 40 for loading and unloading is brewing equipment, such as a sterilizer, processing pot, etc. Figure 4 for Figure 1 The diagram shows the loading / unloading device 10 cooperating with multiple loading / unloading devices 40. Of course, in other embodiments of this application, the loading / unloading devices 40 can also be other devices or apparatuses that require automatic loading / unloading, such as a production line, where the loading / unloading device 10 realizes the conveying of materials in the production line.

[0054] like Figure 2 , Figures 4 to 6 As shown, the AGV trolley 30 transports the loading / unloading device 10 to the loading / unloading equipment 40, and then fixes the AGV trolley 30 to the end of the loading / unloading equipment 40. Then, the AGV trolley 30 transports the previous material rack 20 to the loading / unloading device 10. At the same time, the AGV trolley 30 transports the next material rack 20. After the loading / unloading device 10 transports the previous material rack 20 to the loading / unloading equipment 40, the loading / unloading device 10 transports the next material rack 20 to the loading / unloading device 10. That is, while the loading / unloading device 10 is transporting the previous material rack 20, the AGV trolley 30 is transporting the next material rack 20. In this way, the continuous transport of the material rack 20 can be achieved, and the transport efficiency of the material rack 20 can be improved. Figure 5 for Figure 1 The diagram shows the loading and unloading device 10 being transported by the AGV trolley 30. Figure 6 for Figure 5 The diagram shows the AGV trolley 30 conveying rack 20.

[0055] The installation space 401 of this application has a third central axis O3. After receiving the material rack 20, the loading / unloading device 10 can center the material rack 20, so that the first central axis O1 of the loading / unloading device 10 and the second central axis O2 of the material rack 20 are substantially coincident. During loading, the first central axis O1 of the loading / unloading device 10 coincides with the third central axis O3 of the installation space 401 of the equipment to be loaded / unloaded 40, thereby making the second central axis O2 and the third central axis O3 of the material rack 20 substantially consistent, avoiding deviation between the material rack 20 and the installation space 401 of the equipment to be loaded / unloaded 40, ensuring the accuracy of loading by the loading / unloading device 10, eliminating the need for manual adjustment of the position of the material rack 20, reducing the labor intensity of operators, and improving feeding efficiency. The specific structure of the loading / unloading device 10 of one embodiment is described below.

[0056] See also Figure 1 , Figure 3 and Figure 7 In one embodiment, the loading / unloading device 10 includes a mounting frame 100, two lifting structures 200, a feeding structure 300, and two centering structures 400. The two lifting structures 200 are spaced apart on the mounting frame 100 along a first direction and are capable of outputting lifting motion along a second direction. The feeding structure 300 is located between the two lifting structures 200 and connects to the output ends of the two lifting structures 200. The feeding structure 300 extends out of the lifting structures 200 along a third direction perpendicular to the first and second directions, for conveying the material rack 20 to the loading / unloading device 40 or removing the material rack 20 from the loading / unloading device 40. Each centering structure 400 is movably mounted on a lifting structure 200. The two centering structures 400 are symmetrically arranged and move closer to or further away from each other along the first direction. When the two centering structures 400 move closer to each other, each centering structure 400 abuts against the outer wall of the material rack 20 to achieve centering. Figure 7 for Figure 1 The top view of the loading / unloading device 10 receiving the material rack 20 is shown.

[0057] like Figure 1 As shown, the loading / unloading device 10 has a first direction, a second direction, and a third direction. The width direction of the loading / unloading device 10 is the first direction, the vertical direction (height direction, top and bottom direction) is the second direction, and the length direction is the third direction. The orientations of the loading / unloading device 10 and its various components in this application are all based on... Figure 1 The directions shown are the reference and will not be repeated later.

[0058] The mounting frame 100 serves as the base for the loading / unloading device 10, providing support. All components of the loading / unloading device 10 are mounted on the mounting frame 100, forming a unified structure. When the AGV trolley 30 transports the loading / unloading device 10, its forks (not shown) directly support the bottom of the mounting frame 100, facilitating the movement of the edges of the loading / unloading device 10. The lower surface of the mounting frame 100 has a first groove (not shown), into which the forks of the AGV trolley 30 can extend to support the loading / unloading device 10, preventing it from shifting on the forks and ensuring stability during transport. Optionally, the mounting frame 100 has a frame structure. Of course, in other embodiments of this application, the mounting frame 100 may also be flat or have other shapes.

[0059] The lifting structure 200 is a component that outputs lifting motion and is disposed on the upper surface of the mounting frame 100. There are two lifting structures 200, spaced apart along a first direction. The two lifting structures 200 are axially symmetrical with respect to the first central axis O1 of the loading / unloading device 10. A feeding structure 300 is disposed between the two lifting structures 200 and is connected to the output end of the lifting structure 200. The lifting structure 200 can drive the feeding structure 300 to move up and down along a second direction, so that the feeding structure 300 can receive the material rack 20 or transport the material rack 20 to the loading / unloading equipment 40.

[0060] After the lifting structure 200 outputs lifting motion, it can drive the feeding structure 300 to move synchronously, so that the feeding structure 300 can rise and fall synchronously with the lifting structure 200. The feeding structure 300 is a structure that supports the material rack 20 and can transport the material rack 20 to realize the loading and unloading operation of the material rack 20. The lifting structure 200 can drive the feeding structure 300 to different heights, so that the feeding structure 300 can adapt to the loading and unloading equipment 40 at different heights. Moreover, for each loading and unloading equipment 40, the loading and unloading device 10 can be set with different loading and unloading heights to meet the usage requirements of different loading and unloading equipment 40.

[0061] As shown in Figure 4, the three loading / unloading devices 40 have different heights. The lifting structure 200 can drive the feeding structure 300 to lift and lower, thereby enabling the loading and unloading of the three loading / unloading devices 40 with different heights. Of course, in other embodiments of this application, the loading / unloading device 10 can also perform loading / unloading operations on more loading / unloading devices 40 with different heights. That is, one loading / unloading device 10 can perform loading / unloading operations on at least two loading / unloading devices 40 with different heights, eliminating the need for more loading / unloading devices 10 and reducing loading / unloading costs.

[0062] Understandably, the installation space 401 is relatively small, and the material rack 20 is located behind the installation space 401. The distance between the two side walls of the material rack 20 and the inner wall of the installation space 401 is also small. If there is a deviation between the material rack 20 and the installation space 401, the material rack 20 may collide with the loading / unloading equipment 40, resulting in the material rack 20 being unable to be accurately conveyed to the installation space 401. To address this, the loading / unloading device 10 of this application also includes a centering structure 400. There are two centering structures 400, and each centering structure 400 is movably disposed on the top of the loading / unloading device 10 along a first direction.

[0063] The two centering structures 400 are centrally symmetrically arranged with respect to the first central axis O1 and can move along the first direction. When the two centering structures 400 move along the first direction, they can move closer to each other or further away from each other. When the two centering structures 400 move closer to each other, the centering adjustment of the material rack 20 is realized. When the two centering structures 400 move further away from each other, the material rack 20 can be released and the next material rack 20 can be received.

[0064] When the loading / unloading device 10 of this application receives the rack 20, the forks of the AGV trolley 30 transport the rack 20 to above the loading / unloading device 10 and between the two centering structures 400. Then, the two centering structures 400 move closer together, abutting against the side wall of the rack 20 and receiving it. At this time, the AGV trolley 30 can insert and remove the next rack 20. As the two centering structures 400 continue to move closer together, they can adjust the position of the rack 20 so that the second central axis O2 of the rack 20 coincides with the first central axis O1 of the loading / unloading device 10, thus achieving the centering adjustment of the rack 20.

[0065] After the material rack 20 is aligned, the lifting structure 200 drives the feeding structure 300 to support the bottom of the material rack 20. At this time, the two alignment structures 400 and the feeding structure 300 together support the material rack 20. Then, the two alignment structures 400 move away from each other in the first direction, and the alignment structures 400 detach from the material rack 20. At this time, the material rack 20 is supported only by the feeding structure 300. The lifting structure 200 can drive the material rack 20 to rise or fall to perform loading operations on the loading and unloading equipment 40 at different heights, so as to transport the material rack 20 into the installation space 401.

[0066] After the material rack 20 is placed in the installation space 401, the lifting structure 200 drives the feeding structure 300 to descend, causing the feeding structure 300 to detach from the material rack 20 and extend from the loading / unloading device 40 to facilitate loading the next material rack 20. During unloading, the lifting structure 200 drives the feeding structure 300 to descend, so that the feeding structure 300 extends under the material rack 20. Then, the lifting structure 200 drives the feeding structure 300 to rise, so that the feeding structure 300 abuts against the bottom of the loading / unloading device 10, and then the feeding structure 300 moves the material rack 20 out of the installation space 401.

[0067] In the above embodiment, the centering structure 400 receives the material rack 20 when two centering structures 400 approach each other along a first direction, thus centering the material rack 20 and making the first central axis O1 of the loading / unloading device 10 substantially coincide with the second central axis O2 of the material rack 20. When the loading / unloading device 10 feeds material, the first central axis O1 of the loading / unloading device 10 can substantially coincide with the third central axis O3 of the installation space 401 of the equipment to be loaded / unloaded 40, thereby making the second central axis O2 and the third central axis O3 of the material rack 20 substantially coincide, avoiding any deviation between the material rack 20 and the installation space 401. This ensures the accuracy of material feeding by the loading / unloading device 10, avoids the need for manual adjustment of the material rack 20's position later, reduces the labor intensity of operators, and improves feeding efficiency.

[0068] See also Figure 1 , Figures 7 to 9 In one embodiment, the lifting structure 200 includes a support portion 210, a lifting drive component (not shown), and a lifting transmission component 220. The support portion 210 is arranged along a second direction, the lifting drive component is arranged on the mounting frame 100, and the lifting transmission component 220 is arranged along the second direction on the support portion 210 and is connected to the feeding structure 300 in a transmission manner. Figure 8 for Figure 1 The side view of the loading / unloading device 10 receiving the material rack 20 is shown. Figure 9 for Figure 1 A partial part drawing of the lifting structure 200 in the loading and unloading device 10 shown.

[0069] The support part 210 is a component for supporting and mounting the lifting structure 200, and is disposed on the mounting frame 100 along the second direction. The lifting drive component is the power source of the lifting structure 200, and is disposed on the support frame. The lifting transmission component 220 is disposed on the support part 210 along the second direction. The output end of the lifting drive component is connected to the input end of the lifting transmission component 220, and the output end of the lifting transmission component 220 is connected to the feeding structure 300.

[0070] When the lifting drive component moves, it can drive the lifting transmission component 220 to output lifting motion, so that the lifting transmission component 220 drives the feeding structure 300 to move up and down in the second direction, facilitating the feeding structure 300 to perform loading and unloading operations. Optionally, the support part 210 is a support plate 231. Of course, in other embodiments of this application, the support part 210 may also be a support platform, a support frame, or other structures that can support the lifting transmission component 220. Optionally, the lifting drive component is a combination of a motor and a reducer, etc.

[0071] See also Figure 9 In one embodiment of this application, the lifting transmission component 220 is a ball screw component, which includes a screw shaft 221 and a screw nut (not shown). The screw shaft 221 is rotatably disposed on the support portion 210 along a second direction, and the screw nut is rotatably disposed on the screw shaft 221. The screw shaft 221 is driven by the lifting drive component, and the screw nut is driven by the feeding structure 300. When the lifting drive component drives the screw shaft 221 to rotate, the screw shaft 221 can drive the screw nut to move up and down relative to the screw shaft 221 along the second direction, thereby driving the feeding structure 300 to move up and down along the second direction, realizing the lifting and lowering of the feeding structure 300.

[0072] In another embodiment of this application, the lifting transmission component 220 may also be a gear and rack transmission component, comprising a lifting gear and a lifting rack, the lifting rack being disposed on the support portion 210 along a second direction, the lifting gear meshing with the lifting rack, a lifting drive component disposed on the lifting gear, and the lifting drive component and the lifting gear being disposed on the feeding structure. When the lifting drive component drives the lifting gear to rotate, since the lifting rack is fixedly disposed, the lifting drive component can drive the lifting gear to move up and down along the lifting rack, thereby driving the feeding structure 300 to move up and down.

[0073] In another embodiment of this application, the lifting transmission component 220 may also be a belt transmission component, comprising two transmission pulleys and a synchronous belt. The two transmission pulleys are spaced apart along a second direction and rotatably mounted on the support portion 210. The synchronous belt is sleeved on the two transmission pulleys. The feeding structure 300 is connected to the synchronous belt, and the lifting transmission component 220 is connected to the lower transmission pulley. The transmission pulleys are pulleys or sprockets, and correspondingly, the synchronous belt is a belt or chain. Of course, in other embodiments of this application, the lifting transmission component 220 may also be other structures capable of outputting lifting motion, such as a lifting motor, etc.

[0074] See also Figure 8 and Figure 10 In one embodiment, the two lifting structures 200 are driven by a unified lifting drive component. The lifting transmission component 220 also includes a transmission shaft 222 and a transmission belt 223. The transmission shaft 222 is coaxially disposed at the end of the lead screw shaft 221, and the transmission belt 223 drives the transmission shafts 222 of the two lifting structures 200. Figure 10 for Figure 8 Sectional view at AA.

[0075] The drive shaft 222 and the lead screw 221 are integrated into one structure. In one of the lifting structures 200, the end of the drive shaft 222 is connected to a lifting drive component. When the lifting drive component moves, it can drive the lead screw 221 and the drive shaft 222 connected to it. Furthermore, the drive shaft 222 can drive the other drive shaft 222 to rotate through the transmission belt 223. This enables synchronous driving of the lifting movements of the two lifting structures 200, ensuring the synchronicity of their movements.

[0076] Optionally, the drive shaft 222 is a pulley, and the drive belt 223 is a belt. Of course, in other embodiments of this application, the drive shaft 222 may also be a sprocket, and the drive belt 223 may be a chain. Optionally, the lifting drive component is connected to the drive shaft 222 of one of the lifting structures 200. Of course, in other embodiments of this application, the lifting drive component is connected to the drive shaft 222 of one of the lifting structures 200 via a belt drive structure or a chain drive structure. Accordingly, a connection portion is provided on the drive shaft 222 to connect with the belt drive structure or chain drive structure; the structure will not be described in detail here.

[0077] See also Figure 10 In one embodiment, the lifting transmission component 220 further includes a tensioning wheel 224, which is rotatably mounted on the mounting frame 100, and the transmission belt 223 is sleeved on the tensioning wheel 224. The tensioning wheel 224 tensions the transmission belt 223, ensuring the transmission performance of the transmission belt 223, so that the two lifting structures 200 can lift and lower synchronously, avoiding asynchronous movement.

[0078] Of course, in other embodiments of this application, each lifting structure 200 corresponds to a lifting drive component. That is, each lifting structure 200 is driven by its corresponding lifting drive component to output lifting motion. Furthermore, in order to ensure the synchronization of the movements of the two lifting structures 200, it is necessary to control the actions of both lifting structures 200 simultaneously.

[0079] In one embodiment, the loading / unloading device 10 further includes a controller, which is communicatively connected to the lifting structure 200, the feeding structure 300, and the centering structure 400 to control the lifting structure 200, the feeding structure 300, and the centering structure 400 to perform corresponding actions. Of course, in other embodiments of this application, a controller can also be provided in the transport equipment, which is communicatively connected to the loading / unloading device 10 and the AGV trolley 30 to achieve overall control of the loading / unloading device 10 and the AGV trolley 30.

[0080] See also Figure 1 , Figure 3 and Figure 6 In one embodiment, the lifting structure 200 further includes a support plate 231, which is disposed on the top of the support portion 210 and is used to install the centering structure 400. The support plate 231 is equivalent to the top plate of the lifting structure 200. The support plate 231 is arranged in a horizontal direction and supports the centering structure 400, facilitating the installation of the centering structure 400.

[0081] See also Figure 1 , Figure 3 and Figure 6 In one embodiment, the lifting structure 200 further includes two side plates 232 and a baffle 233. The two side plates 232 are disposed on both sides of the support portion 210 along a first direction, and the baffle 233 is disposed on the side of the support portion 210 away from the material rack 20. That is, in Figure 1 In the middle, two side plates 232 are disposed on the front and rear sides of the support part 210, and a baffle 233 is disposed on the rear side of the support part 210. The baffle 233, the support part 210, the support plate 231, and the two side plates 232 form the mounting housing 230 of the lifting structure 200, and surround it to form a mounting cavity, in which a charging component (not shown) is disposed.

[0082] In other embodiments of this application, the baffle 233 has a double-door structure so that it can be opened when the loading / unloading device 10 is charging. Optionally, the baffle 233 can be rotatably connected to one of the side plates 232, and the baffle 233 forms a single-door structure.

[0083] See also Figure 9 In one embodiment, the lifting structure 200 further includes a connecting component 240, which is transmitted to the output end of the lifting transmission component 220 and the feeding structure 300. The connecting component 240 serves as a transfer mechanism, facilitating the transmission of lifting motion from the lifting transmission component 220 to the feeding structure 300. The connecting component 240 is connected to a lead screw nut. When the lead screw nut moves up and down along the lead screw shaft 221, it drives the connecting component 240 to move up and down synchronously, thereby enabling the connecting component 240 to drive the feeding structure 300 to move up and down. Optionally, the connecting component 240 is a connecting plate; however, in other embodiments of this application, the connecting component 240 may also be cylindrical or other shapes.

[0084] See also Figure 9 In one embodiment, the lifting structure 200 further includes a guide component 250, which is disposed on the support part 210 and the connecting part 240. The guide component 250 guides the movement of the connecting part 240 in the second direction, thereby enabling the connecting part 240 to drive the feeding structure 300 to move synchronously, so as to ensure that the feeding structure 300 can accurately perform lifting and lowering movements, thereby ensuring that the feeding structure 300 accurately loads and unloads materials.

[0085] See also Figure 9 In one embodiment, a first guide member 251 and a second guide member 252 are provided. The first guide member 251 is disposed on the support portion 210 along a second direction. A connecting component 240 connects the lifting transmission component 220, the second guide member 252, and the feeding structure 300. The second guide member 252 is slidably disposed on the first guide member 251. When the lead screw and nut lifting drive component drives the lifting transmission component 220 to move in the vertical direction, the lead screw and nut can drive the connecting component 240 to move up and down. In turn, the connecting component 240 can drive the second guide member 252 to slide along the first guide member 251 to guide the movement of the connecting component 240.

[0086] See also Figure 9 For example, the first guide member 251 is a guide rail, and the second guide member 252 is a guide slider, with the guide slider slidably disposed on the guide rail. Of course, in other embodiments of this application, the first guide member 251 may be a guide slider, the second guide member 252 may be a guide rail, or the first guide member 251 and the second guide member 252 may be a rail and a groove, or other structures that can achieve sliding engagement.

[0087] See also Figure 9 In one embodiment, at least two guide components 250 are spaced apart along a third direction. A connecting component 240 connects to the output ends of at least two guide components 250 and is also connected to the feeding structure 300. The at least two guide components 250 guide the connecting component 240, improving the accuracy of the connecting component 240's movement along the second direction, thereby improving the accuracy of loading and unloading of the feeding structure 300. In this embodiment, there are two guide components 250. However, in other embodiments of this application, the number of guide components 250 may be one or other numbers.

[0088] See also Figure 1 , Figure 3 and Figure 8In one embodiment, the feeding structure 300 includes a connecting component 310 and a telescopic fork 320. The connecting component 310 connects the output ends of two lifting structures 200. The telescopic fork 320 is disposed on the connecting component 310 and extends along a third direction. The connecting component 310 is a structure that connects the adapter component 240 and the telescopic fork 320. The connecting component 310 extends along a first direction and connects to the adapter components 240 of the two lifting structures 200. The telescopic fork 320 extends along a third direction and is located between the two lifting structures 200. The telescopic fork 320 is a component that supports the material rack 20. After the lifting structure 200 drives the adapter component 240 to move up and down along a second direction, the adapter component 240 can drive the telescopic fork 320 to move up and down synchronously along the second direction through the connecting component 310, so that the telescopic fork 320 can support the material rack 20 and realize the loading and unloading of the material rack 20.

[0089] Furthermore, the telescopic fork 320 is capable of telescopic movement in three directions. When the telescopic fork 320 extends, it can enter the mounting space 401 to transport the rack 20 into the mounting space 401, or it can support the bottom of the rack 20 to remove it from the mounting space 401. Then, the telescopic fork 320 retracts to remove itself from the mounting space 401. It is worth noting that the telescopic structure and principle of the telescopic fork 320 are existing technology and will not be described further here.

[0090] Optionally, the connecting component 310 is a connecting plate. Of course, in other embodiments of this application, the connecting component 310 may also be a connecting post or other structure capable of connecting the adapter component 240 and the telescopic fork 320. Optionally, there may be multiple connecting components 310, each connecting the adapter component 240 and the telescopic fork 320, ensuring the reliability of the connection between the adapter component 240 and the telescopic fork 320.

[0091] See also Figure 8 In one embodiment, the end of the telescopic fork 320 away from the connecting member 310 has a hook 321, which protrudes from the top surface of the telescopic fork 320 and is used to hook the material rack 20. That is, the hook 321 is provided on the upper surface of the telescopic fork 320. During unloading, the telescopic fork 320 extends from the bottom of the material rack 20 into the mounting space 401 and hooks the front end of the material rack 20 through the hook 321, causing the material rack 20 to move to the outlet in the mounting space 401. Then, the telescopic fork 320 supports the material rack 20 and moves the material rack 20 out of the mounting space 401.

[0092] See also Figure 1 , Figure 3 , Figure 8 and Figure 11In one embodiment, the centering structure 400 includes a receiving plate 410, a centering component 420, and a detection component 430. The centering component 420 is disposed on the lifting structure 200, and its output end is connected to the receiving plate 410. The detection component 430 is disposed on the receiving plate 410 and protrudes from the edge of the receiving plate 410 facing the material rack 20. The detection component 430 can abut against the side wall of the material rack 20, the receiving plate 410 can support the edge of the material rack 20, and the centering component 420 can drive the receiving plate 410 closer to or further away from the material rack 20. Figure 11 for Figure 1 A schematic diagram of the centering structure 400 in the loading and unloading device 10 shown.

[0093] The receiving plate 410 is a component for receiving the material rack 20, and is movably mounted on the support plate 231 at the top of the lifting structure 200. The centering component 420 is mounted on the support plate 231 and is capable of outputting movement along a first direction. The receiving plate 410 is mounted on the output end of the centering component 420, and the centering component 420 can drive the receiving plate 410 to move along the first direction, thereby enabling the receiving plates 410 of the two centering structures 400 to move closer to or further away from each other.

[0094] When the AGV trolley 30 conveys the material rack 20 to the loading / unloading device 10, the bottom edge of the material rack 20 can fall onto the receiving plates 410 of the centering structures 400 on both sides, and the receiving plates 410 first receive the material rack 20. Then, the centering component 420 drives the corresponding receiving plates 410 to move along the first direction, so that the two receiving plates 410 move closer to each other to adjust the position of the material rack 20, so that the second central axis O2 of the material rack 20 basically coincides with the first central axis O1 of the loading / unloading device 10, thereby realizing the centering adjustment of the material rack 20.

[0095] Furthermore, to ensure that the material rack 20 can accurately land on the receiving plates 410 of the two centering structures 400, the loading / unloading device 10 of this application is also equipped with a detection component 430. The detection component 430 is disposed on the receiving plate 410 and extends along the first direction. When the AGV trolley 30 conveys the material rack 20 to the loading / unloading device 10, the detection component 430 first detects the size of the material rack 20 to determine whether the receiving plate 410 can support the material rack 20.

[0096] If the detection component 430 detects that the receiving plate 410 can receive the rack 20, the AGV trolley 30 can place the rack 20 on the receiving plate 410. Then, the centering component 420 moves to center the rack 20. If the detection component 430 detects that the receiving plate 410 cannot receive the rack 20, it indicates that the rack 20 is being conveyed incorrectly. Moreover, after the receiving plate 410 receives the rack 20, the detection component 430 can also detect the position of the rack 20 to determine which direction the rack 20 is deviating from. Then, the centering component 420 controls the movement distance of the receiving plate 410 to adjust the position of the rack 20 and achieve centering of the rack 20.

[0097] Furthermore, in this application, the detection component 430 directly contacts the rack 20 to determine whether the receiving plate 410 can support the rack 20 and the position of the rack 20. One end of the detection component 430 protrudes from the receiving plate 410 towards the first central axis O1. Thus, the detection component 430 can first detect whether the receiving plate 410 can support the rack 20 before the rack 20 rests on the telescopic fork 320. Of course, in other embodiments of this application, the detection component 430 may not contact the rack 20; instead, the detection component 430 may determine whether the receiving plate 410 can support the rack 20 and the position of the rack 20 using laser or infrared light.

[0098] See also Figure 1 , Figure 3 , Figure 8 and Figure 11 In one embodiment, the receiving plate 410 includes a receiving main plate 411 and receiving end plates 412. The receiving main plate 411 extends along a third direction, and the receiving end plates 412 are disposed at both ends along the third direction. Furthermore, one receiving end plate 412 is connected to the output end of the centering component 420, and the other receiving end plate 412 is slidably disposed on the support plate 231. Thus, the receiving main plate 411 can support the material rack 20, and when the centering component 420 outputs movement along the first direction, it can drive the receiving end plates 412 to move the supporting body along the first direction, thereby achieving the centering of the material rack 20.

[0099] See also Figure 1 , Figure 3 , Figure 8 and Figure 11 In one embodiment, the centering assembly 420 includes a centering drive member 421 and a centering transmission member 422. The centering drive member 421 is disposed on the lifting structure 200, and the centering transmission member 422 is drivingly connected to the centering drive member 421 and the receiving plate 410. The centering drive member 421 is the power source of the centering assembly 420 and is disposed on the support plate 231 of the lifting structure 200. The centering transmission member 422 is disposed along a first direction and outputs movement along the first direction. The centering transmission member 422 is drivingly connected to the output end of the centering drive member 421 and one of the receiving end plates 412 of the receiving plate 410.

[0100] When the centering drive member 421 moves, it can drive the centering transmission member 422 to output movement along a first direction. The centering transmission member 422 can drive the receiving plate 410 to move along the first direction, so that the two receiving plates 410 can move closer to each other or further away from each other. Moreover, the centering drive member 421 and the centering transmission member 422 are located below the receiving plate 411, which reduces the space occupied by the centering assembly 420. Optionally, the centering drive member 421 is a combination of a motor and a reducer, etc.

[0101] See also Figure 1 , Figure 8 and Figure 11 In one embodiment, the centering transmission member 422 is a gear and rack component, which includes a centering gear 4221 and a centering rack 4222. The centering rack 4222 is disposed along a first direction on the receiving end plate 412 of the receiving plate 410. The centering gear 4221 is disposed at the output end of the centering drive member 421 and meshes with the centering rack 4222. When the centering drive member 421 drives the centering gear 4221 to rotate, the centering gear 4221 can drive the centering rack 4222 to move along the first direction, thereby causing the centering rack 4222 to drive the receiving plate 410 to move along the first direction.

[0102] In other embodiments of this application, the centering transmission component 422 may also be a ball screw component, which has the same structure and principle as the ball screw component in the lifting structure 200 described above, and will not be repeated here. Of course, the centering transmission component 422 may also be other components capable of outputting linear motion.

[0103] See also Figure 1 , Figure 3 , Figure 8 and Figure 11 In one embodiment, the detection component 430 includes a support frame 431, a retractable detection probe 432, and a detection body 433. The support frame 431 is disposed on a receiving plate 410. The detection probe 432 extends toward the material rack 20 and is able to abut against the side wall of the material rack 20. The detection body 433 is connected to the detection probe 432. The support frame 431 is a component that supports the detection component 430 and is disposed on the receiving plate 410. The detection probe 432 and the detection body 433 are respectively disposed on the support frame 431.

[0104] The detection probe 432 extends toward the first central axis O1 and is connected to the detection body 433. After the material rack 20 contacts the detection probe 432, it can compress the detection probe 432. The detection probe 432 can generate a touch signal and feed it back to the detection body 433. The detection body 433 can generate detection information based on the touch signal and feed it back to the controller. The controller can determine whether the receiving plate 410 can support the material rack 20 based on the detection information.

[0105] Furthermore, after the receiving plate 410 receives the material rack 20, when the centering assembly 420 drives the receiving plate 410 to move along the first direction, the material rack 20 will continue to compress the detection probe 432. Each detection probe 432 can feed back the length of its compression to the controller through the detection body 433. The controller can determine which side the material rack 20 is tilted to based on the compression length of the detection probe 432, and then control the movement distance of the centering assembly 420 along the first direction to achieve centering of the material rack 20. Optionally, the detection body 433 is a photoelectric sensor, etc., and the detection probe 432 is a touch probe.

[0106] See also Figure 1 and Figure 11 In one embodiment, the centering component 420 further includes an abutment member 425, which is disposed on the receiving plate 410 along a third direction and has a predetermined distance from the edge of the receiving plate 410 in a first direction. The abutment member 425 can abut against the side wall of the material rack 20. After the receiving plate 410 receives the material rack 20, the abutment member 425 faces the side of the material rack 20. When the two receiving plates 410 approach each other along the first direction, the abutment member 425 can push the material rack 20 to move, and the two abutment members 425 can clamp the material rack 20 to adjust the position of the material rack 20 and achieve centering of the material rack 20.

[0107] In this embodiment, the abutment 425 is a rolling element. The rolling element is a roller that can abut against the material rack 20 and push the material rack 20. Of course, in other embodiments of this application, the abutment 425 may be a stop protrusion, etc., as long as it can push the material rack 20 to move.

[0108] See also Figure 1 and Figure 11 In one embodiment, the centering component 420 further includes a first sliding member 423 and a second sliding member 424. The first sliding member 423 is disposed on the lifting structure 200 along a first direction, and the second sliding member 424 is disposed on the receiving plate 410 and slidably disposed on the first sliding member 423. The first sliding member 423 is disposed on the support plate 231 along the first direction, and the second sliding member 424 is disposed on the receiving end plate 412 and slidably disposed on the first sliding member 423. When the centering drive member 421 drives the centering gear 4221 to move the centering rack 4222 along the first direction, the receiving plate 410 can drive the second sliding member 424 to move along the first sliding member 423, so as to ensure that the receiving plate 410 moves accurately along the first direction.

[0109] See also Figure 9For example, the first sliding member 423 is a guide rail, and the second sliding member 424 is a guide slider, with the guide slider slidably disposed on the guide rail. Of course, in other embodiments of this application, the first sliding member 423 may be a guide slider, the second sliding member 424 may be a guide rail, or the first sliding member 423 and the second sliding member 424 may be a rail and a groove, or other structures that can achieve sliding engagement.

[0110] See also Figure 1 and Figure 11 In one embodiment, the centering component 420 further includes two limiting members 426, which are spaced apart on the receiving plate 410 along a first direction. The receiving plate 410 has a limiting portion 413 protruding along a third direction. The limiting portion 413 is located between the two limiting members 426 and can move between the two limiting members 426.

[0111] The receiving plate 410 has a limiting part 413 on the side opposite to the centering rack 4222, and the limiting part 413 protrudes from the receiving end plate 412 in a third direction. Two limiting members 426 protrude from the support plate 231, and there is a certain distance between them in the first direction. The limiting part 413 is located between the two limiting members 426, and the two limiting members 426 abut against the limiting part 413 to stop the limiting part 413 from moving downward, so as to prevent the receiving plate 410 from overtraveling in the first direction.

[0112] Optionally, the two limiting members 426 and the limiting portion 413 are limiting protrusions, such as the limiting portion 413. Of course, in other embodiments of this application, the two limiting members 426 may also be limit switches, etc.

[0113] See also Figure 1 , Figure 3 , Figure 4 and Figure 10 In one embodiment, the loading and unloading device 10 further includes a positioning structure (not shown), which includes a first positioning member 510 and a second positioning member 520. The first positioning member 510 is disposed at the bottom of the mounting frame 100, and the second positioning member 520 is disposed at the loading and unloading device 40. The first positioning member 510 and the second positioning member 520 cooperate to position the device.

[0114] The first positioning component 510 is located at the bottom of the mounting frame 100, and the second positioning component 520 is located at the end of the loading / unloading device 40 near the exit. After the AGV trolley 30 transports the loading / unloading device 10 to the loading / unloading device 40, the first positioning component 510 and the second positioning component 520 are set accordingly. This enables precise positioning of the loading / unloading device 10 and the AGV trolley 30, so that the first central axis O1 of the loading / unloading device 10 coincides with the third central axis O3 of the loading / unloading device 40, which facilitates the loading / unloading device 10 to transport the rack 20 into the installation space 401.

[0115] Moreover, the second positioning component 520 can be installed and leveled according to the actual position of each loading / unloading device 40, so that the positions of the loading / unloading device 10 and the corresponding loading / unloading devices 40 are uniform after positioning, and the first central axis O1 of the loading / unloading device 10 coincides with the third central axis O3 of the loading / unloading device 40.

[0116] See also Figure 1 , Figure 4 and Figure 10 In one embodiment, there are two first positioning members 510, located on the side of the mounting frame 100 extending toward the telescopic forks 320. Correspondingly, there are also two second positioning members 520, which are correspondingly arranged with the first positioning members 510. Of course, in other embodiments of this application, other numbers of first positioning members 510 may be provided at the bottom of the mounting frame 100, and the other numbers of first positioning members 510 still cooperate with the two second positioning members 520.

[0117] See also Figure 1 , Figure 4 and Figure 10 In one embodiment of this application, the first positioning element 510 is a positioning sleeve with a positioning hole, and the second positioning element 520 is a positioning rod. After the loading / unloading device 10 is transported to the loading / unloading equipment 40, the positioning sleeve and the positioning rod cooperate to achieve the positioning of the loading / unloading device 10. Of course, in other embodiments of this application, the first positioning element 510 may be a positioning rod, and the second positioning element 520 may be a positioning sleeve with a positioning hole.

[0118] In one embodiment, the loading / unloading device 10 further includes a charging component disposed in the mounting frame 100 or the lifting structure 200. The charging component supplies power to the lifting structure 200 and the centering structure 400; the charging component has a charging interface for charging. The charging component is a lithium battery or other type of rechargeable battery.

[0119] The charging component is housed within the mounting housing 230, which protects it. After charging, the charging component supplies power to the electrical components in the lifting structure 200 and the centering structure 400, enabling them to perform their respective operations. Furthermore, when the charging component's power is depleted or low, the AGV trolley 30 can transport the loading / unloading device 10 to the charging station to recharge the charging component.

[0120] See also Figures 1 to 6The loading and unloading device 10 of this application is used as follows: the AGV trolley 30 transports the loading and unloading device 10 from the charging station to the equipment to be loaded and unloaded 40, and positions the loading and unloading device 10 by the first positioning member 510 and the second positioning member 520 so that the first central axis O1 of the loading and unloading device 10 coincides with the third central axis O3 of the equipment to be loaded and unloaded 40. Then, the loading and unloading device 10 cooperates with the AGV trolley 30 to perform loading and unloading operations.

[0121] Two lifting structures 200 achieve lifting through the cooperation of a lifting drive component and a lifting transmission component 220 (which is a ball screw component). Furthermore, the two lifting structures 200 are synchronously driven by a transmission belt 223 to achieve unified lifting. A transition component 240 is installed on the screw nut in the lifting drive component. The transition component 240 in both lifting structures 200 is connected to the connecting component 310 of the feeding structure 300. The connecting component 310 is connected to the telescopic fork 320, and the lifting structure 200 drives the telescopic fork 320 to move vertically. Two centering structures 400 are located at the top of the lifting structures 200 and are independently controlled.

[0122] During loading, the detection component 430 determines whether the material rack 20 can fall onto the receiving plate 410. Once it is confirmed that it can be received, the receiving plate 410 receives and supports the material rack 20, and the AGV trolley 30 lowers the material rack 20 and exits. Then, the centering drive component 421 drives the receiving plate 410 and the abutment component 425 to move via the centering transmission component 422, adjusting the position of the material rack 20 to achieve centering, so that the second central axis O2 of the material rack 20 is substantially aligned with the first central axis O1 of the loading / unloading device 10.

[0123] After centering, the lifting structure 200 drives the telescopic fork 320 to rise and receive the material rack 20. The centering structure 400 retracts, and the lifting structure 200 drives the telescopic fork 320 to descend, transporting the material rack 20 to the installation space 401. Furthermore, after the AGV trolley 30 transports the material rack 20 to the loading / unloading device 10, the AGV trolley 30 moves the next material rack 20 and begins the next round of loading. It is worth noting that the unloading process of the material rack 20 is the reverse of the loading process, which will not be elaborated further here.

[0124] In one embodiment, the installation space 401 of the loading / unloading device 40 is provided with a track 402 extending in a third direction, and the bottom of the material rack 20 has a rollable roller 201. The loading and unloading of multiple material racks 20 are realized through the cooperation of the roller 201 and the guide rail. When the loading / unloading device 10 loads materials, the roller 201 of the material rack 20 is exactly located in the track 402.

[0125] See also Figure 2Generally, three material racks 20 are placed in the installation space 401 of the loading and unloading equipment 40. When the loading and unloading device 10 conveys the first material rack 20, the first material rack 20 is located at one end of the installation space 401. When conveying the second material rack 20, the second material rack 20 can push the first material rack 20 to move along the track 402. When conveying the third material rack 20, the third material rack 20 can push the second material rack 20 to move along the track 402.

[0126] During unloading, the loading / unloading device 10 first removes the third rack 20. Then, the loading / unloading device 10 moves the second rack 20 to the end of the child mounting space 401 by hooking the bottom of the second rack 20 through the hook 321 of the telescopic fork 320. After that, the loading / unloading device 10 removes the second rack 20, and repeats the above process of removing the first rack 20. Of course, in other embodiments of this application, the number of racks 20 required by the loading / unloading device 40 may be other than that, which will not be described in detail here.

[0127] The loading / unloading device 10 of this application uses a lifting structure 200 to drive a telescopic fork 320 to move in a second direction, adapting to height differences between different loading / unloading devices 40 and meeting the loading / unloading needs of different devices 40. The automatic telescopic fork 320, in conjunction with the lifting structure 200, facilitates the loading / unloading of the rack 20 from the installation space 401. Furthermore, a centering structure 400 is provided on the lifting structure 200. This centering structure 400 supports the rack 20 and adjusts its position to achieve centering, meeting the loading position requirements of the devices 40. Moreover, the loading / unloading device 10 and the devices 40 are precisely positioned using a first positioning component 510 and a second positioning component 520, ensuring accurate loading. Additionally, the loading / unloading device 10 includes a charging component, which is automatically charged by an AGV trolley 30 transporting the device 10 to a charging station.

[0128] See also Figure 2 , Figure 5 and Figure 6 This application also provides a transportation device, including an AGV trolley 30 and a loading / unloading device 10 of any of the above embodiments. The loading / unloading device 10 loads a material rack 20. The AGV trolley 30 receives the loading / unloading device 10 and transports the loading / unloading device 10 and the material rack 20 to a preset position.

[0129] The AGV trolley 30 transports the loading / unloading device 10 to the loading / unloading equipment 40, and then fixes the AGV trolley 30 at the front end of the loading / unloading equipment 40. Then, the AGV trolley 30 moves the previous material rack 20 to the loading / unloading device 10. At the same time, the AGV trolley 30 moves the next material rack 20. After the loading / unloading device 10 transports the previous material rack 20 to the loading / unloading equipment 40, the loading / unloading device 10 transports the next material rack 20. That is, while the loading / unloading device 10 is transporting the previous material rack 20, the AGV trolley 30 is transporting the next material rack 20. In this way, the continuous transport of the material rack 20 can be achieved, and the transport efficiency of the material rack 20 can be improved.

[0130] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A loading and unloading device, characterized in that, include: Mounting framework; Two lifting structures are spaced apart on the mounting frame along a first direction and are capable of outputting lifting motion along a second direction; A feeding structure is located between the two lifting structures and connected to the output ends of the two lifting structures. The feeding structure can extend out of the lifting structure in a third direction perpendicular to the first direction and the second direction, for conveying the material rack to the loading / unloading equipment or removing the material rack from the loading / unloading equipment. as well as Two centering structures are provided, each of which is movably mounted on a lifting structure. The two centering structures are symmetrically arranged and move closer to or further away from each other along the first direction. When the two centering structures move closer to each other, each centering structure can abut against the outer wall of the material rack to achieve centering.

2. The loading and unloading device according to claim 1, characterized in that, The centering structure includes a receiving plate, a centering component, and a detection component. The centering component is disposed on the lifting structure, and the output end of the centering component is connected to the receiving plate. The detection component is disposed on the receiving plate and extends toward the material rack. The detection component can abut against the side wall of the rack, the receiving plate can support the edge of the rack, and the centering component can drive the receiving plate to move closer to or away from the rack.

3. The loading and unloading device according to claim 2, characterized in that, The centering component includes a centering drive component and a centering transmission component. The centering drive component is disposed on the lifting structure, and the centering transmission component is drivingly connected to the receiving plate. The centering transmission component is a gear and rack component or a ball screw component. And / or, the detection assembly includes a support frame, a retractable detection probe, and a detection body. The support frame is disposed on the receiving plate, the detection probe extends toward the material rack and is able to abut against the side wall of the material rack, and the detection body is transmittedly connected to the detection probe.

4. The loading and unloading device according to claim 3, characterized in that, The loading and unloading device includes at least one of the following features: The first item, the centering structure further includes an abutment member, which is disposed on the receiving plate along the third direction and has a preset distance from the edge of the receiving plate in the first direction, and the abutment member can abut against the side wall of the material rack; The abutment is a stop protrusion, or the abutment is a rolling element; Secondly, the centering component further includes a first sliding member and a second sliding member. The first sliding member is disposed on the lifting structure along the first direction, and the second sliding member is disposed on the receiving plate and slidably disposed on the first sliding member. Thirdly, the centering component further includes two limiting members, which are spaced apart on the receiving plate along the first direction. The receiving plate has a limiting portion protruding along a third direction, which is located between the two limiting members and can move between the two limiting members.

5. The loading and unloading device according to any one of claims 1 to 4, characterized in that, The lifting structure includes a support part, a lifting drive component, and a lifting transmission component. The support part is arranged along the second direction, the lifting drive component is arranged on the mounting frame, and the lifting transmission component is arranged along the second direction on the support part and is connected to the feeding structure. The lifting transmission component is a ball screw component, a gear and rack transmission component, or a belt transmission component.

6. The loading and unloading device according to claim 5, characterized in that, The lifting structure includes at least one of the following features: In the first aspect, the two lifting structures are driven by a unified lifting drive component, and the lifting drive component also includes a drive shaft and a drive belt. The drive shaft is located at the end of the lifting drive component, and the drive belt drives the drive shafts of the two lifting structures; or, each lifting structure corresponds to one lifting drive component. Secondly, the lifting structure further includes a support plate, which is disposed on the top of the support portion and is used to install the centering structure; Thirdly, the lifting structure further includes two side plates and a baffle. The two side plates are arranged on both sides of the support part along the first direction, and the baffle is arranged on the side of the support part away from the material rack. Fourthly, the lifting structure further includes a guide assembly and a connecting component. The guide assembly includes a first guide member and a second guide member. The first guide member is disposed on the support part along the second direction. The connecting component connects the lifting transmission member, the second guide member, and the feeding structure. The second guide member is slidably disposed on the first guide member. Fifthly, the lifting structure has at least two guide components, which are spaced apart along the third direction. The lifting structure also includes a transfer component, which connects to the output ends of at least two of the guide components and is also connected to the feeding structure.

7. The loading and unloading device according to any one of claims 1 to 4, characterized in that, The feeding structure includes a connecting component and a telescopic fork. The connecting component connects the output ends of the two lifting structures, and the telescopic fork is disposed on the connecting component and extends along the third direction. The telescopic fork has a hook at the end away from the connecting component, the hook protruding from the top surface of the telescopic fork for hooking the material rack.

8. The loading and unloading device according to any one of claims 1 to 4, characterized in that, The loading and unloading device further includes a positioning structure, which includes a first positioning component and a second positioning component. The first positioning component is disposed at the bottom of the mounting frame, and the second positioning component is disposed at the loading and unloading equipment. The first positioning component and the second positioning component cooperate to position the equipment. The first positioning element and the second positioning element are a positioning sleeve and a positioning post with positioning holes.

9. The loading and unloading device according to any one of claims 1 to 4, characterized in that, The loading and unloading device also includes a charging component, which is disposed in the mounting frame or the lifting structure; The charging component supplies power to the lifting structure and the centering structure; the charging component has a charging interface for charging.

10. A transportation device, characterized in that, The device includes an AGV (Automated Guided Vehicle) and a loading / unloading device as described in any one of claims 1 to 9, wherein the loading / unloading device loads a material rack, the AGV receives the loading / unloading device, and transports the loading / unloading device and the material rack to a preset position.

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