Transfer device for docking main equipment and automated guided vehicles.

Abstract

This utility model discloses a transfer device for docking main equipment and unmanned transport vehicles (ARTV). The transfer device includes a body, a steering mechanism, and a moving mechanism. During the loading process, the moving mechanism transfers the tray from the ARTV's placement position to the workstation. The steering mechanism drives the tray transferred from the ARTV to the workstation to rotate so that the rotated tray matches the placement position of the main equipment. The moving mechanism also transfers the rotated tray to the main equipment's placement position. During the unloading process, the moving mechanism transfers the tray from the main equipment's placement position to the workstation. The steering mechanism drives the tray transferred from the main equipment to the workstation to rotate so that the rotated tray matches the placement position of the ARTV. The moving mechanism then transfers the rotated tray to the ARTV's placement position. This device enables tray docking between the main equipment and the ARTV, improving the ARTV's operational efficiency, saving manpower, and reducing safety risks. It can be applied in assembly workshops.

Description

Technical Field

[0001] This utility model relates to the field of production and processing, and in particular to a transfer device for docking main equipment and unmanned transport vehicles. Background Technology

[0002] In related technologies, the production process of products such as mobile phones often requires the handling of materials. Currently, Automated Guided Vehicles (AGVs) can be used to transport materials. Specifically, the current operation method is as follows: after the AGV arrives at the designated location, the operator manually takes the material tray from the AGV, adjusts the orientation of the tray, and then places the tray on the main equipment. The trays on the main equipment are also manually moved to the AGV. However, the above operation method affects the utilization rate of AGVs, requires manual transfer of trays, increases logistics manpower, and poses safety risks due to manual interaction with AGVs. Utility Model Content

[0003] This utility model provides a transfer device for docking main equipment and unmanned transport vehicle to solve at least one of the above-mentioned technical problems.

[0004] This utility model provides a transfer device for docking main equipment with an unmanned transport vehicle. The transfer device includes a body, a steering mechanism, and a moving mechanism, wherein the steering mechanism and the moving mechanism are disposed on the body. The machine body is equipped with workstations; During the loading process, the moving mechanism is used to transfer the tray from the unmanned transport vehicle placement position to the workstation, and the turning mechanism is used to drive the tray transferred from the unmanned transport vehicle to the workstation to turn so that the turned tray is adapted to the main equipment placement position. The moving mechanism is also used to transfer the turned tray to the main equipment placement position. During the unloading process, the moving mechanism is used to transfer the tray from the main equipment placement position to the work station, and the turning mechanism is used to drive the tray transferred from the main equipment to the work station to turn so that the turned tray is adapted to the unmanned transport vehicle placement position. The moving mechanism is also used to transfer the turned tray to the unmanned transport vehicle placement position.

[0005] The aforementioned transfer device enables the docking of material trays between the main equipment and the unmanned transport vehicle (AGV), thereby improving the utilization rate of the AGV, saving manpower and reducing safety risks. It can be applied to the intelligent online technology of AGV movement in the assembly workshop.

[0006] In some embodiments, the transfer device further includes a lifting mechanism connected to the steering mechanism. The steering mechanism has a raised position and a lowered position. In the raised position, the steering mechanism is used to lift the tray to separate the tray from the moving mechanism and to drive the tray to turn. In the lowered position, the steering mechanism is used to release the tray to make the tray contact the moving mechanism. The lifting mechanism is used to drive the steering mechanism to rise and fall, so that the steering mechanism switches between the raised position and the lowered position.

[0007] The aforementioned transfer device can prevent interference between the steering mechanism and the moving mechanism when the steering mechanism drives the material tray to turn.

[0008] In some embodiments, the steering mechanism includes a support plate for supporting the tray, the moving mechanism includes a plurality of rollers, and when the steering mechanism is in the lowered position, the support plate is located in the gap between the plurality of rollers, and when the steering mechanism is in the raised position, the support plate is located above the plurality of rollers.

[0009] The aforementioned transfer device can, to a certain extent, ensure the continuity of the reversing transfer operation.

[0010] In some embodiments, the steering mechanism includes a rotating platform mounted on the lifting mechanism, the pallet being connected to the rotating platform, and the rotating platform driving the pallet to rotate so that the steved tray is adapted to the placement position of the unmanned transport vehicle and the placement position of the main equipment.

[0011] The aforementioned transfer device avoids situations where docking fails due to mismatch between the placement of the material tray and the unmanned transport vehicle or the main equipment.

[0012] In some embodiments, the transfer device includes a clamping mechanism, which includes a clamping drive and a clamping member. The clamping drive is connected to the clamping member, and the clamping drive is used to drive the clamping member to clamp the tray located at the work station to adjust the orientation of the tray, and release the tray after the orientation of the tray is adjusted. The steering mechanism is used to drive the material tray to turn after the orientation adjustment.

[0013] In the aforementioned transfer device, the clamping action of the clamping components can be used to correct the movement direction of the material tray at the work station to prevent the material tray from shifting.

[0014] In some embodiments, the machine body includes a guiding mechanism, which is located at the inlet and outlet of the workstation. The guiding mechanism includes two guide members, each guide member having a first end and a second end. The first end faces outward from the workstation, and the second end faces inward from the workstation. Along the direction from outside the workstation to inside the workstation, the first end is inclined towards the center line of the workstation, and the second end is inclined away from the center line of the workstation.

[0015] The aforementioned transfer device can correct the direction of the material tray's movement, ensuring to a certain extent that the tray moves along a preset path.

[0016] In some embodiments, the transfer device includes a blocking mechanism disposed on the machine body. The blocking mechanism includes a blocking drive and a blocking member. The blocking drive is connected to the blocking member. The blocking drive is used to drive the blocking member to be located on the moving path of the tray at the station and to move the tray out of the moving path of the tray at the station. When the blocking member is located on the moving path of the tray at the station, the blocking member is used to block the tray so that the tray stops on the turning mechanism.

[0017] The aforementioned transfer device can intercept the material tray 700 in a timely manner to complete the turning operation.

[0018] In some embodiments, the transfer device includes a detection mechanism, which includes a detection element disposed on at least one side of the workstation, and the detection element is used to detect whether the tray is located on the turning mechanism.

[0019] The aforementioned transfer device improves the operational accuracy of the steering mechanism in driving the material tray to turn to a certain extent.

[0020] In some embodiments, the detection mechanism includes a plurality of detection elements arranged along the moving direction of the tray. Each detection element includes a light emitter and a light receiver, which are located on opposite sides of the workstation. The light emitter and the light receiver are correspondingly arranged perpendicular to the moving direction of the tray.

[0021] In the aforementioned transfer device, the operational accuracy of the steering mechanism driving the material tray to turn is further improved.

[0022] In some embodiments, the transfer device includes a control component and a protective mechanism for transmitting detection signals to the inlet and outlet of the workstation; The control component is used to communicate with the unmanned transport vehicle. During the loading and unloading processes, the unmanned transport vehicle is used to continuously send interactive signals to the control component, and the control component is used to close the protective mechanism according to the interactive signals. After the interaction signal ends, the control component is used to open the protective mechanism so that the protective structure emits the detection signal; The protective mechanism is used to control the relay device to issue an alarm and / or control the relay device to stop working when the detection signal is blocked.

[0023] The aforementioned transfer devices enhance the safety of the transfer system to a certain extent.

[0024] Additional aspects and advantages of the embodiments of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The above and / or additional aspects and advantages of this invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 and Figure 2 This is a schematic diagram of the scene when the unmanned transport vehicle, transfer device and main equipment are docked according to the embodiment of this utility model; Figure 3 This is a partial structural schematic diagram of the transfer device according to an embodiment of the present utility model; Figure 4 and Figure 5 This is a partial structural schematic diagram of the transfer device according to an embodiment of the present utility model; Figure 6 This is a partially exploded schematic diagram of the transfer device according to an embodiment of the present invention.

[0026] Explanation of key component symbols: Material tray - 700, main equipment - 500, second placement position - 502, unmanned transport vehicle - 300, first placement position 302, transfer device - 100; Machine body -10, workstation -12; Steering mechanism-20, rotating platform-21, pallet-23; Moving mechanism-30, roller-32, moving drive component-34, transmission structure-36, sprocket-361, chain-363; Lifting mechanism -40; Clamping mechanism-50, clamping drive-52, clamping component-54; Blocking mechanism-60, blocking drive-61, blocking component-63; Testing agency - 70, Test item - 72; Protective mechanism-80, transmitter-81, receiver-83; Guide mechanism-90, guide component-92, first end-921, second end-923. Detailed Implementation

[0027] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0028] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0030] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0031] This disclosure provides many different embodiments or examples for implementing various structures of the present invention. To simplify the disclosure, specific examples of components and arrangements are described herein. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0032] Please see Figures 1 to 6 This utility model provides a transfer device 100 for docking main equipment 500 and unmanned transport vehicle 300. The transfer device 100 includes a body 10, a steering mechanism 20 and a moving mechanism 30, which are mounted on the body 300. The body is provided with a workstation 12.

[0033] During the loading process, the moving mechanism 30 is used to transfer the tray 700 from the unmanned transport vehicle 300 to the workstation 12, and the turning mechanism 20 is used to drive the tray 700 transferred from the unmanned transport vehicle 300 to the workstation 12 to turn so that the turned tray 700 is adapted to the main equipment 500 placement position. The moving mechanism 30 is also used to transfer the turned tray 700 to the main equipment 500 placement position.

[0034] During the unloading process, the moving mechanism is used to transfer the material tray 700 from the main equipment placement position to the work station, and the turning mechanism is used to drive the material tray 700 transferred from the main equipment to the work station to turn so that the turned material tray 700 is adapted to the unmanned transport vehicle placement position. The moving mechanism is also used to transfer the turned material tray 700 to the unmanned transport vehicle placement position.

[0035] The aforementioned transfer device enables the docking of the pallet 700 between the main equipment 500 and the unmanned transport vehicle 300, thereby improving the utilization rate of the unmanned transport vehicle 300, saving manpower, and reducing safety risks.

[0036] Specifically, please combine Figure 1 and Figure 2 The Automated Guided Vehicle (AGV) 300 is an intelligent logistics device based on autonomous navigation technology. It can automatically travel along a preset path and complete material handling tasks without human intervention. The main equipment 500 is responsible for material storage and management during the production process. It can store raw materials, processed materials, etc., providing material supply for subsequent processing, assembly, and sorting stages. The AGV 300 can work collaboratively with the main equipment 500 to complete loading and unloading operations.

[0037] Please combine Figure 1 and Figure 2 Both the unmanned transport vehicle 300 and the main equipment 500 include placement positions, with the placement position of the unmanned transport vehicle 300 being the first placement position 302 and the placement position of the main equipment 500 being the second placement position 502.

[0038] In related technologies, the actual operating process of an automated guided vehicle (AGV) is generally as follows: After the AGV travels to the designated location according to a preset route, it enters a waiting state. When loading materials, the operator needs to manually remove the pallet from the AGV and adjust its orientation to ensure it meets the placement requirements of the main equipment. Then, the adjusted pallet is placed into the main equipment. Similarly, when unloading materials, the operator also needs to manually move the pallet from the main equipment to the AGV and adjust its orientation.

[0039] However, the above-mentioned operating methods have several problems. First, operators cannot predict in advance when the automated guided vehicle (AGV) will need to load or unload materials, resulting in insufficient preparation. Often, operators only begin hasty operations after the AGV has arrived at the designated location, severely impacting its utilization rate and preventing it from fully realizing its high-efficiency transportation advantages. Second, the entire material handling process requires significant manual intervention for changing the direction of pallets, increasing logistics labor costs. Furthermore, manual operation is relatively inefficient and prone to errors. Third, because the AGV has a certain speed and inertia during operation, slight carelessness during docking could lead to collisions, crushing, or other safety accidents, posing a safety risk.

[0040] In this embodiment of the invention, the transfer device 100 is used for the redirection and transfer of materials between the unmanned transport vehicle 300 and the main equipment 500. This allows the unmanned transport vehicle 300 and the main equipment 500 to interact and work collaboratively, thus enabling the docking of the pallets 700 between the main equipment 500 and the unmanned transport vehicle 300 without manual intervention. This saves manpower, improves the utilization rate of the unmanned transport vehicle 300 to a certain extent, and reduces the safety risks associated with operators docking with the unmanned transport vehicle 300. The unmanned transport vehicle 300, the transfer device 100, and the main equipment 500 can communicate wirelessly (such as via Bluetooth, WIFI, etc.) for intelligent interaction.

[0041] Please combine Figures 3 to 6 The transfer device 100 includes a body 10, and a steering mechanism 20 and a moving mechanism 30 are provided in the area where the workstation 12 of the body 10 is located. The steering mechanism 20 may be located in the middle of the moving mechanism 30. The moving mechanism 30 can drive the tray 700 to move in the back-and-forth direction in the workstation 12. When the moving mechanism 30 drives the tray 700 to move onto the steering mechanism 20, the steering mechanism 20 can drive the tray 700 to turn so as to match the placement position of the main equipment 500 and the placement position of the unmanned transport vehicle 300. After the tray 700 turns, the moving mechanism 30 drives the tray 700 to continue moving.

[0042] In this embodiment of the invention, the loading process refers to transferring the tray 700 on the unmanned transport vehicle 300 to the main equipment 500 via the transfer device 100, and the unloading process refers to transferring the tray 700 on the main equipment 500 to the unmanned transport vehicle 300 via the transfer device 100. In one embodiment, when the main equipment 500 is loading, the unmanned transport vehicle 300 moves along a preset trajectory to a position where it docks with the transfer device 100. The moving mechanism 30 then starts working, driving the tray 700 from its placement position on the unmanned transport vehicle 300 to its workstation 12 on the transfer device 100. When the moving mechanism 30 drives the tray 700 to the turning mechanism 20, the moving mechanism 30 stops working, and the turning mechanism 20 drives the tray 700 to turn to match the placement position on the main equipment 500. After the tray 700 turns, the moving mechanism 30 restarts working, driving the tray 700 to continue moving to the placement position on the main equipment 500, thereby completing the loading process.

[0043] While the main equipment 500 is unloading materials, the automated guided vehicle (AGV) 300 moves along a preset trajectory to the docking position with the transfer device 100. The moving mechanism 30 of the transfer device 100 then activates, driving the material tray 700 from its placement position on the main equipment 500 to its workstation 12 on the transfer device 100. When the moving mechanism 30 drives the material tray 700 onto the steering mechanism 20, the moving mechanism 30 stops, and the steering mechanism 20 drives the material tray 700 to turn and align with the placement position of the AGV 300. After the material tray 700 turns, the moving mechanism 30 restarts, driving the material tray 700 to continue moving and transferring it to the placement position of the AGV 300, thus completing the unloading process.

[0044] In one embodiment, the tray 700 is generally rectangular in shape. Please refer to... Figure 1 and Figure 2 The orientation of the material tray 700 is such that when the tray is in the first placement position 302, its length direction is along the front-to-back direction, and when the tray is in the second placement position 502, its length direction is along the left-to-right direction. Therefore, the tray 700 needs to be turned by the turning mechanism 20 so that the tray 700 can be docked between the first placement position 302 and the second placement position 502.

[0045] exist Figure 1 and Figure 2 In this invention, the unmanned transport vehicle 300 has two first placement positions 302, the transfer device 100 has two workstations 12, and the main equipment 500 has two second placement positions 502. The transfer device 100 can simultaneously perform loading at one workstation 12 and unloading at the other workstation 12, thereby improving work efficiency. It is understood that this invention does not limit the specific number of the first placement positions 302, workstations 12, and second placement positions 502.

[0046] It is understandable that if the first placement position 302 and the second placement position 502 place the material tray 700 in the same direction, the steering mechanism 20 can be turned off so that the material tray 700 moves in the same direction when docking.

[0047] In some embodiments, the transfer device 100 further includes a lifting mechanism 40 connected to a steering mechanism 20. The steering mechanism 20 has a raised position and a lowered position. In the raised position, the steering mechanism 20 is used to lift the tray 700 to separate the tray 700 from the moving mechanism 30 and to drive the tray 700 to rotate. In the lowered position, the steering mechanism 20 is used to release the tray 700 to contact the moving mechanism 30. The lifting mechanism 40 drives the steering mechanism 20 to move up and down, switching the steering mechanism 20 between the raised and lowered positions.

[0048] In this way, interference between the steering mechanism 20 and the moving mechanism 30 can be avoided when the steering mechanism 20 drives the material tray 700 to turn.

[0049] Specifically, please combine Figure 6 The steering mechanism 20 is located above and is vertically connected to the lifting mechanism 40. The lifting mechanism 40 can drive the steering mechanism 20 to move vertically to switch between a raised position and a lowered position. When the lifting mechanism 40 drives the steering mechanism 20 to the raised position, the steering mechanism 20 can move the material tray 700 upward to move away from the moving mechanism 30 and drive the material tray 700 to turn, thus avoiding interference between the material tray 700 and the moving mechanism 30 or other components of the transfer device 100, ensuring that the material tray 700 is not disturbed when turning. After the material tray 700 turns, the lifting mechanism 40 can drive the steering mechanism 20 downward to the lowered position, causing the material tray 700 to contact the moving mechanism 30 and separate from the steering mechanism 20, so that the moving mechanism 30 can drive the material tray 700 to move.

[0050] The lifting mechanism 40 includes, but is not limited to, cylinders.

[0051] In some embodiments, the steering mechanism 20 includes a support plate 23 for supporting the tray 700, and the moving mechanism 30 includes a plurality of rollers 32. When the steering mechanism 20 is in the lowered position, the support plate 23 is located in the gap between the plurality of rollers 32, and when the steering mechanism 20 is in the raised position, the support plate 23 is located above the plurality of rollers 32.

[0052] In this way, the continuity of the diversion and transfer operation can be guaranteed to a certain extent.

[0053] Specifically, please combine Figure 4 and Figure 6 The pallet 23 is located above the lifting mechanism 40 and is movably connected to the lifting mechanism 40. The lifting mechanism 40 can drive the pallet 23 to move in the up and down direction to switch between a lowering position and a raising position. Multiple rollers 32 of the moving mechanism 30 are provided on the machine body 10 and are arranged at intervals in the front-back direction and the left-right direction, with a certain gap between the multiple rollers 32.

[0054] When the steering mechanism 20 is in the lowered position, the pallet 23 is positioned in the gap between the multiple rollers 32, causing the pallet 23 and rollers 32 to be spatially offset and the pallet 23 to be in a relatively low position. This allows the entire lifting platform and pallet 23 to be housed within the machine body 10, releasing the tray 700 so that it contacts the rollers 32. The tray 700 can then move forward and backward under the action of the rollers 32 to dock between the unmanned transport vehicle 300 and the main equipment 500. When the steering mechanism 20 is in the raised position, the pallet 23 is positioned above the multiple rollers 32, separating the tray 700 from the moving mechanism 30, allowing the steering mechanism 20 to drive the tray 700 to turn. Therefore, during the operation of the transfer device 100, interference between the pallet 23 and rollers 32 can be avoided, preventing jamming and other problems, and ensuring the continuity of the reversing transfer operation to a certain extent.

[0055] The shape of the pallet 23 is adapted to the gap between the multiple rollers 32, so that the pallet 23 can remain in the gap during the descent position before and after turning.

[0056] The moving mechanism 30 also includes a moving drive 34 and a transmission structure 36, wherein the moving drive 34 drives multiple rollers 32 to rotate synchronously via the transmission structure 36. Figure 4 and Figure 5 In this embodiment, the transmission structure 36 includes multiple sprockets 361 and multiple chains 363. One roller 32 is fixedly connected to one sprocket 361, and one chain 363 is sleeved on and meshes with multiple sprockets 361. One sprocket 361 is connected to a moving drive component 34. When the moving drive component 34 is working, it can drive the sprocket 361 to rotate, thereby moving the roller 32, and transmit power to other sprockets 361 through the chains 363 to drive multiple rollers 32 to move synchronously. The moving drive component 34 includes, but is not limited to, a reduction motor.

[0057] In some embodiments, the steering mechanism 20 includes a rotating platform 21, which is mounted on the lifting mechanism 40. The pallet 23 is connected to the rotating platform 21. The rotating platform 21 is used to drive the pallet 23 to rotate so that the turned tray 700 is adapted to the placement position of the unmanned transport vehicle 300 and the placement position of the main equipment 500.

[0058] This avoids situations where docking fails due to mismatch between the placement positions of the material tray 700, the unmanned transport vehicle 300, and the main equipment 500.

[0059] Specifically, due to the small overall size of the automated guided vehicle 300, its placement area is narrow, causing the length direction of the material tray 700 to be parallel to the front-to-back direction when placed. Conversely, the placement area of ​​the main equipment 500 is wider, causing the length direction of the material tray 700 to be parallel to the left-to-right direction when placed. Therefore, when the automated guided vehicle 300 and the main equipment 500 are docked, the material tray 700 needs to rotate 90° midway to fit the placement areas of both the automated guided vehicle 300 and the main equipment 500. In this embodiment of the invention, please refer to... Figure 6 The rotating platform 21 of the steering mechanism 20 is mounted on the lifting mechanism 40. The lifting mechanism 40 can drive the rotating platform 21 to move the pallet 23 in the vertical direction, thereby causing the pallet 23 to move vertically. The rotating platform 21 can drive the pallet 23 to rotate, thereby driving the material tray 700 to rotate, thus realizing automatic steering and avoiding the situation where the material tray 700 does not match the placement position of the unmanned transport vehicle 300 and the placement position of the main equipment 500, which would lead to docking failure.

[0060] During the loading process, the moving mechanism 30 transfers the tray 700 from the unmanned transport vehicle 300's placement position to station 12. When the tray 700 moves to the turning mechanism 20, the lifting mechanism 40 drives the turning mechanism 20 to switch to the raised position. The rotating platform 21 drives the pallet 23 to rotate, causing the tray 700 to turn 90 degrees, so that the length direction of the turned tray 700 is parallel to the left and right directions to fit the placement position of the main equipment 500. Afterward, the lifting mechanism 40 drives the turning mechanism 20 to switch to the lowering position, and the moving mechanism 30 transfers the turned tray 700 to the placement position of the main equipment 500.

[0061] During the unloading process, the moving mechanism 30 transfers the tray 700 from the main equipment 500 placement position to the workstation 12. When the tray 700 moves to the turning mechanism 20, the lifting mechanism 40 drives the turning mechanism 20 to switch to the raised position. The rotating platform 21 drives the pallet 23 to rotate, causing the tray 700 to turn 90 degrees, so that the length direction of the turned tray 700 is parallel to the front-back direction to fit the placement position of the unmanned transport vehicle 300. Afterwards, the lifting mechanism 40 drives the turning mechanism 20 to switch to the lowering position, and the moving mechanism 30 transfers the turned tray 700 to the placement position of the unmanned transport vehicle 300.

[0062] In some embodiments, the transfer device 100 includes a clamping mechanism 50, which includes a clamping drive 52 and a clamping member 54. The clamping drive 52 is connected to the clamping member 54. The clamping drive 52 is used to drive the clamping member 54 to clamp the tray 700 located at the workstation 12 to adjust the orientation of the tray 700, and releases the tray 700 after the orientation adjustment. The steering mechanism 20 is used to drive the tray 700 to turn after the orientation adjustment.

[0063] In this way, the clamping action of the clamping member 54 can be used to correct the movement direction of the material tray 700 at the station 12 to prevent the material tray 700 from shifting.

[0064] exist Figure 6 In this embodiment, the clamping mechanism 50 includes clamping drive members 52 disposed on both sides of the station 12 in the left-right direction, and each clamping drive member 52 is connected to a clamping member 54. When the moving mechanism 30 drives the tray 700 to move in the front-back direction of the station 12 to the turning mechanism 20, the clamping drive members 52 on both sides of the station 12 drive the clamping members 54 to extend in the direction of the station 12, so that the clamping members 54 on both sides clamp the tray 700 located at the station 12 to apply clamping force to the tray 700, and adjust the orientation of the tray 700. The clamping force can prevent the tray 700 from deviating, thereby correcting the moving direction of the tray 700 in the station 12, and to a certain extent ensuring that the tray 700 moves in the driving direction of the moving mechanism 30, avoiding the failure of the tray 700 to change direction due to deviation.

[0065] The clamping drive 52 may include a cylinder. The number of clamping mechanisms 50 can be specifically limited according to actual conditions, and this embodiment of the utility model does not make a specific limitation in this regard. In one example, please refer to... Figure 6 Two clamping mechanisms 50 are set for each workstation 12.

[0066] In some embodiments, the machine body 10 includes a guide mechanism 90, which is located at the inlet and outlet of the workstation 12. The guide mechanism 90 includes two guide members 92, each of which includes a first end 921 and a second end 923. The first end 921 faces outward from the workstation 12, and the second end 923 faces inward from the workstation 12. Along the direction from the outside of the workstation 12 to the inside of the workstation 12, the first end 921 is inclined towards the center line L of the workstation 12, and the second end 923 is inclined away from the center line L of the workstation 12.

[0067] In this way, the direction of movement of the material tray 700 can be corrected, ensuring to a certain extent that the tray moves along the preset movement path.

[0068] It should be noted that station 12 has two openings along the front-to-back direction. During the loading process, the opening closer to the main equipment 500 is the outlet, and the opening closer to the automated guided vehicle 300 is the inlet. During the unloading process, the opening closer to the main equipment 500 is the inlet, and the opening closer to the automated guided vehicle 300 is the outlet.

[0069] Specifically, please combine Figure 4 and Figure 6When the moving mechanism 30 drives the tray 700 to move through the inlet and outlet, the tray 700 will contact the inclined part of the first end 921. The first end 921 will provide a component force to the tray 700 toward the center line L of the station 12, thereby correcting the movement direction of the tray 700, so that the tray 700 moves toward the middle of the station 12 when it enters the station 12. The first end 921 will gradually restrict the movement of the tray 700 in the left and right directions to prevent the tray 700 from deviating from the preset movement path due to inertia or external force, so that the tray 700 can accurately enter the station through the inlet.

[0070] When the moving mechanism 30 drives the tray 700 to move towards the outlet, the tray 700 will contact the second end 923. The second end 923 will provide a component force to the tray 700 towards the center line L of the station 12, thereby correcting the movement direction of the tray 700, so that the tray 700 moves towards the center of the station 12 when it leaves. The second end 923 will gradually restrict the movement of the tray 700 in the left and right directions to prevent the tray 700 from deviating from the preset movement path due to inertia or external force, so that the tray 700 can accurately and conveniently enter the first placement position 302 or the second placement position 502 through the outlet.

[0071] Understandably, the distance between the two guide members 92 can be adjusted according to the length and width of the tray 700. In one embodiment, the distance between the two guide members 92 located near the automated guided vehicle 300 is slightly greater than the width of the tray 700, allowing the tray 700 to enter between the two guide members 92, which can smoothly guide the tray 700 between the workstation 12 and the placement position of the automated guided vehicle 300. In another embodiment, the distance between the two guide members 92 located near the main equipment 500 is slightly greater than the length of the tray 700, allowing the tray 700 to enter between the two guide members 92, which can smoothly guide the tray 700 between the workstation 12 and the placement position of the main equipment 500.

[0072] In some embodiments, the transfer device 100 includes a blocking mechanism 60 disposed on the body 10. The blocking mechanism 60 includes a blocking drive member 61 and a blocking member 63. The blocking drive member 61 is connected to the blocking member 63. The blocking drive member 61 is used to drive the blocking member 63 to be located on the moving path of the tray 700 at the station 12 and to remove the tray 700 from the moving path of the tray 700 at the station 12. When the blocking member 63 is located on the moving path of the tray 700 at the station 12, the blocking member 63 is used to block the tray 700 so that the tray 700 stops on the turning mechanism 20.

[0073] In this way, the material tray 700 can be intercepted in time to complete the turning operation.

[0074] Specifically, when the moving mechanism 30 drives the material tray 700 to move above the steering mechanism 20, the material tray 700 has a certain inertia under the action of the moving mechanism 30, causing it to still tend to move outward from the steering mechanism 20 above it. Therefore, in this embodiment of the invention, please refer to... Figures 3 to 6 The material tray 700 is provided with a blocking mechanism 60 in the movement path of the station 12. When the material tray 700 moves to the turning mechanism 20, the blocking drive member 61 of the blocking mechanism 60 drives the blocking member 63 to move upward to be located in the movement path of the material tray 700 in the station 12, thereby intercepting the material tray 700 and blocking the material tray 700 so that the material tray 700 stays on the turning mechanism 20 to ensure smooth turning.

[0075] The blocking member 63 can be located on the movement path of the tray 700 from the steering mechanism 20 to the placement position of the main equipment 500, and can also be located on the movement path of the tray 700 from the steering mechanism 20 to the placement position of the automated guided vehicle 300.

[0076] The number of blocking mechanisms 60 can be specifically limited according to actual conditions, and this utility model does not make a specific limitation in this regard. In one example, please refer to... Figures 4 to 6 One blocking mechanism 60 is set for each workstation 12.

[0077] In some embodiments, the transfer device 100 includes a detection mechanism 70, which includes a detection element 72. The detection element 72 is disposed on the side wall of the station 12 and is used to detect whether the material tray 700 is located on the turning mechanism 20.

[0078] This improves the operational accuracy of the steering mechanism 20 driving the material tray 700 to a certain extent.

[0079] The transfer device 100 also includes a control component, which is electrically connected to the detection mechanism 70. When the moving mechanism 30 drives the tray 700 to move on the station 12, if the tray 700 has not yet moved onto the steering mechanism 20, the control component will not trigger the detection element 72 to generate a detection signal, thus preventing the steering mechanism 20 from malfunctioning in driving the tray 700 to turn. If the tray 700 moves onto the steering mechanism 20, the detection element 72 will be triggered to generate a detection signal and transmit it to the control component. The control component will then control the lifting mechanism 40 and the steering mechanism 20 to operate according to the detection signal so that the tray 700 turns.

[0080] In some embodiments, the detection mechanism 70 includes a plurality of detection elements 72, which are arranged along the moving direction of the tray 700. Each detection element 72 includes a light emitter and a light receiver, which are respectively located on opposite sides of the station 12. The light emitter and the light receiver are correspondingly arranged in a direction perpendicular to the moving direction of the tray 700.

[0081] This further improves the operational accuracy of the steering mechanism 20 driving the material tray to 700 degrees.

[0082] Specifically, please combine Figure 4 and Figure 6 Multiple detection elements 72 are arranged along the front-back direction of station 12 and are electrically connected to the control component. The light emitter of the detection element 72 can be located on the left side of station 12, and the light receiver can be located on the right side of station 12. The light receiver can continuously emit detection light. If there is no material tray 700 obstructing the light emitter and the light receiver, the light receiver synchronously receives the corresponding detection light. If there is a material tray 700 obstructing the light emitter and the light receiver, the light receiver cannot receive the corresponding detection light, which causes a change in the light intensity signal output by the light receiver. The control component can detect whether the material tray 700 is located on the turning mechanism 20 by the change in the light intensity signal.

[0083] If the tray 700 has not yet moved onto the steering mechanism 20, the light intensity signal received by at least one optical receiver will not change, and the control component will not control the lifting mechanism 40 and the steering mechanism 20 to prevent malfunction. If the moving mechanism 30 drives the tray 700 to move onto the steering mechanism 20, the light intensity signal received by all optical receivers 83 will change, and the control component can determine that the tray 700 has moved onto the steering mechanism 20, thereby controlling the lifting mechanism 40 and the steering mechanism 20 to operate so that the tray 700 turns.

[0084] The number and position of the inspection pieces 72 can be specifically limited according to the actual situation, and this utility model does not make specific limitations in this regard. In one example, two inspection pieces 72 are arranged along the front-back direction of the station 12, and are respectively close to the front end and the rear end of the pallet 23.

[0085] In some embodiments, the transfer device 100 includes a control component (not shown) and a protective mechanism 80, which transmits detection signals to the inlet and outlet of the workstation 12. The control component is communicatively connected to the automated guided vehicle (AGV) 300. During the loading and unloading processes, the AAV 300 continuously sends interactive signals to the control component, which then closes the protective mechanism 80 based on the interactive signals. After the interactive signals end, the control component also opens the protective mechanism 80, causing it to transmit detection signals. The protective mechanism 80 is used to control the transfer device 100 to issue an alarm and / or stop operation if the detection signal is blocked.

[0086] This improves the security of the transfer device 100 to some extent.

[0087] Specifically, in Figure 2 and Figure 3In this embodiment, the protective mechanism 80 is located at the entrance and exit of the workstation 12, and is positioned close to the entrance and exit of the workstation 12. The protective mechanism 80 includes at least one pair of transmitters 81 and receivers 83. The transmitters 81 and receivers 83 are respectively located on both sides of the entrance of the workstation 12 along the left-right direction, and respectively located on both sides of the exit of the workstation 12 along the left-right direction. The control components are electrically connected to the transmitters 81 and receivers 83. It is understood that the detection signals include, but are not limited to, infrared light, laser, and ultrasonic waves. In one example, multiple transmitters 81 and multiple receivers can be arranged vertically at the entrance and exit. The transmitters 81 continuously emit infrared light, and the multiple receivers 83 synchronously receive the corresponding infrared light, thereby forming a protective light curtain at the entrance and exit of the workstation 12 to cover the entrance and exit of the workstation 12.

[0088] The automated guided vehicle (AGV) 300 communicates with the control component via methods including but not limited to Bluetooth, Zigbee, infrared, Wi-Fi, and mobile networks. During loading and unloading, when the AGV 300 needs to dock with the main equipment 500 via the transfer device 100 for the material tray 700, the AGV 300 continuously sends interactive signals to the control component. The control component, based on these signals, closes the protective mechanism 80 to prevent the material tray 700 from failing to dock during material transport between the AGV 300 and the transfer device 100, or between the transfer device 100 and the main equipment 500. After the AGV 300 completes its material handling task, it stops sending interactive signals to the control component. The control component then opens the protective mechanism 80, causing the transmitter 81 to continuously transmit detection signals, and the receiver 83 to simultaneously receive these signals and convert them into electrical signals, which are then sent to the control component.

[0089] In one embodiment, when the protective mechanism 80 is operating, if an operator or other object accidentally enters the workstation 12 through the inlet or outlet, the detection signal will be blocked, and the receiver 83 will not receive the detection signal. In this case, the receiver 83 sends a changing electrical signal to the control component, which then controls the relay device 100 to issue an alarm, such as an audible or visual alarm signal, or sends the alarm signal to the display screen of the relay device 100 or the operator's terminal for display. This allows the operator to promptly check the relay device 100. Terminals include, but are not limited to, mobile phones, tablets, personal computers, and wearable smart devices.

[0090] In one embodiment, when the detection signal is blocked, the receiver 83 sends a changed electrical signal to the control component, and the control component controls the relay device 100 to stop working. Controlling the relay device 100 to stop working includes, but is not limited to, shutting down the moving mechanism 30 and shutting down the steering mechanism 20.

[0091] In one embodiment, when the detection signal is blocked, the receiver 83 sends a changing electrical signal to the control component, which then controls the relay device 100 to issue an alarm and stop operating.

[0092] In summary, the unmanned transport vehicle 300, the transfer device 100, and the main equipment 500 of this utility model work collaboratively to achieve unmanned docking between the unmanned transport vehicle 300 and the main equipment 500. This enables material loading and unloading, temporary storage, material interaction, and material orientation adjustment. It also transforms manual transfer into automatic interaction between the main equipment 500 and the unmanned transport vehicle 300, allowing the main equipment 500 to anticipate loading and unloading needs. The unmanned transport vehicle 300, the transfer device 100, and the main equipment 500 are all communicatively connected. The process of the unmanned transport vehicle 300, the transfer device 100, and the main equipment 500 completing the reversing transfer operation of the material tray 700 is as follows (taking loading as an example): 1. After the main equipment 500 sends a material request signal to the unmanned transport vehicle 300, the unmanned transport vehicle 300 runs along the preset trajectory to the docking position with the transfer device 100 and sends an interaction signal to the transfer device 100. The transfer device 100 controls the moving mechanism 30 and the blocking mechanism 60 to open according to the interaction signal, and moves the material tray 700 from the unmanned transport vehicle 300 to the workstation 12 of the transfer device 100 through the moving mechanism 30. 2. The blocking mechanism 60 extends the blocking member 63 to the moving path of the material tray 700 on the station 12 to intercept the material tray 700, blocking the material tray 700 so that the material tray 700 stops on the turning mechanism 20, the moving mechanism 30 stops working, and the lifting mechanism 40 drives the turning mechanism 20 to move to the lifting position, so that the pallet 23 drives the material tray 700 away from the surface of the moving mechanism 30. 3. The rotating platform 21 of the steering mechanism 20 drives the pallet 23 to rotate 90° so that the tray 700 is adapted to the placement position of the main equipment 500. After the tray 700 is turned, the lifting mechanism 40 drives the steering mechanism 20 to move to the lower position, so that the pallet 23 drives the tray 700 to contact the moving mechanism 30. After that, the pallet 23 separates from the tray 700. 4. The blocking mechanism 60 closes to remove the blocking element 63 from the movement path of the tray 700 on the station 12, and the moving mechanism 30 opens to continue driving the tray 700 to move until the tray 700 is delivered to the placement position of the main equipment 500.

[0093] It is understandable that the main equipment 500 unloads materials into the unmanned transport vehicle 300 through the transfer device 100. The process of the changeover transfer operation can be referred to the above process, and will not be elaborated here.

[0094] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0095] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A transfer device for docking main equipment and unmanned transport vehicles, characterized in that, It includes a body, a steering mechanism, and a moving mechanism, wherein the steering mechanism and the moving mechanism are disposed on the body; The machine body is equipped with workstations; During the loading process, the moving mechanism is used to transfer the tray from the unmanned transport vehicle placement position to the workstation, and the turning mechanism is used to drive the tray transferred from the unmanned transport vehicle to the workstation to turn so that the turned tray is adapted to the main equipment placement position. The moving mechanism is also used to transfer the turned tray to the main equipment placement position. During the unloading process, the moving mechanism is used to transfer the tray from the main equipment placement position to the work station, and the turning mechanism is used to drive the tray transferred from the main equipment to the work station to turn so that the turned tray is adapted to the unmanned transport vehicle placement position. The moving mechanism is also used to transfer the turned tray to the unmanned transport vehicle placement position.

2. The transfer device according to claim 1, characterized in that, The transfer device further includes a lifting mechanism connected to the steering mechanism. The steering mechanism has a raised position and a lowered position. In the raised position, the steering mechanism is used to lift the tray to separate the tray from the moving mechanism and to drive the tray to turn. In the lowered position, the steering mechanism is used to release the tray to make the tray contact the moving mechanism. The lifting mechanism is used to drive the steering mechanism to rise and fall, so that the steering mechanism switches between the raised position and the lowered position.

3. The transfer device according to claim 2, characterized in that, The steering mechanism includes a support plate for supporting the tray, and the moving mechanism includes multiple rollers. When the steering mechanism is in the lowered position, the support plate is located in the gap between the multiple rollers. When the steering mechanism is in the raised position, the support plate is located above the multiple rollers.

4. The transfer device according to claim 3, characterized in that, The steering mechanism includes a rotating platform mounted on the lifting mechanism. The pallet is connected to the rotating platform. The rotating platform is used to drive the pallet to rotate so that the turned pallet is adapted to the placement position of the unmanned transport vehicle and the placement position of the main equipment.

5. The transfer device according to claim 1, characterized in that, The transfer device includes a clamping mechanism, which includes a clamping drive and a clamping member. The clamping drive is connected to the clamping member. The clamping drive is used to drive the clamping member to clamp the tray located at the work station to adjust the orientation of the tray, and release the tray after the orientation of the tray is adjusted. The steering mechanism is used to drive the material tray to turn after the orientation adjustment.

6. The transfer device according to claim 1, characterized in that, The machine body includes a guiding mechanism, which is located at the inlet and outlet of the workstation. The guiding mechanism includes two guide members, each with a first end and a second end. The first end faces outward from the workstation, and the second end faces inward from the workstation. Along the direction from outside the workstation to inside the workstation, the first end is inclined towards the center line of the workstation, and the second end is inclined away from the center line of the workstation.

7. The transfer device according to claim 1, characterized in that, The transfer device includes a blocking mechanism disposed on the machine body. The blocking mechanism includes a blocking drive and a blocking member. The blocking drive is connected to the blocking member. The blocking drive is used to drive the blocking member to be located on the moving path of the material tray at the work station and to move the material tray out of the moving path of the material tray at the work station. When the blocking member is located on the moving path of the material tray at the work station, the blocking member is used to block the material tray so that the material tray stops on the turning mechanism.

8. The transfer device according to claim 1, characterized in that, The transfer device includes a detection mechanism, which includes a detection element disposed on at least one side of the workstation. The detection element is used to detect whether the material tray is located on the turning mechanism.

9. The transfer device according to claim 8, characterized in that, The detection mechanism includes a plurality of detection elements, which are arranged along the moving direction of the material tray. Each detection element includes a light emitter and a light receiver, which are respectively located on opposite sides of the workstation. The light emitter and the light receiver are correspondingly arranged in a direction perpendicular to the moving direction of the material tray.

10. The transfer device according to claim 1, characterized in that, The transfer device includes a control component and a protective mechanism, the protective mechanism being used to transmit detection signals to the inlet and outlet of the workstation; The control component is used to communicate with the unmanned transport vehicle. During the loading and unloading processes, the unmanned transport vehicle is used to continuously send interactive signals to the control component, and the control component is used to close the protective mechanism according to the interactive signals. After the interaction signal ends, the control component is used to open the protective mechanism so that the protective mechanism emits the detection signal; The protective mechanism is used to control the relay device to issue an alarm and / or control the relay device to stop working when the detection signal is blocked.

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