CN112061037B - Combined device, combined system and combined method for container and vehicle body - Google Patents

Abstract

The invention provides a combined device, a combined system and a combined method for a container and a vehicle body, and relates to the technical fields of unmanned vehicles, unmanned vehicles and automatic driving. The combined device comprises: the telescopic fork is used for bearing a container, and can extend out of the rack to place the container on a vehicle body, and the rack can drive the telescopic fork to move in the three-dimensional direction. The invention effectively avoids the collision phenomenon between the container and the vehicle body.

Description

Combined device, combined system and combined method for container and vehicle body

Technical Field

The invention relates to the technical fields of unmanned vehicles, unmanned vehicles and automatic driving, in particular to a combined device, a combined system and a combined method for a container and a vehicle body.

Background

An automatic guided vehicle (Automated Guided Vehicle, abbreviated as AGV), also called an unmanned vehicle, is an unmanned vehicle equipped with an electromagnetic or optical automatic navigation device, and capable of safely and automatically traveling along a predetermined path. The automatic guiding transport vehicle loads goods through the container, and the container can move along with the vehicle body after being assembled into the vehicle body of the automatic guiding transport vehicle to transport the goods to a destination.

In order to ensure smooth transportation of the container, the empty space between the container and the vehicle body is small after the container is fitted into the vehicle body. At present, the container and the vehicle body are assembled by adopting an assembling device provided with a single guide rail, and a single row of travelling wheels are arranged below the container. Based on the combined device, the combined process of the container and the vehicle body is as follows: firstly, placing a container on a combined device, and automatically guiding a transport vehicle to travel to a combined station in front of a guide rail; then, the operator pushes the container to enable the single-row travelling wheels of the container to travel along the single guide rail; finally, the container is driven into the vehicle body of the automatic guiding transport vehicle by utilizing the self inertia.

The combined assembly process requires that travelling wheels are arranged below the container, and the container collides with the vehicle body in the process of entering the vehicle body, so that the container and the vehicle body are often damaged to different degrees such as surface collision and scratch.

Disclosure of Invention

In view of the above, the embodiment of the invention provides a combined device, a combined system and a combined method for a container and a vehicle body, so that the container and the vehicle body can be assembled quickly, accurately and intelligently, and the collision phenomenon between the container and the vehicle body can be effectively avoided.

According to a first aspect of the present invention, there is provided a container and vehicle body assembling device, comprising a telescopic fork and a frame for carrying the telescopic fork, wherein the telescopic fork is used for carrying the container and can extend out of the frame to place the container on the vehicle body, and the frame can drive the telescopic fork to move in three dimensions.

Optionally, the rack includes:

the first transverse moving mechanism drives the telescopic fork to move in a first direction;

the second transverse moving mechanism drives the telescopic fork to move in a second direction;

A longitudinal movement mechanism for driving the telescopic fork to move in the vertical direction;

the first direction and the second direction are horizontal and perpendicular to each other, and the telescopic fork moves in the first direction to extend out of the rack.

Optionally, one end of the telescopic fork is a fixed end, and the other end of the telescopic fork is a free end, wherein the fixed end is fixedly arranged on the first traversing mechanism, and the free end is concave relative to the fixed end to form a bearing structure of the container.

Optionally, the first traversing mechanism includes a first traversing fixing seat and a first traversing assembly sliding along the first traversing fixing seat, and a first traversing limiting assembly limiting the sliding range of the first traversing assembly is fixedly arranged between the first traversing fixing seat and the first traversing assembly;

the second transverse moving mechanism comprises a second transverse moving fixing seat and a second transverse moving assembly sliding along the second transverse moving fixing seat, and a second transverse moving limiting assembly limiting the sliding range of the second transverse moving assembly is fixedly arranged between the second transverse moving fixing seat and the second transverse moving assembly;

The longitudinal movement mechanism comprises a longitudinal movement fixing seat and a longitudinal movement assembly sliding along the longitudinal movement fixing seat, and a longitudinal movement limiting assembly limiting the sliding range of the longitudinal movement assembly is fixedly arranged between the longitudinal movement fixing seat and the longitudinal movement assembly;

the first transverse moving assembly is fixedly connected with the telescopic fork, the first transverse moving fixing seat is fixedly connected with the second transverse moving assembly, and the second transverse moving fixing seat is fixedly connected with the longitudinal moving assembly.

Optionally, the first traversing assembly comprises a carrier beam provided with a first through hole traversing the carrier beam;

The fixed end can be inserted into the bearing beam and is provided with a second through hole crossing the fixed end;

the number of the first through holes and/or the second through holes is multiple, and the first through holes and the second through holes which are combined in different ways are aligned and then fixed, so that the telescopic fork has unsupported parts with different lengths.

According to a second aspect of the present invention, there is provided a container and body combination system comprising: container, vehicle body and the combined installation according to the first aspect, wherein,

A positioning piece is fixedly arranged on the bottom surface of the container;

the bottom in the vehicle body is fixedly provided with a bearing plate, the bearing plate is discontinuously arranged so that the telescopic fork can descend through the bearing plate, and a gap is reserved between the bearing plate and the bottom in the vehicle body so that the telescopic fork can move in the gap;

the bearing plate is also provided with a positioning mechanism;

the locating piece and the locating mechanism are separated from each other to be embedded through the telescopic fork, and the bearing plate bears the container after the telescopic fork continuously descends to the gap.

According to a third aspect of the present invention, there is provided a method of assembling a container with a vehicle body, the method comprising:

Moving a telescopic fork carrying the container out of the frame along the direction approaching the vehicle body so as to enable the container to approach the vehicle body;

moving the telescopic fork in a three-dimensional direction to align the container with the vehicle body;

and moving the telescopic fork to enable the container to enter the vehicle body so as to finish assembly.

Optionally, moving the telescopic fork in three dimensions includes: respectively adjusting the positions of the telescopic fork in the first direction, the second direction and the vertical direction until the container is aligned with the vehicle body; wherein the first direction and the second direction are horizontal and vertical.

Optionally, the container enters the vehicle body with an upper limit in a vertical direction, and after the container enters the vehicle body, the method further comprises:

Adjusting the horizontal position of the telescopic fork to align the container bottom positioning piece with the vehicle body positioning mechanism;

the telescopic fork is lowered, so that the container is carried by the vehicle body and then separated from the telescopic fork after the positioning piece is embedded with the positioning mechanism;

and moving the telescopic fork out of the car body.

Optionally, before moving the telescopic fork carrying the container out of the frame in a direction approaching the vehicle body, the method further comprises:

adjusting the length of an unsupported part of the telescopic fork according to the weight of the container, wherein the tail end of the unsupported part is provided with a bearing structure;

placing the container on the load-bearing structure;

the telescopic fork consists of a supporting part and an unsupported part, wherein the starting end of the unsupported part is connected with the tail end of the supporting part, and the supporting part is integrally fixed on the stand so as to be supported by the stand.

The combined device of the embodiment of the invention comprises: the telescopic fork is used for bearing the container, the telescopic fork can extend out of the rack to place the container on the vehicle body, and the rack can drive the telescopic fork to move in the three-dimensional direction, so that the container can be driven by the telescopic fork to be aligned with the vehicle body and then sent into the vehicle body by the telescopic fork, collision or phenomenon caused by the fact that the container cannot be aligned with the vehicle body is avoided, quick and efficient assembly between the container and the vehicle body is realized, and the assembly quality of the container and the vehicle body is improved; and the positioning precision requirements on container carrying equipment and vehicle body carrying equipment are reduced, so that the input cost of the carrying equipment and the later maintenance cost caused by the high-precision requirements are reduced.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing embodiments thereof with reference to the following drawings in which:

FIG. 1 is a schematic perspective view of a combined device according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of a first traversing mechanism according to an embodiment of the present invention;

FIG. 3 is a schematic perspective view showing a second traverse mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic perspective view of a vertical movement mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic perspective view of a first traversing assembly according to an embodiment of the present invention;

FIG. 6 is a schematic perspective view of a first traversing assembly according to an embodiment of the present invention;

FIG. 7 is a schematic perspective view of a first traverse fixing base and a first traverse limiting component according to an embodiment of the present invention;

FIG. 8 is a schematic perspective view of a second traverse fixing base according to an embodiment of the present invention;

FIG. 9 is a schematic perspective view of a second traverse assembly and a second stop assembly according to an embodiment of the present invention;

FIG. 10 shows a front view of a longitudinal movement mechanism in an embodiment of the invention;

FIG. 11 is a schematic perspective view of a vertical movement mechanism according to an embodiment of the present invention;

FIG. 12 is a schematic perspective view of a part of a vertical movement mechanism according to an embodiment of the present invention;

FIG. 13 is a schematic view showing a part of the structure of the assembling system in the embodiment of the present invention;

Fig. 14 shows a flowchart of the assembling method in the embodiment of the present invention.

Icon: 100-a first traversing mechanism; 110-a first traversing fixing seat; 111-chassis; 112-a first traversing fixing seat; 120-a first traversing assembly; 121-a carrier; 1211—load beams; 12111-a first via; 1212-connecting rods; 1213-telescoping fork; 12131-carrying structures; 12132-a second via; 122-traversing a set of sliders; 130-a first traverse limiting assembly; 131-a first limiting plate; 132-a second limiting plate; 141-opening holes; 142-transverse plates; 143-a first longitudinal bolt;

200-a second traversing mechanism; 210-a second traversing fixing seat; 211-a bracket; 2111-traversing bump; 212-a second traversing rail; 220-a second traversing assembly; 222-traversing the chute; 230-a second stop assembly; 231-a first longitudinal plate; 232-a first transverse bolt; 233-a second longitudinal plate; 234-a second transverse bolt;

300-a longitudinal movement mechanism; 310-longitudinally moving the fixing seat; 311-base; 312-struts; 313-longitudinally moving slide rail; 320-a longitudinal movement assembly; 322-stay bar; 323-longitudinally moving sliding groove; 330-a longitudinal movement limiting assembly; 331-a first carrier bar; 332-a second longitudinal bolt; 333-a spacing beam; 334-a second carrier bar; 335-a third longitudinal bolt; 341-a power assembly; 342-braking chute; 3421-upper swash plate; 3422-longitudinal plates; 3423-lower sloping plate; 343-a brake clip; 3431-upper limiter; 3432-a lower limiter;

400-car body; 410-a bottom plate; 420-a carrier plate; 430—a positioning mechanism; 440-slit.

Detailed Description

The present invention is described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in detail. The present invention will be fully understood by those skilled in the art without the details described herein. Well-known methods, procedures, and flows have not been described in detail so as not to obscure the nature of the invention. The figures are not necessarily drawn to scale.

The automatic guiding transport vehicle adopts a modularized design between the vehicle body and the container, and the container and the vehicle body are required to be assembled during the cargo transportation. In order to ensure stable running of cargoes, the redundant space in the car body is very small after the container is loaded into the car body, and if the existing single guide rail combined loading device is adopted, the phenomenon that the container collides with the car body occurs in the process of driving into the car body, so that the container and the car body are often damaged to different degrees such as surface collision and scratch.

In view of the above, the present invention provides a container and vehicle body assembling device, assembling system and assembling method, wherein the assembling device is used for carrying a container so as to flexibly adjust the movement of the container, and therefore, the container can be assembled at the carrying position in the vehicle body rapidly and accurately. The container and vehicle body combining device will be described in detail below based on examples.

Embodiment one:

Referring to fig. 1, a combined device provided in an embodiment of the present invention includes: the telescopic fork 1213 and the frame for bearing the telescopic fork 1213, the telescopic fork 1213 is used for bearing the container, the frame can extend out to place the container on the vehicle body, and the frame can drive the telescopic fork 1213 to move in the three-dimensional direction.

It will be appreciated that in the case of a pallet carried by the telescoping fork 1213, the frame will move the telescoping fork 1213 in three dimensions and the pallet will move in three dimensions therewith.

In the embodiment of the invention, the container can be aligned with the vehicle body and then sent into the vehicle body through the telescopic fork 1213 by moving the container in the three-dimensional direction, so that the collision or phenomenon caused by the fact that the container cannot be aligned with the vehicle body is avoided, the container and the vehicle body can be quickly and efficiently combined, and the assembly quality of the container and the vehicle body is improved; and the positioning precision requirements on container carrying equipment and vehicle body carrying equipment are reduced, so that the input cost of the carrying equipment and the later maintenance cost caused by the high-precision requirements are reduced.

Embodiment two:

The assembling device provided by the embodiment of the invention basically adopts the same structure as that of the first embodiment, so that the description is omitted.

The difference is that: the frame is preferably defined. Specifically, referring to fig. 1, the frame includes a first traversing mechanism 100 that moves a telescoping fork 1213 in a first direction; a second traversing mechanism 200 that moves the telescoping fork 1213 in a second direction; a vertical movement mechanism 300 that drives the telescopic fork 1213 to move in the vertical direction; the first direction and the second direction are both horizontal and perpendicular to each other, and the telescopic fork 1213 moves in the first direction to extend out of the frame.

In the following description, the first direction is also referred to as the x direction, the second direction is the y direction, the vertical direction is the z direction, and the x direction, the y direction and the z direction correspond to the directions of the x coordinate, the y coordinate and the z coordinate in the rectangular coordinate system. It should be noted that, the telescopic fork 1213 moves in the first direction to extend out of the frame to approach the vehicle body so as to place the container on the vehicle body; and, before the telescopic fork 1213 approaches the car body by moving, the orientation of the container and the car body is the same, i.e. the container can enter the car body without collision by translating, specifically, the rack can define the orientation of the telescopic fork 1213 and thus the orientation of the container by the track, and the car body determines the orientation of the car body when parking by the track.

The first traverse mechanism 100, the second traverse mechanism 200, and the vertical movement mechanism 300 described above may be arranged in a stacked structure in the vertical direction, and the expansion fork 1213 and the moving assembly of the uppermost mechanism are connected. In the laminated structure, the fixing seats of more than two adjacent mechanisms and the moving assembly of the lower mechanism are fixedly connected, so that the upper mechanism fixing seat can move along with the lower mechanism moving assembly, the uppermost mechanism fixing seat can move along with the lower two layers of mechanisms in two vertical directions, and the telescopic fork 1213 connected with the uppermost moving assembly can move in the first direction, the second direction and the vertical direction by combining the movement of the uppermost moving assembly along with the movement of the upper mechanism moving assembly along with the self fixing seat. Wherein the stacking order of the first traversing mechanism 100, the second traversing mechanism 200, and the longitudinal traversing mechanism 300 in the vertical direction is not limited in the embodiment of the present invention.

In the embodiment of the invention, the frame comprises a first traversing mechanism 100, a second traversing mechanism 200 and a longitudinal moving mechanism 300, and the three mechanisms respectively drive the telescopic fork 1213 to move in one direction of three mutually perpendicular directions, so that the flexible movement of the telescopic fork 1213 in the three-dimensional direction is realized; and, three vertical direction is two mutually perpendicular horizontal directions and a vertical direction, therefore the packing cupboard is translation under the drive of flexible fork 1213 to make the removal of packing cupboard comparatively steady, be favorable to making the object in the packing cupboard avoid the damage of knocking down when the packing cupboard removes.

Embodiment III:

the assembling device provided by the embodiment of the invention basically adopts the same structure as that of the embodiment, so that the description is omitted.

The difference is that: the telescoping fork 1213 is preferably defined. Specifically, referring to fig. 1, one end of the telescopic fork 1213 is a fixed end and the other end is a free end, wherein the fixed end is fixed on the first traversing mechanism 100, and the free end is recessed with respect to the fixed end to form a carrying structure 12131 of the container.

It should be noted that the free end of the carrying structure 12131 is recessed with respect to the fixed end, but the inside of the carrying structure 12131 no longer includes a gradually recessed structure, and preferably, the upper surface of the carrying structure 12131 is flat, so that the bottom surface of the container and the upper surface of the carrying structure 12131 are completely fit.

The length of the carrying structure 12131 may be set according to the length of the container, preferably, the length of the carrying structure 12131 is greater than the length of the container, so that the entire bottom surface of the container can be attached to the upper surface of the carrying structure 12131.

In the embodiment of the present invention, the fixed end of the telescopic fork 1213 is fixed on the first traversing mechanism 100, and the free end is concave relative to the fixed end to form the carrying structure 12131 of the container, so that the telescopic fork 1213 carries the container to enable the container to extend out of the frame and be placed on the vehicle body; when the container is placed on the carrying structure 12131, the container is tightly attached to the interface between the fixed end and the free end, and the interface can prevent the container from being displaced due to inertia when the container starts to move close to the vehicle body.

Embodiment four:

The assembling device provided by the embodiment of the invention basically adopts the same structure as that of the three phases of the embodiment, so that the description is omitted.

The difference is that: the first traversing mechanism 100, the second traversing mechanism 200, the longitudinal traversing mechanism 300, and the telescoping fork 1213 are preferably limited, and are described below with particular reference to fig. 2,3, and 4.

Fig. 2 is a schematic perspective view of the first traversing mechanism 100. Referring to fig. 2, the first traversing mechanism 100 includes a first traversing fixing seat 110 and a first traversing assembly 120 sliding along the first traversing fixing seat 110, and a first traversing limiting assembly 130 defining a sliding range of the first traversing assembly 120 is fixedly disposed between the first traversing fixing seat 110 and the first traversing assembly 120.

Fig. 3 is a schematic perspective view of the second traversing mechanism 200. Referring to fig. 3, the second traversing mechanism 200 includes a second traversing fixing base 210 and a second traversing assembly 220 that slides along the second traversing fixing base 210, and a second traversing limiting assembly 230 that limits a sliding range of the second traversing assembly 220 is further fixedly disposed between the second traversing fixing base 210 and the second traversing assembly 220.

Fig. 4 is a schematic perspective view of the vertical movement mechanism 300. Referring to fig. 4, the longitudinal movement mechanism 300 includes a longitudinal movement fixing base 310 and a longitudinal movement assembly 320 sliding along the longitudinal movement fixing base 310, and a longitudinal movement limiting assembly 330 for limiting a sliding range of the longitudinal movement assembly 320 is fixedly disposed between the longitudinal movement fixing base 310 and the longitudinal movement assembly 320.

Referring to fig. 1,2,3 and 4, the first traverse assembly 120 is fixedly connected to the telescopic fork 1213, the first traverse fixing base 110 is fixedly connected to the second traverse assembly 220, and the second traverse fixing base 210 is fixedly connected to the longitudinal moving assembly 320.

In this structure, the first traverse assembly 120 slides along the first traverse fixing base 110 in a first direction, the second traverse assembly 220 slides along the second traverse fixing base 210 in a second direction, and the longitudinal movement assembly 320 slides along the longitudinal movement fixing base 310 in a vertical direction. The first traversing assembly 120, the second traversing assembly 220, and the longitudinal moving assembly 320 move in mutually perpendicular directions, such that the container is assembled into the vehicle body as the first traversing assembly 120, the second traversing assembly 220, and the longitudinal moving assembly 320 move in three dimensions after the assembled device carries the container.

It should be appreciated that after the carrying structure 12131 carries the container, the container moves with the movement of any one of the first traversing assembly 120, the second traversing assembly 220, and the longitudinal moving assembly 320, i.e., there is movement of the container in a first direction as long as the first traversing assembly 120 moves, movement of the container in a second direction as long as the second traversing assembly 220 moves, and movement of the container in a vertical direction as long as the longitudinal moving assembly 320 moves, thereby achieving flexible movement of the container in each of the three mutually perpendicular directions.

In the combined assembly device provided by the embodiment of the invention, the first traversing mechanism 100, the second traversing mechanism 200 and the longitudinal moving mechanism 300 realize the flexible movement of the telescopic fork 1213 in three vertical directions respectively through the compact arrangement of the structures of the first traversing mechanism 100, the second traversing mechanism 200 and the longitudinal moving mechanism 300; and the first traversing mechanism 100, the second traversing mechanism 200 and the longitudinal moving mechanism 300 all comprise limiting components, so that the container can only move within a limited range under the drive of the telescopic fork 1213, and therefore, the container can be aligned to the vehicle body after the position of the container is finely adjusted, and the container can be prevented from colliding with the inner wall of the vehicle body due to too large stroke after entering the vehicle body, thereby being beneficial to high-quality assembly between the container and the vehicle body.

Fifth embodiment:

The assembling device provided in this embodiment basically adopts the same structure as that of the fourth embodiment, so that a detailed description thereof is omitted.

The difference is that: the first traversing fixing seat 110 and the first traversing assembly 120 are preferably defined. Specifically, referring to fig. 2, the first traversing fixing seat 110 includes a chassis 111, and a plurality of first traversing sliding rails 112 disposed in parallel are fixedly disposed on an upper surface of the chassis 111; the first traversing assembly 120 comprises a bearing frame 121, and a plurality of traversing slide blocks 122 are fixedly arranged on the lower surface of the bearing frame 121; and, the sliding block set 122 and the first sliding rail 112 are in sliding fit and in one-to-one correspondence, and the telescopic fork 1213 is connected to the bearing frame 121.

Specifically, the first traverse sliding rails 112 are all linear sliding rails shown in fig. 2; moreover, the number of the first traversing slide rails 112 may be two as shown in fig. 2, where the two first traversing slide rails 112 are arranged on a set of opposite sides of the upper surface of the chassis 111, and correspondingly, the number of the traversing slide block groups 122 is two, and the two traversing slide block groups 122 are combined to bear the bearing frame 121. It should be emphasized that in the various figures of the present invention, only a single reference is made to the same component, but a single reference does not indicate that the combined device comprises only one of the same component.

For the underframe 111, it may be in a lattice shape as shown in fig. 2, that is, each first traverse sliding rail 112 is disposed on one beam integrated in the x direction, and two adjacent first traverse sliding rails 112 are connected by a plurality of beams in the y direction, so that the structure of the underframe 111 is more firm, thereby being beneficial to ensuring the track collimation of each first traverse sliding rail 112.

It should be noted that each traverse slide group 122 may include one traverse slide or may include a plurality of traverse slides. It should be appreciated that if a plurality of traversing slides are included in each traversing slide group 122, then a plurality of traversing slides in the same traversing slide group 122 are arranged along the track on the first traversing slide 112; and the sum of the lengths of the traversing sliders in the same traversing slider group 122 is not greater than the length of the first traversing rail 112.

In the embodiment of the invention, the upper surface of the chassis 111 is fixedly provided with a plurality of first transverse sliding rails 112 which are arranged in parallel, each first transverse sliding rail 112 is provided for one transverse sliding block set 122 to slide, and the plurality of transverse sliding block sets 122 jointly bear the bearing frame 121, so that the movement of the bearing frame is surface movement, and the container moves along with the movement of the bearing frame 121, so that the movement of the container is more stable, and the combined device can be combined for containers with large weight.

Example six:

The assembling device provided in this embodiment basically adopts the same structure as that of the fifth embodiment, so that a detailed description thereof is omitted.

The difference is that: the carrier 121 is preferably defined. Specifically, referring to fig. 5, the carrier 121 includes: a plurality of bearing beams 1211, each bearing beam 1211 is fixedly arranged at the upper end of one slider group 122, and the bearing beams 1211 and the slider groups 122 are in one-to-one correspondence; the connecting rods 1212 are fixedly arranged between two adjacent bearing beams 1211 and are integrally connected with the bearing beams 1211 on two sides; wherein, a telescopic fork 1213 is connected to each bearing beam 1211, and the telescopic fork 1213 and the bearing beams 1211 are in one-to-one correspondence.

Further, the handle 150 for pushing and pulling the carrier 121 by the user may be disposed on the connecting rod 1212, where the handle 150 and the connecting rod 1212 together form a rounded rectangle as shown in fig. 5, and the handle 150 is disposed at a middle position of the connecting rod 1212, so that the user can push and pull the carrier 121 to move the cargo box smoothly along with the carrier in the x direction.

In the embodiment of the invention, the connecting rod 1212 is integrally connected with the bearing beams 1211 at two sides, so that the structure of the bearing beams 1211 is stronger and more stable; the supporting beam 1211 is connected with the telescopic fork 1213, the telescopic fork 1213 extends out of the sliding block set 122, and the sliding block set 122 is always supported on the first transverse sliding rail 112, so that the telescopic fork 1213 can extend out of the first transverse sliding rail 112, and the container can move into the vehicle body along with the telescopic fork 1213 and be stably placed in the vehicle body in the process of combining the container and the vehicle body.

Embodiment seven:

The assembling device provided in this embodiment basically adopts the same structure as that of the fifth embodiment or the sixth embodiment, and thus will not be described in detail.

The difference is that: the connection structure between the first traversing assembly 120 and the telescoping fork 1213 is preferably defined. Specifically, referring to fig. 6, the first traversing assembly 120 includes a carrier beam 1211, the carrier beam 1211 being provided with a first through hole 12111 traversing the carrier beam 1211; the fixed end of the telescopic fork 1213 is insertable into the carrier beam 1211 and is provided with a second through hole 12132 traversing the fixed end; wherein the number of the first through holes 12111 and/or the second through holes 12132 is plural, the fixing after the alignment of the first through holes 12111 and the second through holes 12132 of different combinations allows the telescopic fork 1213 to have unsupported portions of different lengths.

It should be appreciated that the fixed ends of the telescoping fork 1213 are required to be inserted into the carrier beam 1211 before the first through hole 12111 and the second through hole 12132 are aligned, such that the telescoping fork 1213 is fixed to the carrier beam 1211 by inserting the aligned first through hole 12111 and second through hole 12132 through the fixed shaft after the first through hole 12111 and the second through hole 12132 are aligned. Wherein, the fixed end of the telescopic fork 1213 may be inserted into the carrier beam 1211, and the carrier beam 1211 may be provided with a central void along the x-direction, and the central void may enable the fixed end of the telescopic fork 1213 to be inserted into the carrier beam 1211.

Note that, the first through holes 12111 pass through the carrier beam 1211 in the y direction, and in the case where the number of the first through holes 12111 is plural, the plural first through holes 12111 are arranged in the x direction on the carrier beam 1211; the second through holes 12132 pass through the distal end of the expansion fork 1213 in the y direction, and in the case where the number of the second through holes 12132 is plural, the plural second through holes 12132 are arranged in the x direction on the fixed end of the expansion fork 1213.

Fig. 6 shows a case where the number of first through holes 12111 is one and the number of second through holes 12132 is a plurality, in which case the different second through holes 12132 and first through holes 12111 are aligned and then fixed so that the expansion fork 1213 has unsupported portions of different lengths.

Of course, it is also possible that the number of first through holes 12111 is plural and the number of second through holes 12131 is one, in which case the different first through holes 12111 and second through holes 12131 are aligned and then fixed, and the telescopic fork 1213 has unsupported portions of different lengths.

In addition, the number of the first through holes 12111 and the second through holes 12132 may be plural, in which case the smaller one of the number of the first through holes 12111 and the second through holes 12132 determines the number of the fixed shafts to be used. For example, the number of the first through holes 12111 is two, and the number of the second through holes 12132 is 6, and finally, after two of the two first through holes 12111 and the 6 second through holes 12132 are aligned, the expansion fork 1213 is fixed to the carrier beam 1211 by two fixing shafts. It should be understood that in this case, the pitch of any two adjacent first through holes 12111 and the pitch of any two adjacent second through holes 12132 are equal.

For the telescopic fork 1213 in the embodiment of the present invention, the telescopic fork 1213 is composed of a supporting portion and an unsupported portion, while the telescopic fork 1213 is composed of a fixed end and a free end, wherein the portion of the fixed end of the telescopic fork 1213 extending into the carrier beam 1211 is the supporting portion of the telescopic fork 1213, the portion of the fixed end of the telescopic fork 1213 not extending into the carrier beam 1211 is the unsupported portion of the telescopic fork 1213.

In the embodiment of the invention, the container is borne by the bearing structure 12131 at the tail end of the unsupported part of the telescopic fork 1213, and the longer the unsupported part of the telescopic fork 1213 is, the more easily the free end of the telescopic fork 1213 is bent, so that the position accuracy of the container in the vertical direction is more easily damaged; however, if the unsupported portion of the telescoping fork 1213 is shorter, the telescoping fork 1213 needs to be moved a longer distance in the x-direction to access the vehicle body, so the movable connection structure between the first traversing assembly 120 and the telescoping fork 1213 enables the length of the unsupported portion of the telescoping fork 1213 to be adjusted according to the use condition, thereby being beneficial to improving the precision and efficiency in the alignment process of the container and the vehicle body.

Example eight:

the assembling device provided in this embodiment basically adopts the same structure as any one of the fifth to seventh embodiments, and thus will not be described in detail.

The difference is that: the first traverse limiting assembly 130 is preferably defined. Specifically, referring to fig. 7, the first traverse limiting assembly 130 includes: the first limiting plate 131 is fixed on the chassis 111 and extends from the side edge of the chassis 111 to two lateral sides of the beginning end of the first traverse sliding rail 112; the second limiting plate 132 is fixed on the chassis 111 and extends from the side edge of the chassis 111 to two lateral sides of the terminal end of the first traverse sliding rail 112.

Specifically, the first and second limiting plates 131 and 132 may be integrally connected with the chassis 111.

It should be noted that, the sliding block set 122 moves along the first sliding rail 112, that is, the bottom of the sliding block set 122 is provided with a chute along the x direction so that the sliding block set 122 spans across the first sliding rail 112, so that the sliding of the sliding block set 122 to the starting end of the first sliding rail 112 does not exceed the starting end of the first sliding rail 112, and the sliding of the sliding block set 122 to the end of the first sliding rail 112 does not exceed the end of the first sliding rail 112, so that the movement of the sliding block set 122 on the first sliding rail 112 is limited on the first sliding rail 112. For the existing automatic guided vehicles on the market, the movement limit of the first traversing assembly 120 in the x direction is 950mm by setting the length of the first traversing rail 112 and the length of the traversing slider group 122.

In the embodiment of the present invention, the first traversing limiting assembly 130 utilizes the first limiting plate 131 and the second limiting plate 132 to realize the limiting in the x direction, so that the structure is simplified, and a better limiting effect can be achieved for the first traversing fixing seat 110 and the first traversing assembly 120.

Example nine:

The assembling device provided in this embodiment basically adopts the same structure as that of the eighth embodiment, so that a detailed description is omitted.

The difference is that: the first traversing mechanism 100 is preferably defined. Specifically, referring to fig. 2, a plurality of upper openings 141 are disposed on the first traverse rail 112, and the plurality of upper openings 141 are disposed along the track direction of the first traverse rail 112 in a dispersed manner; one end of the bearing beam 1211, which is not provided with the telescopic fork 1213, is provided with a transverse plate 142, the transverse plate 142 is provided with a first longitudinal screw hole, and a first longitudinal bolt 143 is screwed in the first longitudinal screw hole; wherein the first longitudinal bolts 143 are inserted downwardly into the upper openings 141 at corresponding positions along with the sliding movement of the carrier beam 1211 to position the carrier beam 1211.

In the embodiment of the invention, the upper opening 141 and the first longitudinal bolt 143 are combined to position the bearing beam 1211, so that the container can not move due to unintentional small force touch after moving to a certain position along the x direction, and a user can finely adjust the first traversing assembly 120 by combining field observation, thereby further ensuring that no collision or scratch phenomenon occurs between the container and the vehicle body; and the above-described arrangement of the first longitudinal bolts 143 can also be used as an auxiliary push hand for the user.

Example ten:

The assembling device provided in this embodiment basically adopts the same structure as that of the fifth to ninth embodiments, and thus will not be described in detail.

The difference is that: the second traversing fixing base 210 and the second traversing assembly 220 are preferably defined. Specifically, referring to fig. 8, the second traversing fixing base 210 includes a bracket 211, and a plurality of second traversing sliding rails 212 arranged in parallel are fixedly arranged on the upper surface of the bracket 211; referring to fig. 9, the second traversing assembly 220 includes a chassis 111, and a plurality of traversing sliding grooves 222 are fixedly formed on the lower surface of the chassis 111; and, the sliding chute 222 and the second sliding rail 212 are in sliding fit and in one-to-one correspondence.

It should be noted that the traverse chute 222 may be a single body as shown in fig. 9, or may be a plurality of shorter sub-chutes.

In the embodiment of the present invention, the reasonable arrangement of the second traverse fixing base 210 and the second traverse assembly 220 realizes the layout of the first traverse structure 100 and the second traverse mechanism 200 that are arranged in an up-down layered manner, and the connection between the first traverse structure 100 and the second traverse mechanism 200 is effectively performed by using the chassis 111.

Example eleven:

the assembling device provided in this embodiment basically adopts the same structure as that of the foregoing embodiment, so that a detailed description is omitted.

The difference is that: the bracket 211 and the second traverse limiting assembly 230 are preferably defined. Specifically, referring to fig. 8, the bracket 211 includes a traversing bump 2111 that carries a second traversing rail 212; referring to fig. 9, the second traverse limiting assembly 230 includes a first longitudinal plate 231 fixed to the lower surface of the chassis 111 and located at one end of the traverse chute 222, and a first transverse screw hole is formed in the first longitudinal plate 231, and a first transverse bolt 232 opposite to the traverse ram 2111 is screwed into the first transverse screw hole; the second traverse limiting component 230 further includes a second longitudinal plate 233 fixedly disposed on the lower surface of the chassis 111 and located at the other end of the traverse chute 222, and a second transverse screw hole is disposed on the second longitudinal plate 233, and a second transverse bolt 234 opposite to the traverse ram 2111 is screwed into the second transverse screw hole.

Specifically, both ends of each traversing crash block 2111 may be provided with one first traversing bolt 232, respectively, such that the number of first traversing bolts 232 is twice that of the second traversing rails 212.

Combining fig. 8 and 9 with fig. 3, it can be seen that: with the traversing chute 222 moving in the y-axis negative half-axis direction along the second traversing rail 212, the second traversing bolt 234 of the traversing ram 2111 in the y-axis positive half-axis direction defines the travel of the traversing chute 222; with the traversing chute 222 moving in the y-axis positive half direction along the second traversing rail 212, the second traversing bolt 234 of the traversing ram 2111 located in the y-axis negative half direction defines the movement travel of the traversing chute 222. For the existing automatic guided vehicles and containers in the market, after the containers enter the vehicle body of the automatic guided vehicle, the containers have a redundant gap of 50mm in the y direction, that is, the offset distance between the lower opening of the bottom of the container and the positioning pin of the vehicle body is 50mm at most, so that the movable stroke of the transverse sliding chute 222 in the y direction can be limited to 50mm through the setting of the distance between the length of the transverse sliding collision block 2111 and the second transverse bolt 234, thereby ensuring that the containers cannot collide with a set of opposite inner walls of the vehicle body in the y direction.

In the embodiment of the invention, the second traversing limiting component 230 realizes the limiting of the movement in the y direction by utilizing the traversing collision block 2111 bearing the second traversing sliding rail 212, which is not only beneficial to the reduction of the device cost; the purpose of compact structure of the combined device is achieved, thus being beneficial to miniaturization of the combined device, and further enabling the combined device to be suitable for combining a container and a vehicle body in a smaller working space; and the use of the second transverse bolt 234 enables the movable range of travel of the traverse chute 222 in the y direction to be adjusted.

Embodiment twelve:

the assembling device provided in this embodiment basically adopts the same structure as that of the tenth or eleventh embodiment, and thus will not be described in detail.

The difference is that: the longitudinally movable holder 310 and longitudinally movable assembly 320 are preferably defined. Specifically, referring to fig. 4, the longitudinally moving fixing base 310 includes a base 311, a plurality of upright posts 312 are fixedly arranged on the upper surface of the base 311, and a longitudinally moving sliding rail 313 is fixedly arranged on each post 312; the longitudinal moving assembly 320 comprises a bracket 211, wherein a plurality of upright supporting rods 322 are fixedly arranged on the lower surface of the bracket 211, and a longitudinal moving sliding groove 323 is fixedly arranged on the side surface of each supporting rod 322; and, the longitudinal sliding groove 323 and the longitudinal sliding rail 313 are in sliding fit and have a one-to-one correspondence.

Specifically, the number of the supporting rods 322 is equal to that of the supporting rods 312, the longitudinal sliding rails 313 are fixedly arranged on the measuring surfaces of the supporting rods 312, the longitudinal sliding grooves 323 are fixedly arranged on the side surfaces of the supporting rods 322, the longitudinal sliding grooves 323 and the longitudinal sliding rails 313 are opposite to each other and move along the longitudinal sliding rails 313 in the z direction, and then the longitudinal sliding grooves 323 drive the upper fixing parts of the upper fixing parts to move up and down relative to the base 311.

The number of the pillars 312 may be 4 as shown in fig. 4, and the projections of the 4 pillars 312 on the base 311 are four corner points of a rectangle.

In the embodiment of the invention, the bracket 211 is used as a connecting component of the longitudinal moving mechanism 300 and the second transverse moving mechanism 200, so that the cost of the combined device is reduced; the arrangement of the stay bar 322 on the bracket 211 makes the structure between the longitudinal moving mechanism 300 and the second transverse moving mechanism 200 compact, thereby being beneficial to the miniaturization of the working space of the combined device.

Embodiment thirteen:

the assembling device provided in this embodiment basically adopts the same structure as that of the twelfth embodiment, so that a detailed description is omitted.

The difference is that: the longitudinal displacement limiter assembly 330 is preferably defined. Specifically, referring to fig. 10, the longitudinal movement limiting assembly 330 includes: the first bearing rod 331, the first bearing rod 331 is erected between the two supporting rods 322 to be located above the base 311, a second longitudinal screw hole is formed in the first bearing rod 331, and a second longitudinal bolt 332 is screwed in the second longitudinal screw hole; and, referring to fig. 11, the longitudinal movement limiting assembly 330 further includes: a limit beam 333 installed between the two stay bars 322 to be fixed on the bracket 211; the second bearing rod 334 is erected through the two struts 312 to be fixed on the base 311, a third longitudinal screw hole is formed in the second bearing rod 334, and a third longitudinal bolt 335 is screwed into the third longitudinal screw hole, wherein the third longitudinal bolt 334 is located above the limiting beam 333.

Specifically, if the vertical movement chute 323 moves along the vertical movement sliding rail 313 in the negative z-axis direction, referring to fig. 10, the vertical movement chute 323 stops sliding when the bottom of the second vertical bolt 332 abuts against the upper surface of the base 311; if the vertical movement chute 323 moves along the vertical movement sliding rail 313 in the positive z-axis direction, referring to fig. 11, the vertical movement chute 323 stops sliding when the top of the limit beam 333 abuts against the lower end of the third vertical bolt 335. For the existing automatic guided vehicles and containers in the market, the movable travel of the longitudinal moving chute 323 in the z direction can be limited to 50mm by setting the distance between the bottom of the second longitudinal bolt 332 and the top of the base 311 and the distance between the top of the limiting beam 333 and the lower end of the third longitudinal bolt 335.

In the embodiment of the invention, the longitudinal movement limiting assembly 330 reasonably utilizes the components of the first traversing mechanism 100 and the second traversing mechanism 200 to carry out compact arrangement, thereby playing an important role in further reducing the cost of the assembling device and further reducing the operation space; and the use of the second and third longitudinal bolts 332 and 335 enables the movable range of travel of the longitudinally moving chute 323 in the z-direction to be adjusted.

Fourteen examples:

The assembling device provided in this embodiment basically adopts the same structure as that of the twelfth embodiment or the thirteenth embodiment, and thus will not be described in detail.

The difference is that: the longitudinally moving mechanism 300 is further preferably defined. Specifically, referring to fig. 4, the longitudinal movement mechanism 300 further includes a power assembly 341 that powers the longitudinal movement of the bracket 211; and, referring to fig. 12, a braking chute 342 is fixed on the stay 322, and braking clips 343 are fixed at two ends of the longitudinal sliding rail 313, where the braking clips 343 and the braking chute 342 are mutually matched in a braking manner to slow down the sliding of the longitudinal sliding chute 323 at the end of the longitudinal sliding rail 313.

Specifically, the power assembly 341 may be a motor, and the motor drives the longitudinal moving chute 323 to move along the longitudinal moving rail 313 in the z direction. And, the bearing seat of the motor is provided at the support posts 312, so that the gap between the support posts 312 is effectively utilized.

Fig. 12 shows an alternative structure of a brake chute 342 and a brake clip 343, specifically, the brake chute comprises a longitudinal plate 3422, and both ends of the longitudinal plate 3422 are integrally connected with an upper sloping plate 3421 and a lower sloping plate 3423, respectively, wherein the plate surfaces of the upper sloping plate 3421, the longitudinal plate 3422 and the lower sloping plate 3423 are all arranged opposite to a longitudinal sliding rail 313, the bottom end of the upper sloping plate 3421 is connected with the top end of the longitudinal plate 3422, the top end of the upper sloping plate 3421 is inclined away from the longitudinal sliding rail 313, the top end of the lower sloping plate 3423 is connected with the bottom end of the longitudinal plate 3422, and the bottom end of the lower sloping plate 3423 is inclined away from the longitudinal sliding rail 313; the detent catch 343 comprises an upper limit stop 3431 and a lower limit stop 3432, wherein the upper limit stop 3431 and the lower limit stop 3432 can each be pivoted about a respective fastening point on the longitudinal displacement rail 313 in the xz-plane.

For the brake chute 342 and the brake clip 343 described above: (1) If the vertical movement chute 323 slides upward along the vertical movement slide rail 313, the upper limiter 3431 contacts the upper sloping plate 3421 from being away from the upper sloping plate 3421, then abuts against the upper sloping plate 3421 and receives the gradually increasing friction force exerted by the upper sloping plate 3421 until the vertical movement chute 323 is stopped in the case of coming into contact with the vertical plate 3422; (2) If the vertical movement chute 323 slides downward along the vertical movement slide rail 313, the lower limiter 3431 contacts the lower swash plate 3423 from being away from the lower swash plate 3423, then abuts the lower swash plate 3423 and receives the gradually increasing friction force exerted by the lower swash plate 3423 until the vertical movement chute 323 is stopped at the point of contact with the vertical plate 3422.

In the embodiment of the invention, the power component 341 provides power for the vertical movement mechanism 300, the braking clamping piece 343 and the braking sliding chute 342 are mutually matched in a braking way to provide electrical limit for the vertical movement mechanism 300, and the arrangement of the power component 341 provides assistance for the movement of the bracket 211 and the above components, so that larger manpower is not required to be consumed to drive the container to move upwards; the arrangement of the braking clamping piece 343 and the braking chute 342 slows down the sliding of the longitudinal movement chute 323 at the end part of the longitudinal movement sliding rail 313, so that the damage to the base 311 and the limiting beam 333 caused by the longitudinal movement limiting assembly 330 is avoided.

Based on the same conception, the invention also discloses a combined assembly system of the container and the vehicle body, which comprises: a container, a vehicle body, and a combining device of any of the first through fourteen embodiments, wherein the combining device is for combining the container to the vehicle body. Specifically, a locating piece is fixedly arranged on the bottom surface of the container; referring to fig. 13, a carrier plate 420 is fixedly provided on a bottom plate 410 in a vehicle body 400, the carrier plate 420 is discontinuously arranged so that a telescopic fork 1213 can descend through the carrier plate 420, and a gap is left between the carrier plate 420 and the bottom plate 410 in the vehicle body 400 so that the telescopic fork 1213 can move in the gap; the bearing plate 420 is also provided with a positioning mechanism 430; wherein, the positioning piece on the bottom surface of the container and the positioning mechanism 430 are separated to be embedded by the telescopic fork 1213, and the bearing plate 420 bears the container after the telescopic fork 1213 is continuously lowered to the gap.

It should be noted that fig. 13 is only a schematic view of the lower half of the box body in the vehicle body 400 for the container to be assembled, and does not show a limitation on the shape of the box body for the container to be assembled in the vehicle body. Meanwhile, the carrying plate 420 is discontinuously arranged, so that the telescopic fork 1213 moves along the x direction and then enters the vehicle body 400 and then can descend through the carrying plate 420, therefore, the carrying plate 420 only needs to be provided with the gap 440 as shown in fig. 13, and the gap 440 enables the edge of the carrying plate 420 close to one side of the frame to be discontinuous. Wherein the number of slits 440 is equal to the number of telescoping prongs 1213; in the case where the number of slits 440 is plural, the interval between the adjacent two slits 440 is equal to the interval between the two expansion prongs 1213 passing through the adjacent two slits 440.

The supporting plate 420 and the bottom plate 410 in the vehicle body 400 are provided with a gap, and the supporting plate 420 is supported on the bottom plate 410 by the supporting upright. The number of the supporting columns is plural and the supporting columns may be disposed at the centers of four top corners and four sides of the bearing plate 420 having a square profile, respectively.

Regarding the positioning member and the positioning mechanism, specifically, the positioning member may be a positioning shaft, and the positioning mechanism 430 may be a positioning hole shown in fig. 13; or the positioning member is a positioning hole and the positioning mechanism 430 is a positioning shaft. Moreover, it should be noted that the positioning shafts and the positioning holes which are matched and embedded are set up in a whole set, and can be one set or multiple sets, but the positioning shafts and the positioning holes can be embedded at the same time under the condition that the positioning shafts and the positioning holes are multiple sets.

The combined assembly system provided by the embodiment of the invention realizes high-quality and low-cost combined assembly between the container and the vehicle body 400; the positioning piece fixedly arranged on the bottom surface of the container and the positioning mechanism arranged on the bearing plate 420 reinforce the combined assembly of the container and the vehicle body 400; the above-described arrangement of the carrier plate 420 allows the telescopic fork 1213 to be well disengaged from the container for the next container to be assembled after the container is assembled into the vehicle body 400.

Based on the same conception, the invention also discloses a combined assembly method of the container and the vehicle body. The assembling method employs any one of the assembling apparatuses of the first to fourteen embodiments to assemble a container with a vehicle body. Specifically, referring to fig. 14, the assembling method includes:

step S102, moving a telescopic fork carrying a container to the outside of a rack along the direction of approaching the vehicle body so as to enable the container to approach the vehicle body;

step S104, moving the telescopic fork in the three-dimensional direction so as to align the container with the vehicle body;

And S106, moving the telescopic fork to enable the container to enter the vehicle body so as to finish assembly.

It should be noted that, in the step S102, the container is only roughly aligned with the vehicle body and is close to the vehicle body, and specifically, the base of the above-mentioned assembling device may be mounted on the tray of the automatic guided vehicle, so that the assembling device moves along the predetermined track to achieve the purpose of roughly aligning with the entrance of the vehicle body. After the container is roughly aligned with the vehicle body in the step S102, the container is aligned with the vehicle body in the step S104 with high precision, so that the container can enter the vehicle body without collision by moving the telescopic fork in the step S106.

Therefore, any one of the assembling devices from the first embodiment to the fourteen embodiments adopts the assembling method to assemble the container and the vehicle body, so that collision or phenomenon caused by incapability of aligning the container with the vehicle body is avoided, rapid and efficient assembling is realized between the container and the vehicle body, and the assembling quality of the container and the vehicle body is improved; and the positioning precision requirements on container carrying equipment and vehicle body carrying equipment are reduced, so that the input cost of the carrying equipment and the later maintenance cost caused by the high-precision requirements are reduced.

Further, step S104 of moving the telescopic fork in the three-dimensional direction includes: the positions of the telescopic fork in the first direction, the second direction and the vertical direction are respectively adjusted until the container is aligned to the vehicle body, wherein the first direction and the second direction are both horizontal two directions and are mutually perpendicular, so that the container can flexibly move in three mutually perpendicular directions without mutual influence, and the container moves in the translation mode in the three mutually perpendicular directions, so that the movement of the container is stable, and objects in the container are prevented from being damaged when the container moves.

Further, in step S106, the container enters the vehicle body with an upper limit in the vertical direction, and after the container enters the vehicle body, the assembling method is implemented based on the above assembling system and further includes: adjusting the horizontal position of the telescoping fork (e.g., adjusting the position of the telescoping fork in a first direction and a second direction, respectively) to align the container bottom positioning member with the vehicle body positioning mechanism; the telescopic fork is lowered, so that the container is carried by the vehicle body and then separated from the telescopic fork after the positioning piece is embedded with the positioning mechanism; and moving the telescopic fork out of the car body, and separating the telescopic fork from the container assembled at the time so as to wait for the next assembly. In combination with the structure of the combined assembly system, it is understood that in the process of descending the telescopic fork, the telescopic fork drives the container to descend together at the beginning, and the container bottom positioning piece and the vehicle body positioning mechanism are gradually embedded together from a separated state at the beginning; immediately after the telescopic fork continues to descend, the container is carried by the carrying plate after the telescopic fork descends below the carrying plate, the telescopic fork no longer carries the container, and accordingly the container no longer presses the telescopic fork, so that the telescopic fork can freely move in the gap between the carrying plate 420 and the bottom plate 410 to remove the vehicle body. In the assembling method, the positioning piece is embedded with the positioning mechanism, so that the assembling of the container and the vehicle body is reinforced; the container enters the vehicle body in an upper limit mode in the vertical direction, and the container cannot freely move in the vehicle body due to the fact that the locating piece and the locating mechanism are in contact with each other.

Further, the assembling method according to any one of the seventh to fourteenth embodiments further includes, before moving the retractable fork carrying the container in the direction approaching the vehicle body to the outside of the frame in step S102: the length of the unsupported part of the telescopic fork is adjusted according to the weight of the container, the container is placed on a bearing structure arranged at the tail end of the unsupported part, wherein the telescopic fork consists of a supporting part and an unsupported part, the starting end of the unsupported part is connected with the tail end of the supporting part, and the supporting part is integrally fixed on the frame to be supported by the frame. It should be understood that, the length of the unsupported portion of the telescopic fork is adjusted based on the connection structure between the telescopic fork and the load beam in any one of the assembling devices of the seventh to fourteenth embodiments, and the adjustment manner of the length of the unsupported portion corresponding to the connection structure may be referred to the above description, and will not be repeated herein. For the combined device, the longer the unsupported part of the telescopic fork is, the more easily the telescopic fork is bent at one end of the telescopic fork bearing the container, so that the position accuracy of the container in the vertical direction is more easily damaged; however, if the unsupported portion of the telescopic fork is shorter, the telescopic fork needs to move a longer distance along the first direction to approach the vehicle body, so that the length of the unsupported portion of the telescopic fork is adjusted according to the weight of the container, which is beneficial to improving the precision and efficiency of the container and the vehicle body in the aligning process, and is beneficial to prolonging the service life of the combined device.

It should be noted that in this document relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Embodiments in accordance with the present invention, as described above, are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and the full scope and equivalents thereof.

Claims (8)

1. A container and body combination device, comprising: container, vehicle body and telescopic fork (1213) and a frame carrying the telescopic fork (1213), wherein,

The telescopic fork (1213) is used for bearing the container, and can extend out of the rack to place the container on the vehicle body, and the rack can drive the telescopic fork (1213) to move in a three-dimensional direction and is provided with a longitudinal movement limiting component (330);

A bearing plate is fixedly arranged on the bottom in the vehicle body, the bearing plate is discontinuously arranged so that the telescopic fork (1213) can descend through the bearing plate, and a gap is reserved between the bearing plate and the bottom in the vehicle body so that the telescopic fork (1213) can move in the gap;

A positioning piece is fixedly arranged on the bottom surface of the container, a positioning mechanism is further arranged on the bearing plate, the positioning piece and the positioning mechanism are lowered through the telescopic fork (1213) from separation to jogging, and the bearing plate bears the container after the telescopic fork (1213) is continuously lowered to the gap;

Wherein the frame drives the telescopic fork (1213) to move in a three-dimensional direction, comprising:

Before the container enters the vehicle body, the telescopic fork (1213) is driven to move in a three-dimensional direction, so that the container borne by the telescopic fork (1213) is aligned to the vehicle body and reaches the vertical direction limited by the longitudinal movement limiting assembly (330) to be limited;

After the container enters the vehicle body, the telescopic fork (1213) is driven to move in the horizontal direction so as to align the loaded container bottom positioning piece with the vehicle body positioning mechanism, and the telescopic fork (1213) is driven to descend so as to enable the container to be loaded by the vehicle body and then to be separated from the telescopic fork (1213) after the positioning piece and the positioning mechanism are embedded.

2. The combination of claim 1, wherein the housing comprises:

a first traversing mechanism (100) that moves the telescoping fork (1213) in a first direction;

a second traversing mechanism (200) that moves the telescoping fork (1213) in a second direction;

A vertical movement mechanism (300) that drives the telescopic fork (1213) to move in the vertical direction;

Wherein the first direction and the second direction are horizontal and vertical, and the telescopic fork (1213) moves in the first direction to extend out of the rack.

3. The combination according to claim 2, wherein,

One end of the telescopic fork (1213) is a fixed end, and the other end is a free end, wherein the fixed end is fixedly arranged on the first traversing mechanism (100), and the free end is concave relative to the fixed end to form a bearing structure (12131) of the container.

4. A combination according to claim 3, wherein,

The first transverse moving mechanism (100) comprises a first transverse moving fixing seat (110) and a first transverse moving assembly (120) sliding along the first transverse moving fixing seat (110), and a first transverse moving limiting assembly (130) limiting the sliding range of the first transverse moving assembly (120) is fixedly arranged between the first transverse moving fixing seat (110) and the first transverse moving assembly (120);

The second traversing mechanism (200) comprises a second traversing fixed seat (210) and a second traversing assembly (220) sliding along the second traversing fixed seat (210), and a second traversing limiting assembly (230) limiting the sliding range of the second traversing assembly (220) is fixedly arranged between the second traversing fixed seat (210) and the second traversing assembly (220);

The longitudinal movement mechanism (300) comprises a longitudinal movement fixing seat (310) and a longitudinal movement assembly (320) sliding along the longitudinal movement fixing seat (310), and the longitudinal movement limiting assembly (330) limiting the sliding range of the longitudinal movement assembly (320) is fixedly arranged between the longitudinal movement fixing seat (310) and the longitudinal movement assembly (320);

The first traversing assembly (120) is fixedly connected with the telescopic fork (1213), the first traversing fixing seat (110) is fixedly connected with the second traversing assembly (220), and the second traversing fixing seat (210) is fixedly connected with the longitudinal moving assembly (320).

5. The combination according to claim 4, wherein,

The first traversing assembly (120) comprises a carrier beam (1211), the carrier beam (1211) being provided with a first through hole (12111) traversing the carrier beam (1211);

the fixed end is insertable into the load beam (1211) and is provided with a second through hole (12132) traversing the fixed end;

Wherein the number of the first through holes (12111) and/or the second through holes (12132) is a plurality, and the first through holes (12111) and the second through holes (12132) of different combinations are aligned and then fixed, so that the telescopic fork (1213) has unsupported parts with different lengths.

6. A method of assembling a container with a vehicle body, applied to the assembling device of any one of claims 1 to 5, comprising:

Moving a telescopic fork carrying the container out of the frame along the direction approaching the vehicle body so as to enable the container to approach the vehicle body;

moving the telescopic fork in a three-dimensional direction to align the container with the vehicle body;

Moving the telescopic fork to enable the container to enter the vehicle body so as to finish assembly;

Wherein, the packing cupboard is with the upper limit of vertical direction entering the automobile body, and after the packing cupboard gets into in the automobile body, the method still includes:

Adjusting the horizontal position of the telescopic fork to align the container bottom positioning piece with the vehicle body positioning mechanism;

the telescopic fork is lowered, so that the container is carried by the vehicle body and then separated from the telescopic fork after the positioning piece is embedded with the positioning mechanism;

and moving the telescopic fork out of the car body.

7. The method of assembling according to claim 6, wherein,

Moving the telescopic fork in a three-dimensional direction, comprising: respectively adjusting the positions of the telescopic fork in the first direction, the second direction and the vertical direction until the container is aligned with the vehicle body;

Wherein the first direction and the second direction are horizontal and vertical.

8. The method of any of claims 6-7, wherein prior to moving the telescoping fork carrying the container out of the frame in a direction toward the vehicle body, the method further comprises:

adjusting the length of an unsupported part of the telescopic fork according to the weight of the container, wherein the tail end of the unsupported part is provided with a bearing structure;

placing the container on the load-bearing structure;

the telescopic fork consists of a supporting part and an unsupported part, wherein the starting end of the unsupported part is connected with the tail end of the supporting part, and the supporting part is integrally fixed on the stand so as to be supported by the stand.