阅读说明：本技术 一种多孔窑推板自动循环生产线及其实现方法 (Automatic circulating production line for porous kiln push plate and implementation method thereof ) 是由 牛利博 袁美华 沈群洋 马新昊 刘恒平 于 2021-06-29 设计创作，主要内容包括：本发明公开了一种多孔窑推板自动循环生产线,包括多孔窑炉,多孔窑炉的入料端设有入料行架机器人,入料行架机器人的一侧设有若干入料输送线,多孔窑炉的出料端设有出料行架机器人,出料行架机器人的下方设有出料输送线,出料行架机器人的下方设有AGV小车；本发明还公开了一种多孔窑推板自动循环生产线的实现方法。本发明通过出料行架机器人和入料行架机器人的设置,实现了多孔窑炉的推板的自动上料、自动搬运以及自动下料,大大的降低了工人的劳动强度,提高了产品烧结的工作效率；本发明设置的旋转平台可以解决下层推板无法自动抓取的问题以及单台设备可以同时解决对称的左边数个孔道和右边数个孔道的上下料。(The invention discloses an automatic circulating production line for a porous kiln push plate, which comprises a porous kiln, wherein a feeding traveling frame robot is arranged at a feeding end of the porous kiln, a plurality of feeding conveying lines are arranged on one side of the feeding traveling frame robot, a discharging traveling frame robot is arranged at a discharging end of the porous kiln, a discharging conveying line is arranged below the discharging traveling frame robot, and an AGV (automatic guided vehicle) is arranged below the discharging traveling frame robot; the invention also discloses a method for realizing the automatic circulation production line of the porous kiln push plate. According to the invention, through the arrangement of the discharging truss robot and the feeding truss robot, the automatic feeding, the automatic carrying and the automatic discharging of the push plate of the porous kiln are realized, the labor intensity of workers is greatly reduced, and the working efficiency of product sintering is improved; the rotary platform provided by the invention can solve the problem that the lower-layer push plate cannot be automatically grabbed, and the single device can simultaneously solve the feeding and discharging of a plurality of symmetrical left-side pore channels and a plurality of symmetrical right-side pore channels.)

1. The utility model provides a porous kiln push pedal automatic cycle production line, includes porous kiln, and porous kiln's pan feeding end is equipped with pan feeding truss robot, and one side of pan feeding truss robot is equipped with a plurality of pan feeding transfer chains, and porous kiln's discharge end is equipped with ejection of compact truss robot, and the below of ejection of compact truss robot is equipped with ejection of compact transfer chain, and the below of ejection of compact truss robot is equipped with the AGV dolly.

2. The automatic circulation production line for the porous kiln push plate as claimed in claim 1, is characterized in that: ejection of compact bank frame robot includes that support, X axle remove the module, Y axle remove the module and Z axle removes the module, and wherein, the top of support is equipped with X axle and removes the module, and X axle removes to be equipped with Y axle on the module and removes the module, and Y axle removes to be equipped with Z axle on the module and removes the module, and the lower extreme that Z axle removed the module is connected with the robot clamping jaw.

3. The automatic circulation production line for the porous kiln push plate as claimed in claim 2, is characterized in that: the structure of the feeding truss robot is the same as that of the discharging truss robot.

4. The automatic circulation production line for the porous kiln push plate as claimed in claim 2, is characterized in that: the robot clamping jaw includes that rotary platform and push pedal hold in the palm and lift the tool, and wherein, rotary platform installs the lower extreme at Z axle removal module, is connected with the connecting plate on rotary platform's the output, and one side of connecting plate is connected with the push pedal and holds in the palm and lift the tool, and the push pedal holds in the palm and lifts and be equipped with first push pedal inductor on the tool.

5. The automatic circulation production line for the porous kiln push plate as claimed in claim 4, is characterized in that: the connecting plate is provided with a limit sensor, and the rotating platform is connected with an induction sheet corresponding to the limit sensor.

6. The automatic circulation production line for the porous kiln push plate as claimed in claim 4, is characterized in that: the robot clamping jaw further comprises an installation frame, the installation frame is installed below the connecting plate, two ends of the upper portion of the installation frame are respectively connected with a clamping cylinder, and the output end of the clamping cylinder is connected with a clamping plate.

7. The automatic circulation production line for the porous kiln push plate as claimed in claim 6, is characterized in that: the middle position of mounting bracket is equipped with the fretwork groove, is equipped with the camera on the fretwork groove, still is connected with the second push pedal inductor corresponding with the camera on the mounting bracket.

8. The automatic circulation production line for the porous kiln push plate as claimed in claim 1, is characterized in that: the ejection of compact transfer chain includes first ejection of compact transfer chain and second ejection of compact transfer chain, and wherein, first ejection of compact transfer chain and second ejection of compact transfer chain parallel arrangement, and first ejection of compact transfer chain is connected through first corner belt with the one end of second ejection of compact transfer chain, and the other end of second ejection of compact transfer chain is connected with second corner belt.

9. The automatic circulation production line for the porous kiln push plate as claimed in claim 1, is characterized in that: the pan feeding transfer chain includes the upper transfer chain, and the one end that the upper transfer chain is close to pan feeding truss robot is equipped with the push pedal sensor that targets in place, and the pan feeding transfer chain still includes lower floor's transfer chain, and lower floor's transfer chain sets up the below at the upper transfer chain, and the interface is refuted for the push pedal to the one end that the lower floor's transfer chain is close to pan feeding truss robot, and the below of the lower floor's transfer chain other end is equipped with the lift cylinder, is connected with the roller platform on the output of lift cylinder.

10. The method for realizing the automatic circulation production line of the porous kiln push plate according to any one of claims 1 to 9, is characterized by comprising the following steps of:

firstly, placing a product on a push plate on an upper-layer conveying line by an employee, and conveying the push plate backwards;

after the push plate in-place sensor on the upper layer conveying line senses the push plate in-place sensor, the feeding rack robot drives the robot clamping jaw on the feeding rack robot to convey the push plate filled with the products from the upper layer conveying line to a corresponding pore channel of the porous kiln;

thirdly, the push plate filled with the products is sintered at high temperature in the porous kiln and then moved to an outlet of the porous kiln, and the push plate filled with the products is conveyed to a first discharging conveying line by a discharging racking robot;

(IV) the push plate filled with the products is conveyed to a second discharging conveying line through a first corner belt, and the staff take the products away from the push plate;

fifthly, the push plate is conveyed continuously and transferred to the lower part of the discharging traveling frame robot through a second corner belt;

the discharging traveling frame robot clamps and takes the push plate away from the second corner belt and places the push plate on the AGV trolley;

after the AGV trolleys are fully stacked with the push plates, the AGV trolleys are automatically conveyed to the position below the feeding truss robot, and the feeding truss robot conveys the push plates to a push plate overlap port of a lower-layer conveying line;

(eighth), the push plate is conveyed to the roller table on the lower layer conveying line, the lifting cylinder drives the roller table to ascend to the upper layer conveying line, and the staff place the product on the push plate;

and (ninthly), conveying the push plate backwards on the upper layer conveying line so as to circulate.

Technical Field

The invention belongs to the technical field of ferrite product production, and particularly relates to an automatic circulating production line for a porous kiln push plate and an implementation method thereof.

Background

The key processes for producing ferrite products include molding, sintering, grinding, and inspecting. The kiln used in the sintering procedure is divided into an electric kiln and a porous kiln, and the pushed slab kiln is used for sintering the magnetic material by burning coal gas or natural gas to obtain heat.

The multi-hole kiln generally comprises 8-hole kilns, 6-hole kilns and 4-hole kilns. And a plurality of pore channels are sintered at the same time, wherein 8 pore channels are the upper 4 pore channels, the lower 4 pore channels and other porous kilns are the same. The vertical sections of the upper duct and the lower duct are completely coincident.

At present, when a product is sintered, a push plate is firstly placed on a track of a porous kiln by staff, then the product is placed on the push plate, and the push plate carries the product to enter the porous kiln for sintering. The porous kiln outlet staff firstly unloads the products from the push plate and then unloads the push plate from the porous kiln track. Then the porous kiln is transported to the inlet of the porous kiln for the next use by a trolley push plate. Each push plate weighs about 32 kilograms, and 1 thousand push plates need to be carried by workers one day, so that the labor intensity is very high. And the ambient temperature is very high due to the diffusion of the residual temperature of the kiln. The recruitment of employees is very difficult.

Disclosure of Invention

The invention aims to provide an automatic circulating production line for a porous kiln push plate, which aims to solve the problems in the background technology. The automatic circulation production line for the porous kiln push plate provided by the invention has the characteristics of automatic feeding, automatic carrying and automatic discharging of the push plate.

The invention also aims to provide a method for realizing the automatic circulating production line of the porous kiln push plate.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a porous kiln push pedal automatic cycle production line, includes porous kiln, and porous kiln's pan feeding end is equipped with pan feeding truss robot, and one side of pan feeding truss robot is equipped with a plurality of pan feeding transfer chains, and porous kiln's discharge end is equipped with ejection of compact truss robot, and the below of ejection of compact truss robot is equipped with ejection of compact transfer chain, and the below of ejection of compact truss robot is equipped with the AGV dolly.

In order to carry the push pedal, furtherly, ejection of compact bank robot includes that support, X axle remove the module, Y axle remove the module and Z axle removes the module, wherein, the top of support is equipped with X axle and removes the module, is equipped with Y axle on the X axle removes the module and removes the module, is equipped with Z axle on the Y axle removes the module and removes the module, and the lower extreme that the module was removed to the Z axle is connected with the robot clamping jaw, and the structure of pan feeding bank robot is the same with ejection of compact bank robot's structure.

In order to solve the problem that the lower floor's push pedal can't snatch automatically and the unloading in the left side several pore and the several pore on the right of symmetry can be solved simultaneously to single equipment, furtherly, the robot clamping jaw includes that rotary platform and push pedal hold in the palm and lift the tool, and wherein, rotary platform installs the lower extreme at Z axle removal module, is connected with the connecting plate on rotary platform's the output, and one side of connecting plate is connected with push pedal and holds in the palm and lift the tool, and the push pedal holds in the palm and lifts and be equipped with first push pedal inductor on the tool.

In order to limit the rotation of the rotating platform, a limit sensor is arranged on the connecting plate, and an induction sheet corresponding to the limit sensor is connected to the rotating platform.

In order to empty push pedal press from both sides and get, furtherly, the robot clamping jaw still includes the mounting bracket, and the mounting bracket is installed in the below of connecting plate, and the both ends of mounting bracket top are connected with die clamping cylinder respectively, are connected with splint on die clamping cylinder's the output.

In order to stop the equipment fault that can't find the push pedal position accurately and produce, further, the intermediate position of mounting bracket is equipped with the fretwork groove, is equipped with the camera on the fretwork groove, still is connected with the second push pedal inductor corresponding with the camera on the mounting bracket.

In order to refute push pedal and the product that ejection of compact truss robot 2 carried, carry push pedal and product and supply the workman to take the product, carry empty push pedal to ejection of compact truss robot 2's below, furtherly, ejection of compact transfer chain includes first ejection of compact transfer chain and second ejection of compact transfer chain, wherein, first ejection of compact transfer chain and second ejection of compact transfer chain parallel arrangement, and first ejection of compact transfer chain is connected through first corner belt with the one end of second ejection of compact transfer chain, the other end of second ejection of compact transfer chain is connected with second corner belt.

In order to convey the push plate filled with the products, the feeding conveying line comprises an upper conveying line, and a push plate in-place sensor is arranged at one end, close to the feeding rack robot, of the upper conveying line.

In order to carry empty push pedal, carry the empty push pedal of roller table bench to the upper conveying line on, furtherly, the pan feeding transfer chain still includes lower floor's transfer chain, and lower floor's transfer chain sets up the below at the upper conveying line, and the interface is refuted for the push pedal to the one end that lower floor's transfer chain is close to pan feeding truss robot, and the below of lower floor's transfer chain other end is equipped with the lift cylinder, is connected with roller table on the output of lift cylinder.

Further, the method for realizing the automatic circulation production line of the porous kiln push plate comprises the following steps:

firstly, placing a product on a push plate on an upper-layer conveying line by an employee, and conveying the push plate backwards;

after the push plate in-place sensor on the upper layer conveying line senses the push plate in-place sensor, the feeding rack robot drives the robot clamping jaw on the feeding rack robot to convey the push plate filled with the products from the upper layer conveying line to a corresponding pore channel of the porous kiln;

thirdly, the push plate filled with the products is sintered at high temperature in the porous kiln and then moved to an outlet of the porous kiln, and the push plate filled with the products is conveyed to a first discharging conveying line by a discharging racking robot;

(IV) the push plate filled with the products is conveyed to a second discharging conveying line through a first corner belt, and the staff take the products away from the push plate;

fifthly, the push plate is conveyed continuously and transferred to the lower part of the discharging traveling frame robot through a second corner belt;

the discharging traveling frame robot clamps and takes the push plate away from the second corner belt and places the push plate on the AGV trolley;

after the AGV trolleys are fully stacked with the push plates, the AGV trolleys are automatically conveyed to the position below the feeding truss robot, and the feeding truss robot conveys the push plates to a push plate overlap port of a lower-layer conveying line;

(eighth), the push plate is conveyed to the roller table on the lower layer conveying line, the lifting cylinder drives the roller table to ascend to the upper layer conveying line, and the staff place the product on the push plate;

and (ninthly), conveying the push plate backwards on the upper layer conveying line so as to circulate.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, through the arrangement of the discharging truss robot and the feeding truss robot, the automatic feeding, the automatic carrying and the automatic discharging of the push plate of the porous kiln are realized, the labor intensity of workers is greatly reduced, and the working efficiency of product sintering is improved;

2. the rotary platform can solve the problem that the lower-layer push plate cannot be automatically grabbed, and the single device can simultaneously solve the feeding and discharging of a plurality of symmetrical left-side pore channels and a plurality of symmetrical right-side pore channels;

3. according to the invention, the arrangement of the AGV trolley realizes the circular conveying of the empty push plate;

4. the machine can simultaneously correspond to the push plates with a plurality of channels, the conveying of product combinations and the conveying of single push plates.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural diagram of the discharging traveling frame robot of the present invention;

FIG. 3 is a schematic view of the structure of a robot jaw of the present invention;

FIG. 4 is a schematic structural view of the outfeed conveyor line of the present invention;

FIG. 5 is a schematic view of the feed conveyor line of the present invention;

in the figure: 1. a porous kiln; 2. a discharge traveling frame robot; 21. a support; 22. an X-axis moving module; 23. a Y-axis moving module; 24. a Z-axis moving module; 3. a discharging conveying line; 31. a first discharge conveyor line; 32. a first corner belt; 33. a second discharge conveyor line; 34. a second corner belt; 4. an AGV trolley; 5. a feeding conveying line; 51. an upper layer conveying line; 52. a roller table; 53. a lifting cylinder; 54. a lower layer conveying line; 55. a push plate spider; 56. a push plate in-place sensor; 6. feeding a rack robot; 7. a robot gripping jaw; 71. rotating the platform; 72. a connecting plate; 73. the push plate supports and lifts the jig; 74. a first push plate sensor; 75. a second push plate sensor; 76. a mounting frame; 77. a splint; 78. a clamping cylinder; 79. a camera; 710. and a limit sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.

Example 1

Referring to fig. 1-5, the present invention provides the following technical solutions: the utility model provides a porous kiln push pedal automatic cycle production line, including porous kiln 1, porous kiln 1 is eight hole kilns, porous kiln 1's pan feeding end is equipped with pan feeding truss robot 6, one side of pan feeding truss robot 6 is equipped with eight pan feeding transfer chain 5, a pan feeding transfer chain 5 corresponds a pore of eight hole kilns, porous kiln 1's discharge end is equipped with ejection of compact truss robot 2, the below of ejection of compact truss robot 2 is equipped with ejection of compact transfer chain 3, the below of ejection of compact truss robot 2 is equipped with AGV dolly 4.

Specifically, ejection of compact bank robot 2 includes support 21, the X axle removes module 22, the Y axle removes module 23 and the Z axle removes module 24, wherein, the top of support 21 is equipped with the X axle and removes module 22, be equipped with the Y axle on the X axle removes module 22 and removes module 23, be equipped with the Z axle on the Y axle removes module 23 and removes module 24, the lower extreme that the Z axle removed module 24 is connected with robot clamping jaw 7, the structure of pan feeding bank robot 6 is the same with ejection of compact bank robot 2, X axle removes module 22, all be equipped with limit sensor on Y axle removes module 23 and the Z axle removes module 24, go up limit sensor and lower limit sensor, the front and back end all is equipped with the stopper, X axle removes module 22, Y axle removes module 23 and Z axle and removes module 24 servo motor and drives the action of gear rack under the auxiliary action by the guide rail.

Through adopting above-mentioned technical scheme, carry the push pedal through pan feeding truss robot 6 and ejection of compact truss robot 2.

Specifically, the robot clamping jaw 7 includes a rotary platform 71 and a push plate supporting and lifting jig 73, wherein the rotary platform 71 is installed at the lower end of the Z-axis moving module 24, a connecting plate 72 is connected to the output end of the rotary platform 71, one side of the connecting plate 72 is connected with the push plate supporting and lifting jig 73, and a first push plate sensor 74 is arranged on the push plate supporting and lifting jig 73.

By adopting the technical scheme, the rotary platform 71 can solve the problem that the lower-layer push plate cannot be automatically grabbed, and a single device can simultaneously solve the feeding and discharging of a plurality of symmetrical left-side pore channels and a plurality of symmetrical right-side pore channels; the pusher holding jig 73 is used for holding the pusher loaded with the product.

Specifically, the connecting plate 72 is provided with two limit sensors 710, the two limit sensors 710 are respectively arranged on the connecting plate 72 and correspond to two sides of the rotating platform 71, and the rotating platform 71 is connected with an induction sheet corresponding to the limit sensors 710.

By adopting the above technical scheme, the rotation of the rotary platform 71 is limited by the limit sensors 710 on both sides.

Specifically, the robot clamping jaw 7 further comprises a mounting frame 76, the mounting frame 76 is mounted below the connecting plate 72, two ends above the mounting frame 76 are respectively connected with a clamping cylinder 78, and the output end of the clamping cylinder 78 is connected with a clamping plate 77.

By adopting the technical scheme, the clamping cylinder 78 drives the clamping plate 77 to move to clamp the hollow push plate on the second corner belt 34.

Specifically, ejection of compact transfer chain 3 includes first ejection of compact transfer chain 31 and second ejection of compact transfer chain 33, and wherein, first ejection of compact transfer chain 31 and second ejection of compact transfer chain 33 parallel arrangement, and first ejection of compact transfer chain 31 is connected through first corner belt 32 with the one end of second ejection of compact transfer chain 33, and the other end of second ejection of compact transfer chain 33 is connected with second corner belt 34.

By adopting the technical scheme, the first discharging conveying line 31 is used for connecting the push plate and the products conveyed by the discharging travelling frame robot 2; the second discharging conveying line 33 is used for conveying the push plate and the products and allowing workers to take the products; a second corner belt 34 is used to convey the empty pusher plate under the outfeed traveling gantry robot 2.

Specifically, the feeding conveying line 5 comprises an upper conveying line 51, and a push plate in-place sensor 56 is arranged at one end, close to the feeding travelling frame robot 6, of the upper conveying line 51.

By adopting the above technical scheme, the upper layer conveying line 51 is used for conveying the push plates filled with products.

Specifically, pan feeding transfer chain 5 still includes lower floor's transfer chain 54, and lower floor's transfer chain 54 sets up in the below of upper strata transfer chain 51, and lower floor's transfer chain 54 is close to the one end of pan feeding line frame robot 6 and refutes interface 55 for the push pedal, and the below of the lower floor's transfer chain 54 other end is equipped with lift cylinder 53, is connected with roller table 52 on lift cylinder 53's the output.

Through adopting above-mentioned technical scheme, lower floor's transfer chain 54 is used for empty push pedal to carry, and lift cylinder 53 is used for carrying empty push pedal on the roller platform 52 to upper transfer chain 51 on.

Example 2

The present embodiment is different from embodiment 1 in that: specifically, a hollow groove is formed in the middle of the mounting frame 76, a camera 79 is arranged on the hollow groove, and a second push plate sensor 75 corresponding to the camera 79 is further connected to the mounting frame 76.

By adopting the technical scheme, the push plate is regularly and forcibly pushed on the eight-hole kiln track. When the robot gets the board action and eight hole kilns to push pedal propelling movement cross, the relative position of push pedal can't be fixed a position to the robot, can't the accuracy snatch the push pedal. The push plate can be accurately positioned after the camera is added, and equipment faults caused by the fact that the position of the push plate cannot be accurately found are avoided.

Further, the method for realizing the automatic circulating production line of the porous kiln push plate comprises the following steps of:

firstly, the staff places the product on a push plate on an upper layer conveying line 51, and the push plate is conveyed backwards;

after the push plate in-place sensor 56 on the upper layer conveying line 51 senses the push plate in-place sensor, the feeding rack robot 6 drives the robot clamping jaw 7 on the feeding rack robot to convey the push plate filled with products from the upper layer conveying line 51 to a hole channel corresponding to the porous kiln;

thirdly, the push plate filled with the products is sintered at high temperature in the porous kiln 1 and then moved to the outlet of the porous kiln, and the discharging racking robot 2 conveys the push plate filled with the products to the first discharging conveying line 31;

(IV) the push plate filled with the products is conveyed to a second discharging conveying line 33 through a first corner belt 32, and the staff take the products away from the push plate;

fifthly, the push plate is conveyed continuously and transferred to the lower part of the discharging traveling frame robot 2 through a second corner belt 34;

sixthly, the discharging travelling frame robot 2 clamps and takes the push plate away from the second corner belt 34 and places the push plate on the AGV trolley 4;

seventhly, after the AGV trolley 4 is fully stacked with the push plates, the AGV trolley is automatically conveyed to the position below the feeding row frame robot 6, and the feeding row frame robot 6 conveys the push plates to a push plate refuting port 55 of the lower-layer conveying line 54;

(eighth), the push plate is conveyed to the roller table 52 on the lower layer conveying line 54, the lifting cylinder 53 drives the roller table 52 to ascend to the upper layer conveying line 51, and the staff place the product on the push plate;

(nine), the pusher is conveyed backward on the upper conveyor line 51, thereby circulating.

The first ejection of compact transfer chain 31, second ejection of compact transfer chain 33, second corner belt 34, upper strata transfer chain 51, roller platform 52, lower floor's transfer chain 54 and the entry and the export of push pedal refute interface 55 all are equipped with the action such as the supplied materials and the ejection of compact that the push pedal sensor was responsible for detecting the push pedal.

The action of this application is all controlled through the PLC controller.

In the application, the X-axis moving module 22 is made of YTB17-40-1900-LD-P-40-D-4 model of Yiheda company; the Y-axis moving module 23 is made of YTB17-40-3600-LD-P-40-D-4 model of Yiheda company; the Z-axis moving module 24 is made of YTB17-40-900-LD-P-40-D-4 model of Yiheda company; AGV dolly 4 chooses WGD05 model of the gathering company; the roller table 52 is made of KSH01-50-B500-D60-40-N6-A-A type of Yiheda company; the lifting cylinder 53 is MDBB63-200Z of SMC company; the push plate in-place sensor 56 is selected from EM14-18U model of Yiheda corporation; the rotary platform 71 is a PTN200 type of Nodek technology; the first pusher sensor 74 and the second pusher sensor 75 are preferably of the type EM14-18U available from Yindao corporation; the clamping cylinder 78 is of MGPS50TF-75-P3DW type from SMC company; the camera 79 is selected from NHK01-Y02-2000-S-R-M of Yihe company; the limit sensor 710 is preferably made from the EM14-18U model of yinheda corporation.

In conclusion, the automatic feeding, the automatic carrying and the automatic discharging of the push plate of the porous kiln 1 are realized through the arrangement of the discharging truss robot 2 and the feeding truss robot 6, so that the labor intensity of workers is greatly reduced, and the working efficiency of product sintering is improved; the rotary platform 71 provided by the invention can solve the problem that the lower-layer push plate cannot be automatically grabbed, and a single device can simultaneously solve the feeding and discharging of a plurality of symmetrical left-side pore channels and a plurality of symmetrical right-side pore channels; according to the invention, the arrangement of the AGV trolley 4 realizes the circular conveying of the empty push plate; the machine can simultaneously correspond to the push plates with a plurality of channels, the conveying of product combinations and the conveying of single push plates.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.