CN217323241U - Multi-machine cooperative butt joint device for material transfer - Google Patents

Abstract

The application relates to a multi-machine cooperative docking device for material transfer, which is used for realizing transfer and transfer of coil materials among coil material handling robots and comprises a main frame, a lifting guide assembly, a lifting power assembly and a fork arm bracket; the lifting guide assembly and the lifting power assembly are connected to the main frame, the fork arm bracket is connected to the lifting guide assembly and performs lifting motion on the lifting guide assembly, and the lifting power assembly is used for driving the fork arm bracket to perform lifting motion; the yoke bracket includes a yoke for carrying the coil. The multi-machine cooperative docking device realizes effective connection and continuous carrying of the coil among different types of coil carrying robots with the same or different specifications; automatic carrying can be realized, the labor intensity of workers is reduced, and the danger of manpower transfer is avoided.

Description

Multi-machine cooperative butt joint device for material transfer

Technical Field

The application relates to the technical field of material handling, especially, relate to a multimachine of material transmission is interfacing apparatus in coordination, is applicable to and transmits the roll material between the roll material transfer robot in the roll material handling process and shifts.

Background

In the correlation technique, the handling and the course of working of a large amount of coil stocks that relate to in some industries, the handling of coil stocks ubiquitous characteristics that weight is big, adopt artifical transport and butt joint mode to have with high costs, problem and the incident of taking place easily of inefficiency, through the application of coil stock transfer robot, can realize that the full-automatic high efficiency of coil stock is transported and is shifted.

The existing coil stock carrying robot has a certain conversion problem in mutual butt joint and coil stock transfer, particularly has certain danger in heavy coil stocks and conversion among coil stock carrying robots by means of manual operation simple equipment. Meanwhile, the coil stock carrying robot with general functions does not have a mechanism and a function for loading and unloading coil stock when the coil stock is effectively connected and continuously carried with coil stock carrying robots of different specifications and types, and the butt joint effect of simple equipment is not ideal.

SUMMERY OF THE UTILITY MODEL

In order to overcome the problems in the prior art, the application aims to provide a multi-machine cooperative docking device for material transfer, which can be used for carrying out automatic docking between coil handling robots to realize coil transfer and transfer, and can effectively transfer coils among coil handling robots of different specifications and types.

The application is realized through the following technical scheme.

The technical scheme of the application is that the multi-machine cooperative butt joint device for material transfer is used for transferring and transferring coil materials among coil material handling robots and comprises a main frame, a lifting guide assembly, a lifting power assembly and a fork arm bracket; the lifting guide assembly and the lifting power assembly are connected to the main frame, the fork arm bracket is connected to the lifting guide assembly and performs lifting motion on the lifting guide assembly, and the lifting power assembly is used for driving the fork arm bracket to perform lifting motion; the yoke bracket comprises a yoke for carrying a coil.

The technical effect of the technical scheme is that the multi-machine cooperative docking device realizes effective connection and continuous carrying of the coil among different types of coil carrying robots with the same or different specifications; automatic carrying can be realized, the labor intensity of workers is reduced, and the danger of manpower transfer is avoided.

In one embodiment of the present disclosure, the yoke is provided with a notch opening upward, and the notch is used for accommodating a bearing shaft of the roll material and limiting the roll material to move on the yoke. The notch of yoke can conveniently keep the axle of accepting of coil stock in the notch, and convenient and effectual coil stock roll out yoke falls.

In one embodiment of this disclosure, the notch is a V-shaped notch, a square notch, an arc notch, or a semicircular notch.

In one embodiment of this disclosure, the yoke is provided with a reinforcement portion, the reinforcement portion is located on the same side as the notch, the reinforcement portion has an inclined surface disposed close to the notch, and the inclined surface is inclined in a direction away from the notch. Preferably, the reinforcing part has a trapezoidal structure or a triangular structure. So, the mechanical strength of yoke can be improved to the rib, utilizes the inclined plane to be close to the notch setting, and the coil stock of still being convenient for is fixed a position when unstable and is returned to the notch.

In a certain embodiment of the present technical solution, the lifting guide assembly includes a guide groove frame and a guide frame, the guide groove frame is provided with a guide groove in a vertical direction, the guide frame is provided with a plurality of guide wheels, the plurality of guide wheels are respectively disposed in the guide groove in a matching manner, so that the guide frame can perform lifting motion along the guide groove, and the yoke bracket is connected with the guide frame. Through the rolling of guide way and leading wheel, reducible guide frame moves the frictional resistance on the guide way frame, makes the motion more steady and laborsaving, has injectd the guide frame simultaneously and has only followed the guide way and move.

In a certain embodiment of this technical solution, the guide groove frame includes two side frame bodies vertically arranged in parallel, both of the two side frame bodies are fixedly connected to the main frame, and a guide groove is disposed on an inner side of the side frame body.

In one embodiment of the present invention, the guide frame includes a rectangular frame body and guide wheels disposed at side portions of the rectangular frame body, and at least two guide wheels are fitted in a guide groove of each side frame body; the rectangular frame body is connected with the fork arm bracket.

In one embodiment of the present disclosure, the lifting power assembly includes a lifting power rod, a supporting seat, a sprocket and a chain, the lower end of the lifting power rod is connected to the main frame, the upper end of the lifting power rod is connected to the supporting seat, and the sprocket is mounted on the supporting seat for rotation; the chain is meshed with the chain wheel, one end of the chain is connected with the main frame, and the other end of the chain is connected with the guide frame. Because the chain wheel can be lifted under the pushing action of the lifting power rod, the chain wheel is used as a movable pulley and matched with the chain to effectively shorten the pushing stroke of the lifting power rod when the guide frame is lifted.

In one embodiment of this disclosure, the lifting power rod is an electric push rod, a hydraulic push rod or a pneumatic push rod.

In one embodiment of this embodiment, the guide frame is provided with a traction reinforcing block, one end of the chain is connected to the main frame, and the other end of the chain is connected to the traction reinforcing block. In this way, the guide frame is connected to the other end of the chain by means of the traction reinforcement.

In a certain embodiment of this technical scheme, the supporting seat is equipped with the shaft hole, install the axis of rotation through the bearing in the shaft hole, install respectively at the both ends of axis of rotation the sprocket, the chain is two, every the chain with one that corresponds the sprocket meshes mutually. So drive guide frame through two chains and go up and down for guide frame's lift is more stable.

In a certain embodiment of this embodiment, the lower end of the lifting power rod is connected to the main frame through a hinge base, and the lifting power rod is disposed parallel to the moving direction of the yoke bracket. Therefore, the direction of the pushing acting force of the lifting power rod is consistent with the movement direction of the fork arm bracket, and the pushing stroke of the lifting power rod is shortened.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

Fig. 1 is a schematic structural diagram of a multi-machine cooperative docking device shown in an embodiment of the present application.

Fig. 2 is a schematic side view of a multi-machine cooperative docking device shown in an embodiment of the present application.

Fig. 3 is a schematic structural view of the yoke bracket shown in an embodiment of the present application.

Fig. 4 is a schematic structural view showing a connection relationship between the guide frame and the yoke bracket according to an embodiment of the present application.

Fig. 5 is a schematic structural view illustrating a connection relationship between the lift guide assembly and the yoke bracket according to an embodiment of the present application.

Fig. 6 is a schematic structural diagram illustrating a connection relationship between the lifting power assembly and the main frame according to an embodiment of the present application.

Fig. 7 is a schematic structural view of a lifting guide assembly shown in an embodiment of the present application.

Fig. 8 is a schematic diagram of a multi-machine cooperative docking device in a process of placing a roll by a roll handling robot according to an embodiment of the present application.

Fig. 9 is a schematic diagram of a roll removal process performed by a multi-machine cooperative docking device in a roll handling robot according to an embodiment of the present application.

Description of reference numerals:

100. a multi-machine cooperative docking device; 110. a main frame;

120. a lifting guide assembly; 121. a guide groove frame; 1211. a guide groove; 1212. a side frame body; 1213. an upper sealing plate; 1214. a transverse plate; 122. a guide frame; 1221. a guide wheel; 1222. a rectangular frame body; 1223. a traction reinforcing block;

130. a lifting power assembly; 131. a lifting power rod; 132. a supporting seat; 1321. a shaft hole; 133. a sprocket; 134. a chain; 1341. a chain mounting seat; 1342. a locknut; 135. a hinged seat; 136. a fixed seat; 137. a bearing; 138. a rotating shaft;

140. a yoke bracket; 141. a yoke; 1411. a notch; 1412. a reinforcing portion; 1413. a bevel; 142. a load bearing beam;

200. coiling; 201. a load bearing shaft;

300. coil stock handling robot.

Detailed Description

Technical solutions in some embodiments of the present application will be clearly and completely described below with reference to the drawings in some embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that all the directional indications (such as up, down, left, right, front, and rear … …) in the embodiment of the present application are only used to explain the relative positional relationship between the components, the motion situation, and the like in a specific posture, and if the specific posture is changed, the directional indication is changed accordingly. It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element through intervening elements.

In addition, the descriptions referred to as "first", "second", etc. in this application are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the embodiments may be combined with each other, but must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope claimed in the present application.

It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

In view of the problems that the conventional coil handling robots 300 generally cannot be docked with each other to transfer the coil 200 from one coil handling robot 300 to another coil handling robot 300, and the coil 200 needs to be transferred by simple manual operation equipment, and particularly, the transfer of heavy coils is dangerous, the embodiment of the present application provides a multi-machine cooperative docking device for material transfer, which can transfer the coil 200 between the coil handling robots 300.

Referring to fig. 1, there is shown a schematic structural diagram of a roll material 200, in which a continuous sheet material is rolled into a roll to form the roll material 200, in order to facilitate handling of the roll material 200, a bearing shaft 201 is inserted into the middle of the roll material 200, the length of the bearing shaft 201 is greater than that of the roll material 200 so that two ends of the bearing shaft 201 can protrude out of the roll material 200, and the roll material 200 is handled by lifting up two ends of the bearing shaft 201.

Referring to fig. 1 to 7, a multi-machine cooperative docking apparatus 100 for material transfer according to an embodiment of the present application includes a main frame 110, a lifting guide assembly 120, a lifting power assembly 130, and a yoke bracket 140; the lifting guide assembly 120 and the lifting power assembly 130 are connected to the main frame 110, the yoke bracket 140 is connected to the lifting guide assembly 120 and performs lifting motion on the lifting guide assembly 120, and the lifting power assembly 130 is used for driving the yoke bracket 140 to perform lifting motion; the yoke bracket 140 includes a yoke 141 for carrying the coil 200.

In this way, the fork arms 141 of the fork arm bracket 140 can be used to carry both ends of the carrying shaft 201 of the coil 200, and the lifting power assembly 130 drives the fork arm bracket 140 to perform a lifting motion on the lifting guide assembly 120, so that the coil 200 can be taken off from the coil handling robot 300 located below the fork arm bracket 140 when the lifting motion is performed, or the coil 200 on the fork arm bracket 140 can be placed on the coil handling robot 300 located below the fork arm bracket 140 when the lifting motion is performed.

Referring to fig. 3 and 4, in the present embodiment, the yoke bracket 140 includes a bearing beam 142 and two yokes 141, the two yokes 141 are oppositely spaced and fixedly mounted on the bearing beam, and the bearing beam is connected to the lifting guide assembly 120, so that the space between the two yokes 141 can accommodate the coil 200.

In this embodiment, in order to adapt to the coil materials 200 with different specifications, the distance between the two fork arms 141 can be adjusted, and the adjustment mode can be an automatic mode or a manual mode.

In this embodiment, each of the fork arms 141 is provided with a notch 1411 opened upward, when the two fork arms 141 respectively bear two ends of the bearing shaft 201 of the roll material 200, the bearing shaft 201 is disposed in the notch 1411, and the notch 1411 can accommodate the bearing shaft 201 of the roll material 200 to limit the roll material 200 to roll on the fork arms 141, so that the roll material 200 is conveniently and effectively prevented from rolling out of the fork arms 141 and falling.

In this embodiment, the notch 1411 is a notch with a circular arc or semicircular cross section, and the size of the circular notch can be set according to the diameter of the bearing shaft 201 of the coil stock 200, so that the bearing shaft 201 can be retained, and the bearing shaft can be prevented from rolling in the notch 1411 due to the overlarge size. Further, the notch 1411 may be a V-shaped notch having a V-shaped cross section or a square notch having a square cross section.

In this embodiment, each fork arm 141 is provided with a reinforcing portion 1412, the reinforcing portion 1412 is located on the same side as the notch 1411, the reinforcing portion 1412 has a slope 1413 disposed close to the notch 1411, and the slope 1413 inclines away from the notch 1411. Preferably, the reinforcement 1412 has a trapezoidal or triangular structure. In this way, the reinforcement 1412 can improve the mechanical strength of the yoke 141, and by disposing the inclined surface 1413 close to the notch 1411, it is also convenient for the roll material 200 to return to the notch 1411 when the roll material is unstably positioned.

Referring to fig. 4 and 5, in the present embodiment, the lifting guide assembly 120 is used for supporting the lifting movement of the yoke bracket 140, the lifting guide assembly 120 includes a guide groove frame 121 and a guide frame 122, a vertical guide groove 1211 is formed on the guide groove frame 121, the guide frame 122 is provided with a plurality of guide wheels 1221, the plurality of guide wheels 1221 are respectively disposed in the guide groove 1211 in a matching manner to roll, so that the guide frame 122 can move up and down along the guide groove 1211, the yoke bracket 140 is connected to the guide frame 122, and the guide frame 122 drives the yoke bracket 140 to move up and down.

In this embodiment, the guide groove frame 121 includes two side frame bodies 1212 vertically arranged in parallel, wherein the two side frame bodies 1212 are both fixedly connected to the main frame 110, the guide groove 1211 is disposed on the inner sides of the two side frame bodies 1212, the upper ends of the two side frame bodies 1212 are fixedly connected through an upper sealing plate 1213, and the lower ends of the two side frame bodies 1212 are fixedly connected through a horizontal plate 1214, so that the guide groove frame 121 is in a rectangular structure.

In this embodiment, the guide frame 122 is disposed on the guide slot frame 121 to move, the guide frame 122 includes a rectangular frame 1222 and a plurality of guide wheels 1221 disposed at the side of the rectangular frame 1222, the rectangular frame 1222 is disposed inside the enclosed rectangle of the guide slot frame 121, the guide wheels 1221 are disposed in the guide slots 1211, at least two guide wheels 1221 are fitted in the guide slots 1211 of each side frame 1212, and the rectangular frame 1222 is fixedly connected to the bearing beam 142 of the yoke bracket 140.

In this way, the guide frame 122 rolls on the guide groove 1211 through the guide wheel 1221 to move up and down on the guide groove frame 121, so that the friction resistance of the guide frame 122 moving on the guide groove frame 121 can be reduced, the movement is more stable and labor-saving, and the guide frame 122 is limited to move only along the guide groove 1211.

In a certain embodiment, the lifting guide assembly 120 may also be a guide rail assembly or a linear sliding table module capable of moving linearly, for example, the lifting guide assembly 120 includes a guide rail disposed in a vertical direction and a sliding table disposed on the guide rail, the guide rail is fixedly connected to the main frame 110, and the bearing beam 142 of the yoke bracket 140 is fixedly connected to the sliding table, so that the upper yoke bracket 140 can also move up and down along the lifting guide assembly 120.

Referring to fig. 6 and 7, in this embodiment, the lifting power assembly 130 is used to drive the fork 141 to move up and down on the lifting guide assembly 120, the lifting power assembly 130 includes a lifting power rod 131, a supporting seat 132, a chain wheel 133 and a chain 134, the lower end of the lifting power rod 131 is connected to the main frame 110, the upper end of the lifting power rod 131 is connected to the supporting seat 132, and the chain wheel 133 is mounted on the supporting seat 132 to rotate; the chain 134 is engaged with the sprocket 133, and one end of the chain 134 is connected to the main frame 110 and the other end thereof is connected to the guide frame 122.

Therefore, the lifting power rod 131 drives the chain wheel 133 to lift, the chain wheel 133 is meshed with the transmission chain 134 to drive the guide frame 122 to lift, and the chain wheel 133 serves as a movable pulley to be matched with the chain 134, so that the lifting power rod 131 can shorten the pushing stroke of the lifting power rod 131 when lifting the coil.

In this embodiment, the lower end of the lifting power rod 131 is connected to the main frame 110 through the hinge base 135, the lifting power rod 131 is disposed parallel to the moving direction of the yoke bracket 140, the hinge base 135 facilitates adjustment of the installation direction of the lifting power rod 131, the lifting power rod 131 is further connected to the main frame 110 through the fixing base 136, and the fixing base limits the lifting power rod 131 on the main frame 110 to prevent lateral deviation.

Therefore, the direction of the pushing action force of the lifting power rod 131 is consistent with the movement direction of the fork arm bracket 140, the stroke of the lifting power rod is shortened, the supporting seat 132 is fixedly installed at the top end of the push rod of the lifting power rod 131, and the lifting power rod 131 drives the supporting seat 132 to move.

In this embodiment, the lifting power rod 131 may be an electric push rod, a hydraulic push rod or a pneumatic push rod.

Referring to fig. 7, in the present embodiment, the supporting seat 132 is provided with a shaft hole 1321, the rotating shaft 138 is installed in the shaft hole 1321 through the bearing 137, the rotating shaft 138 passes through the shaft hole 1321, two chain wheels 133 are respectively and fixedly installed at two ends of the rotating shaft 138, the two chain wheels 133 are connected through the rotating shaft 138 and synchronously rotate, wherein two chain wheels 134 are provided, and each chain wheel 134 is meshed with a corresponding chain wheel 133.

In this embodiment, one end of each chain 134 is connected to the main frame 110 through a chain mounting seat 1341, the chain mounting seat 1341 is installed on the main frame 110 through a threaded manner, the chain mounting seat 1341 is further provided with a locknut 1342 for preventing the chain mounting seat 1341 from loosening, and the chain mounting seat 1341 is hinged to one end of the chain 134; the other end of each chain 134 is connected to guide frame 122 by chain mount 1341.

Specifically, the guide frame 122 is provided with a traction reinforcing block 1223, the chain mounting seat 1341 is connected and mounted on the traction reinforcing block 1223 in a threaded manner, the chain mounting seat 1341 is further provided with a locknut 1342 for preventing the chain mounting seat 1341 from loosening, one end of the chain 134 is connected with the main frame 110, and the other end of the chain 134 is hinged with the chain mounting seat 1341. In this way, the guide frame 122 is connected to the other end of the chain 134 by the traction reinforcing block 1223, so that the mechanical strength of the connection is improved and the guide frame 122 can be easily processed and manufactured. The chain 134 is tightly installed with the main frame 110 and the guide frame 122, so that the installation and the disassembly are convenient.

The elevating power assembly 130 is not limited to the elevating power rod 131. In one embodiment, the lifting power assembly 130 may also be a screw assembly, the lifting power assembly 130 includes a motor, a screw connected to the motor, and a screw nut sleeved on the screw, the screw is directly or indirectly connected to the main frame 110 through a bracket, the screw nut is directly or indirectly connected to the yoke bracket 140, and the motor drives the screw to rotate so as to drive the yoke bracket 140 to move along the direction of the screw.

In this embodiment, the multi-machine cooperative docking device 100 further includes a control system and a plurality of sensors, the control system and the sensors are not shown in the figure, all the sensors are electrically connected to the control system, the control system is used for controlling the operation of the lifting power rod 131 and communicating with the material handling robot according to the detection information of the sensors, and the sensors are used for detecting the presence or absence and the position of the coil material handling robot 300.

Referring to fig. 8, the process of placing the coil 200 in the multi-machine cooperative docking device 100 is that the lifting power assembly 130 is lowered to the lowest position when the docking position is empty, the coil handling robot a loads the coil 200 into the predetermined docking position of the multi-machine cooperative docking device 100, the lifting power assembly 130 at the docking position is communicated with the sensor of the coil handling robot a through the sensor of the multi-machine cooperative docking device 100, and the lifting power assembly 130 at the docking position is raised after receiving the signal of the control system to drive the yoke bracket 140 to lift the coil 200, so that the coil 200 is separated from the coil handling robot a, and the coil handling robot a is separated from the predetermined docking position through the communication between the sensor and the coil handling robot a after being lifted to a certain height.

Referring to fig. 9, the multi-machine cooperative docking device 100 dispatches the coil handling robot B to take a coil by a predetermined signal command, the coil handling robot B communicates with the docking position by its own sensor after reaching the predetermined docking position, and the lifting power assembly 130 at the docking position descends after receiving the signal to drive the yoke bracket 140 to descend, so that the coil 200 is stably placed in the lifting V-shaped groove of the coil handling robot B. The butt joint position is communicated with the coil handling robot B through a sensor, the coil handling robot B is communicated to lift the coil to leave the butt joint position, the lifting power assembly 130 of the butt joint position drives the fork arm bracket 140 to recover to a preset position, and then mutual transmission of the coil among coil handling robots of different specifications and types is achieved.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. The multi-machine cooperative docking device for material transfer is used for transferring and transferring coil materials among coil material handling robots and is characterized by comprising a main frame, a lifting guide assembly, a lifting power assembly and a fork arm bracket; the lifting guide assembly and the lifting power assembly are connected to the main frame, the fork arm bracket is connected to the lifting guide assembly and performs lifting motion on the lifting guide assembly, and the lifting power assembly is used for driving the fork arm bracket to perform lifting motion; the yoke bracket comprises a yoke for carrying a coil.

2. The multi-machine cooperative docking device for material transfer as recited in claim 1, wherein the yoke is provided with an upwardly opening notch for receiving a carrying shaft of a roll and limiting movement of the roll on the yoke.

3. The multi-machine cooperative docking device for material transfer of claim 2, wherein the yoke is provided with a reinforcement portion on the same side as the notch, the reinforcement portion having a slope disposed adjacent to the notch.

4. The multi-machine cooperative docking device for material transfer according to any one of claims 1 to 3, wherein the lifting guide assembly comprises a guide groove frame and a guide frame, the guide groove frame is provided with a guide groove in a vertical direction, the guide frame is provided with a plurality of guide wheels, the plurality of guide wheels are respectively arranged in the guide groove in a matching manner, so that the guide frame can perform lifting movement along the guide groove, and the fork arm bracket is connected with the guide frame.

5. The multi-machine cooperative docking device for material transfer according to claim 4, wherein the guide groove frame comprises two side frame bodies vertically arranged in parallel, both of the side frame bodies are fixedly connected to the main frame, and guide grooves are formed on the inner sides of the side frame bodies.

6. The multi-machine cooperative docking device for material transfer according to claim 5, wherein the guiding frame comprises a rectangular frame body and guiding wheels arranged at the side parts of the rectangular frame body, and at least two guiding wheels are matched in the guiding groove of each side frame body; the rectangular frame body is connected with the fork arm bracket.

7. The multi-machine cooperative docking device for material transfer as claimed in claim 4, wherein the lifting power assembly comprises a lifting power rod, a supporting seat, a chain wheel and a chain, the lower end of the lifting power rod is connected to the main frame, the upper end of the lifting power rod is connected to the supporting seat, and the chain wheel is mounted on the supporting seat to rotate; the chain is meshed with the chain wheel, one end of the chain is connected with the main frame, and the other end of the chain is connected with the guide frame.

8. The multi-machine cooperative docking device for material transfer as claimed in claim 7, wherein a pulling reinforcement block is provided on the guide frame, one end of the chain is connected to the main frame, and the other end of the chain is connected to the pulling reinforcement block.

9. The multi-machine cooperative docking device for material transfer according to claim 7, wherein the supporting base is provided with a shaft hole, a rotating shaft is mounted in the shaft hole through a bearing, the two ends of the rotating shaft are respectively provided with the chain wheels, and each chain is engaged with a corresponding chain wheel.

10. The multi-machine cooperative docking device for material transfer as claimed in claim 7, wherein the lower end of the lifting power rod is connected with the main frame through a hinge seat, and the lifting power rod is disposed parallel to the moving direction of the yoke bracket.

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