A cleaning loading and unloading system

Abstract

The application discloses a kind of cleaning loading and unloading systems, including cleaning machine, at least two dolly positioning seats, transfer table and manipulator.Dolly positioning seat is used for the positioning of loading dolly and unloading dolly respectively, and transfer table is arranged between cleaning machine and dolly positioning seat.Transfer table includes at least two stations, at least one of which is an empty station for temporary storage of cleaned products.Manipulator is used to transport products between dolly positioning seat, transfer table and cleaning machine.The application stores the cleaned products together with their mounting seats in the empty station, and then transfers them to the unloading dolly, thereby realizing continuous operation of loading and unloading, and improving cleaning efficiency.Meanwhile, the manipulator has the functions of transporting boxes and pushing and pulling mounting seats, and the system structure is compact and highly automated.

Description

Technical Field

[0001] This invention relates to the field of automated cleaning equipment technology, and more specifically, to a loading and unloading system for front and rear workstations of a cleaning machine, particularly a cleaning loading and unloading system that is compatible with AGVs and manually pushed material carts and can achieve continuous staggered operations through empty workstations. Background Technology

[0002] In an automated cleaning production line for precision parts, there is typically a cleaning machine, a loading trolley, an unloading trolley, and a transfer station located between the cleaning machine and the trolleys. A robotic arm transports the products to be cleaned from the loading trolley to the transfer station, and then the transfer station sends them into the cleaning machine. After cleaning, the products return via the transfer station and are transported to the unloading trolley by the robotic arm.

[0003] In existing cleaning and loading / unloading systems, the transfer station typically has only one station for temporary storage of goods. The workflow is as follows: products to be cleaned are placed at this station and fed into the cleaning machine; after cleaning, the products are removed from the machine and returned to the same station, where a robotic arm removes the cleaned product before the next batch of products to be cleaned is placed. During this process, the cleaning machine must wait for the robotic arm to remove the cleaned product and place the product to be cleaned into the transfer station before it can begin the next round of cleaning. Because the robotic arm needs to move back and forth between the material cart, the transfer station, and the cleaning machine, the loading and unloading actions are time-consuming, causing the cleaning machine to frequently be in a waiting state, resulting in low equipment utilization and severely restricting the overall cleaning cycle time.

[0004] Especially when the cleaning machine has two or more cleaning stations, the robotic arm needs to handle the loading and unloading of materials at multiple stations sequentially, resulting in a significant accumulation of waiting time. In addition, due to the lack of an independent location for temporarily storing cleaned products, cleaned products and products to be cleaned cannot achieve staggered "one in, one out" operations within the same time period, further limiting the improvement of cleaning efficiency.

[0005] Therefore, there is an urgent need for a cleaning and loading system that can reduce the waiting time of the cleaning machine and enable continuous operation. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing cleaning loading and unloading systems, which suffer from long waiting times and discontinuous cycle times due to the lack of temporary storage positions. This invention provides a cleaning loading and unloading system that achieves staggered operations by setting up empty workstations.

[0007] To achieve the above objectives, the present invention proposes a cleaning and loading / unloading system, comprising: Cleaning machine; At least two material car positioning seats, one for positioning the loading material car and the other for positioning the unloading material car; A transfer platform is disposed between the washing machine and the material cart positioning seat; A robotic arm is used to move products between the material cart positioning seat, the transfer table and the washing machine; The transfer station includes at least two workstations, at least one of which is an empty workstation used for temporary storage of cleaned products.

[0008] Furthermore, the cleaning and loading / unloading system also includes a slidable mounting base for carrying the material box and is movable between the cleaning machine and the transfer station.

[0009] Furthermore, the mounting base is provided with a first positioning hole; the robotic arm is provided with a liftable positioning pin, which is used to cooperate with the first positioning hole to realize the push-pull operation of the mounting base.

[0010] Furthermore, the mounting base is provided with a positioning post, and the bottom of the material box is provided with a second positioning hole that cooperates with the positioning post, for positioning the material box on the mounting base.

[0011] Furthermore, the transfer station includes: The lifting mechanism is used to drive the entire transfer platform to rise and fall as a whole. The left and right translation mechanism is used to drive the entire transfer platform to translate left and right. At least two forward and backward telescopic mechanisms, each corresponding to one of the at least two workstations, are used to drive each workstation to extend or retract independently.

[0012] Furthermore, the robotic arm is also equipped with a light source, a camera, and a distance sensor to identify the size of the material box, the position of the barcode, and the chip snap-in status.

[0013] Furthermore, each station of the transfer platform is equipped with a sliding component, and the sliding component is equipped with wheels for rolling cooperation with the mounting base.

[0014] Furthermore, the robotic arm is equipped with grippers and a liftable positioning pin. The robotic arm is configured to use the grippers when handling the material box and the positioning pin when pushing and pulling the mounting base, with the two actions occurring in separate time intervals.

[0015] Furthermore, the cleaning machine has two cleaning stations inside, one above the other, each for a mounting base carrying a material box to slide into and be cleaned.

[0016] Furthermore, the sliding assembly of the transfer platform is equipped with an electromagnet and a proximity switch for magnetically fixing the mounting base after it has been moved into place.

[0017] Beneficial effects Compared with the prior art, the present invention has at least the following beneficial effects: Firstly, by setting at least one empty station on the transfer platform, the mounting base inside the cleaning machine can be temporarily placed in the empty station after being pulled out. Then, the robotic arm pushes the material box to be cleaned, along with its mounting base, into the cleaning machine, realizing an alternating "pull-out-temporary storage-push-in" operation. The cleaning machine does not need to wait for the robotic arm to transport the cleaned products to the unloading side before starting the next round of cleaning, significantly improving the continuity of the cleaning cycle and the utilization rate of the equipment.

[0018] Secondly, the robotic arm integrates both grippers and liftable positioning pins. The positioning pins work in conjunction with the first positioning hole on the mounting base to achieve the function of pushing and pulling the mounting base, eliminating the need for separate push-pull cylinders or electric cylinders, simplifying the system structure, and reducing costs and control complexity.

[0019] Thirdly, the transfer platform integrates the functions of overall lifting, overall left and right translation, and independent front and rear extension of each station. It can accurately connect with the upper and lower cleaning stations of the cleaning machine. At the same time, the extension mechanism can make up for the gap between the cleaning machine and the transfer platform to prevent the material box from falling off.

[0020] Fourth, the light source, camera, and distance sensor installed on the robotic arm can automatically identify the size and barcode position of various sized boxes, and can detect whether the chip snap-on switch on the box is closed, avoiding damage caused by chip misalignment, thus improving the system's compatibility and safety.

[0021] Fifth, the sliding components on the transfer station are equipped with wheels, and the mounting base rolls with the wheels, reducing pushing and pulling friction; the electromagnet and proximity switch ensure that the mounting base is reliably fixed after it is moved into place, preventing accidental displacement. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall layout of the cleaning and loading / unloading system of the present invention, showing the positional relationship of the cleaning machine, two material cart positioning seats and the robot arm.

[0023] Figure 2 This is a schematic diagram of the material cart structure.

[0024] Figure 3 This is a structural diagram of the material cart positioning seat, showing the guide wheel, positioning pin, and push plate, etc.

[0025] Figure 4 This is a schematic diagram of the end effector of a robotic arm, showing the gripper, adjustable positioning pin, light source, camera, and distance sensor.

[0026] Figure 5 This is a structural diagram of the transfer platform, showing the overall lifting guide rail, the overall left and right sliding slide, and multiple independent forward and backward telescopic workstations. Each workstation is equipped with a sliding component and wheels.

[0027] Figure 6This is a schematic diagram of the internal structure of the cleaning machine, showing two cleaning stations, each with a track for the mounting base to slide into.

[0028] Figure 7 This is a schematic diagram of the mounting base structure.

[0029] Explanation of main component symbols 10: Cleaning machine; 11U: Upper cleaning station; 11L: Lower cleaning station; 20A: Side loading trolley positioning seat; 20B: Side material unloading trolley positioning seat; 30: Transfer station; 31: Base; 32: Lifting slide; 33: Left and right translation slide; 34A: First forward and backward telescopic station; 34B: Second forward and backward telescopic station; 35: Electromagnet; 36: Repair the track; 40: Robotic arm; 41: Adjustable positioning pin; 42: Gripper; 43: Industrial cameras; 44: Light source; 45: Laser rangefinder sensor; 50: Mounting bracket; 51: First positioning hole; 52: Positioning post; 53: Magnetic chuck; 60: Material box; 100: Material cart; 110: Guide bar; 111: Diagonal block; 210: Rack; 220: Guiding mechanism; 221: Guide wheel; 222: Mounting plate; 223: Electric cylinder; 224: Clearance hole; 230: Positioning mechanism; 231: Tapered locating pin; 232: Drive unit; 240: Pushing mechanism; 241: Push plate; 242: Cylinder; 243: Magnet.

[0030] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. The following embodiments are for illustrative purposes only and are not intended to limit the scope of the invention.

[0032] In the following description, those skilled in the art will recognize that throughout this discussion, components may be described as individual functional units (which may include subunits). However, those skilled in the art will recognize that various components or portions thereof may be divided into individual components or integrated together (including within a single system or component). Furthermore, the connections between components or systems are not intended to be limited to direct connections; rather, data between these components may be modified, reformatted, or otherwise altered by intermediate components. Additionally, additional or fewer connections may be used. It should also be noted that the terms “link,” “connection,” or “input” should be understood to include direct connections, indirect connections via one or more intermediate devices, and wireless connections.

[0033] Example 1: Material cart positioning mechanism compatible with both AGV and manual pushing like Figure 2 As shown in the figure, this embodiment describes in detail a material car positioning mechanism that is installed in the material car positioning seat and can automatically switch according to the pushing mode.

[0034] 1. Overall Structure The material cart positioning mechanism includes: frame 210, guide mechanism 220, positioning mechanism 230, pusher mechanism 240, and control unit (not shown).

[0035] The guide mechanism 220 is located on both sides of the frame 210 and includes two rows of guide wheels 221. Each row of guide wheels is mounted on a mounting plate 222, which is driven by an electric cylinder 223 to move up and down. A clearance hole 224 is provided between the two rows of guide wheels for the positioning mechanism 230 to pass through.

[0036] The positioning mechanism 230 includes at least one tapered positioning pin 231 and its driving device 232. The driving device 232 is a cylinder that drives the positioning pin 231 to move up and down in the clearance hole 224. The top of the positioning pin 231 is tapered and matches the tapered positioning hole at the corresponding position of the material cart 100.

[0037] The pushing mechanism 240 is located at the end of the material cart in the material receiving direction and includes a retractable push plate 241, which is driven to move back and forth by a cylinder 242. A magnet 243 is provided at the contact point between the push plate 241 and the material cart to attract the cart and prevent it from reversing. A proximity switch is also provided at the push plate 241 to detect whether the material cart has made contact. In addition, photoelectric switches are provided on the frame: one photoelectric switch is located near the push plate to detect whether the material cart has reached the predetermined area; another photoelectric switch is located at the bottom of the frame to detect whether the AGV has entered.

[0038] There are two types of material carts: manual push material carts have guide strips 110 on both sides of the upper part, and the front end of the guide strips has an outward inclined block 111 to form a V-shaped opening; AGV-carried material carts have conical positioning holes at the bottom, and the top surface of the AGV itself has positioning pins that cooperate with the positioning holes at the bottom of the material cart to achieve coarse positioning.

[0039] 2. AGV Push Mode When the system detects that the AGV is about to feed materials, the control unit switches the material cart positioning mechanism to AGV mode.

[0040] The first step is the switching of the guide mechanism's state: the control unit drives the electric cylinder 223 to raise the two rows of guide wheels 221. After the guide wheels are raised, their height is higher than the frame plane, but the two rows of guide wheels are staggered in the horizontal direction, allowing the AGV body to pass through the guide wheels without obstruction, while the guide wheels will not interfere with the AGV.

[0041] The second step is the retraction of the pushing mechanism: the control unit drives the cylinder 242 of the pusher plate to retract the pusher plate 241 back into the frame to avoid obstructing the AGV from entering.

[0042] The third step is AGV automatic alignment: The AGV carrying the material cart travels to the front of the material cart positioning seat. The AGV achieves global positioning by scanning the QR code on the ground, and the positioning pin on its top surface is initially aligned with the positioning hole on the bottom of the material cart. After placing the material cart on the frame, the AGV reverses and drives away.

[0043] Step four: The positioning mechanism rises to complete the precise positioning: The control unit drives the lifting cylinder 232 of the positioning mechanism, causing the conical positioning pin 231 to rise. The positioning pin passes through the clearance hole 224 of the guide mechanism and inserts into the conical positioning hole at the bottom of the material cart. Since both are conical, the conical guide surface can automatically correct the positional deviation of the material cart, achieving precise positioning. The proximity switch near the positioning pin (not shown) detects that the positioning pin is fully inserted and sends a positioning signal.

[0044] Step 5: Confirm positioning: The photoelectric switch at the bottom of the frame detects whether the AGV has completely withdrawn. At this point, the material cart positioning in AGV mode is complete, and the robotic arm can begin picking up and placing material boxes.

[0045] 3. Manual push mode When the operator selects manual mode via button or card swipe, the control unit switches the material cart positioning mechanism to manual mode.

[0046] The first step is the switching of the guide mechanism's state: the control unit drives the electric cylinder 223 to lower the two rows of guide wheels 221 to their lowest position. At this time, the upper surface of the guide wheels is lower than the support plane of the material cart positioning seat, and the guide wheels no longer play a guiding role. At the same time, the space between the two rows of guide wheels is cleared so that the guide strip 110 on the upper part of the manual material cart can fall into the space.

[0047] The second step involves the extension of the pushing mechanism: the control unit drives the cylinder 242 of the pusher plate, causing the pusher plate 241 to extend forward to a predetermined position. A proximity switch 244 is located at the pusher plate and is in a ready-to-trigger state.

[0048] The third step involves the operator pushing the material cart: The operator manually pushes the material cart, guiding it along the guide mechanism. The V-shaped inclined blocks 111 at the front end of the guide bars 110 on both sides of the upper part of the manual material cart first contact the corresponding guide surfaces on the frame, automatically correcting the left and right sway of the material cart. The operator continues to push forward until the front end of the material cart contacts the push plate 241.

[0049] The fourth step is to trigger the positioning signal: When the material cart contacts the push plate, the proximity switch at the push plate is triggered, generating a positioning signal. Simultaneously, magnet 243 on the push plate attracts the front end of the material cart, preventing it from retracting when the positioning mechanism rises. A photoelectric switch near the push plate also detects that the material cart has covered the predetermined area, providing double confirmation of positioning.

[0050] Step 5: Positioning mechanism rises and secures itself: After receiving the positioning signal, the control unit immediately drives the lifting cylinder 232 of the positioning mechanism, causing the conical positioning pin 231 to rise. The positioning pin passes through the positioning hole at the bottom of the material cart, locking the material cart. The proximity switch on the positioning pin detects contact with the bottom of the material cart and sends a locking signal.

[0051] Step 6: The operator releases their grip: The system issues a prompt sound to inform the operator that positioning is complete, and the operator can then release their grip and leave. The material cart is held in place by the magnetic force of the push plate and the positioning pin, and will not move backward on its own.

[0052] 4. Mode switching control logic The control unit automatically determines the operating mode based on external input signals, or can be set manually via a switch. During mode switching, the sequence of actions of the guiding mechanism, pushing mechanism, and positioning mechanism is controlled by a PLC program to ensure that the components do not interfere with each other. For example, when switching from manual mode to AGV mode, the positioning pin must first be lowered, the push plate pushed back, and finally the guide wheels raised; the reverse is also true.

[0053] Example 2: Transfer station with empty workstations and staggered operation method This embodiment describes in detail the structure of the transfer station and the specific methods by which it works in conjunction with the cleaning machine and the robotic arm to achieve staggered operations.

[0054] Please refer to Figure 1-7 The cleaning and loading / unloading system of this embodiment is used for ultrasonic cleaning of precision parts. The system includes: a cleaning machine 10, two material cart positioning seats: a loading-side material cart positioning seat 20A and a unloading-side material cart positioning seat 20B; a transfer station 30 and a six-axis robot 40. The cleaning machine 10 has two cleaning stations: an upper cleaning station 11U and a lower cleaning station 11L. Each cleaning station has a sliding rail that can be pulled out from the front. The loading-side material cart positioning seat 20A and the unloading-side material cart positioning seat 20B are respectively arranged on the left and right sides in front of the cleaning machine for positioning the loading and unloading material carts. The material cart positioning seats adopt the AGV-compatible and manual pushing mechanism described in Embodiment 1. The transfer station 30 is located between the cleaning machine 10 and the loading-side material cart positioning seats 20A and 20B, adjacent to the front of the cleaning machine. The robotic arm 40 is mounted on the base, and its working range covers all the workstations of the two material cart positioning seats and the transfer table. It can also extend into the cleaning machine to perform push and pull operations.

[0055] The overall structure of the transfer station 30 includes: a base 31, a lifting slide 32, a left-right sliding slide 33, and two independent front-to-back telescopic workstations, namely: a first front-to-back telescopic workstation 34A and a second front-to-back telescopic workstation 34B. The lifting slide 32 is driven by a servo motor and a ball screw, allowing the entire worktable to rise and fall in the Z-axis direction to match the height of the upper and lower cleaning workstations of the cleaning machine. The left-to-right sliding slide 33 is driven by a linear motor, allowing the entire worktable to translate in the X-axis direction to align different workstations with the entrance of the cleaning machine. The first front-to-back telescopic workstation 34A and the second front-to-back telescopic workstation 34B are each mounted on a set of linear guide rails and driven by independent electric cylinders. Each workstation can extend forward and retract backward to be flush with the transfer station. Each workstation is equipped with a sliding assembly, the upper surface of which is fitted with multiple rollers to support the mounting base 50 and reduce friction. In this embodiment, one of the two workstations is an empty workstation without a mounting base, specifically used for temporarily storing products after cleaning; the other workstation is used to place the mounting base to be cleaned. In another variation, the transfer station has three workstations, with the middle workstation being empty.

[0056] The mounting base 50 is an independent component capable of supporting a standard material box 60. The bottom of the mounting base 50 is flat, allowing it to roll in contact with the wheels on the transfer station. The front end of the mounting base 50 has two first positioning holes 51, which engage with the liftable positioning pins 41 on the robotic arm 40. The upper surface of the mounting base 50 has multiple positioning posts 52, which engage with the second positioning holes on the bottom of the material box 60 to ensure the material box does not shift on the mounting base. The side of the mounting base 50 also has a magnetic suction plate 53 for attracting and fixing with the electromagnet 35 on the sliding assembly of the transfer station.

[0057] The robotic arm 40 is a six-axis industrial robot. Its end effector integrates the following components: two grippers 42 for grasping the edges of the material box 60; a liftable positioning pin 41, driven by a small cylinder, with a tapered head that engages with the first positioning hole 51 on the mounting base; an industrial camera 43 and a light source 44 for capturing the QR code and barcode on the material box; and a laser rangefinder 45 for measuring the height of the material box. Data from the camera and rangefinder is transmitted to the control unit, which sends instructions to the robotic arm based on the recognition results.

[0058] The industrial camera 43 is used in conjunction with the light source 44. The light source 44 is arranged around the lens of the industrial camera 43 to provide uniform and shadowless illumination during photography, eliminating reflections and shadows that may occur on the surface of the metal box, and ensuring that the camera can clearly capture image information of the surface of the box 60.

[0059] A laser rangefinder 45 is positioned next to the industrial camera 43 to measure the height of the top of the hopper 60 relative to the end effector of the robotic arm.

[0060] The control unit is configured to perform the following visual recognition process: First, the laser rangefinder 45 measures the height of the top of the material box 60 and sends the height data to the control unit. The control unit automatically adjusts the focal length of the industrial camera 43 or the position of the robot arm 40 based on this height value, so that the camera can obtain a clear image while avoiding interference from reflections caused by metallic luster.

[0061] Next, the industrial camera 43 takes a picture of the material box 60 to obtain an overall image of the material box. The control unit processes the image to identify the length and width dimensions of the material box 60, thereby determining the specification type of the material box. Based on the identified length and width data, the control unit further locates the area where the barcode is located on the surface of the material box 60, and controls the industrial camera 43 to perform a fine scan of this area to read the barcode information, thereby realizing the traceability management of the material box.

[0062] In addition, industrial camera 43 simultaneously captures images of the snap-on switch status of the RFID chip installed on the material box 60. The control unit determines whether the switch is in the off position through image recognition. If the switch is detected to be not closed, it is considered an abnormal state, the control unit issues an alarm signal and suspends subsequent push-pull operations to prevent the chip from being misaligned or damaged during the push-pull process due to the switch not being closed.

[0063] Through the collaborative work of the laser rangefinder 45, industrial camera 43, and light source 44, the system can automatically identify different sizes of material boxes, accurately read barcodes, and detect chip connection abnormalities in advance, thereby improving the system's compatibility and security.

[0064] Inside the cleaning machine 10: the upper cleaning station 11U and the lower cleaning station 11L each have independent slide rails, each capable of accommodating a mounting base 50. When the mounting base is pushed in, the cleaning machine automatically clamps it and starts the cleaning program. After cleaning is complete, the cleaning machine door opens, and the positioning pin 41 of the robotic arm 40 extends into the first positioning hole 51 of the mounting base, pulling the mounting base out to an empty station on the transfer platform.

[0065] The system workflow is as follows: Material loading stage: The operator or AGV pushes the cart fully loaded with boxes to be cleaned into the material cart positioning seat 20A on the loading side, completing the positioning as described in Example 1. The robotic arm 40 uses grippers 42 to pick up the boxes 60 one by one from the cart and place them onto the mounting seats 50 pre-placed on the first forward and backward telescopic station 34A of the transfer station. When the mounting seats on the first forward and backward telescopic station 34A are full of boxes, the system waits for the cleaning machine 10 to be idle.

[0066] Mounting 50 is placed into the cleaning machine: Assume the lower station 11L of the cleaning machine is empty. The control unit controls the overall lifting and lowering of the transfer platform 30, and then moves it left and right to align the first telescopic station 34A with the cleaning machine entrance. The telescopic mechanism of the first telescopic station 34A extends, allowing the head of the mounting base 50 to enter the cleaning machine's slide rail. The robotic arm 40 moves to the front of the cleaning machine, lowers its positioning pin 41 and inserts it into the first positioning hole 51 of the mounting base, and then pulls the robotic arm backward, transferring the mounting base 50 from the telescopic station to the slide rail inside the cleaning machine until the mounting base is fully inside the cleaning machine. The cleaning machine door closes, and cleaning begins.

[0067] After cleaning, staggered operations are performed: Assume the lower station 11L of the cleaning machine completes cleaning first, at which point the second telescopic station 34B is idle. The control unit controls the overall lifting and lateral movement of the transfer table 30, aligning the second telescopic station 34B with the lower entrance of the cleaning machine. The telescopic mechanism of the second telescopic station 34B extends close to the cleaning machine, and the robotic arm 40 uses the positioning pin 41 to insert into the first positioning hole of the mounting base inside the cleaning machine, pulling the mounting base 50 onto the second telescopic station 34B. At this time, the second telescopic station 34B temporarily holds the cleaned products.

[0068] Subsequently, the control unit determines whether there is a mounting base to be cleaned on the first telescopic station 34A. If so, it moves left and right to align the first telescopic station 34A with the lower entrance of the cleaning machine. The telescopic mechanism of the first telescopic station 34A extends, and the robotic arm 40 uses the positioning pin 41 to push the mounting base 50 to be cleaned into place, or uses the thrust of the telescopic mechanism to push the mounting base into the cleaning machine. After being pushed into place, the cleaning machine immediately begins the next round of cleaning. Thus, the alternating operation of "pull-out-temporary storage-push-in" is realized, and the cleaning machine does not need to wait for the robotic arm to transport the cleaned products to the unloading side.

[0069] Material unloading stage: After the material cart on the unloading side arrives, the robotic arm 40 uses its gripper 42 to grab the cleaned material box from the second telescopic station 34B and place it on the unloading cart. After the second telescopic station 34B is released, it can be used to temporarily store the next batch of cleaned products. Empty mounting seats can be moved back to the loading side from the transfer table for reuse.

[0070] Safety and Inspection: Before each push-pull of the mounting bracket, the camera 43 and distance sensor 45 on the robotic arm scan the material box to confirm that the chip latch switch of the material box is turned off, the barcode is readable, and the size matches the order. If an abnormality is detected, the system alarms and pauses, requiring manual intervention.

[0071] Maintenance and repair: The bottom of the transfer platform 30 is equipped with a sliding maintenance track 36. During normal operation, the transfer platform is fixed to the working position of the maintenance track with screws. When maintenance of the cleaning machine 10 is required, loosen the screws and push the entire transfer platform backward along the maintenance track away from the front of the cleaning machine to make room for the cleaning machine to operate.

[0072] Example 3: Multi-station variant Unlike Embodiment 2, this embodiment's transfer station has three stations: a left station, a middle station, and a right station, with the middle station being empty. The left station is used to place mounting bases to be cleaned, and the right station is used to place cleaned mounting bases ready for unloading. The workflow is similar, but after cleaning, the mounting bases are pulled out to the empty middle station, and then the mounting bases to be cleaned on the left station are pushed into the cleaning machine. Simultaneously, the right station can accept products from other cleaning stations. This three-station solution provides greater buffer capacity and is suitable for scenarios with faster cleaning cycles.

[0073] Example 4: Continuous operation of cleaning stations on both upper and lower levels In this embodiment, the cleaning machine has two cleaning stations, one above the other. The transfer station has two or three stations. The system control logic supports staggered operation between the two cleaning stations: when the lower station is finished cleaning, the lower products are pulled out to an empty station, and then the upper products to be cleaned are pushed into the lower station. The cleaning machine can work continuously without waiting for the robotic arm to complete all loading and unloading. Specifically, the control unit can schedule the lifting and lateral movement of the transfer station so that empty stations are sequentially connected to the upper and lower stations, adopting a "first out, last in" strategy to maximize the utilization rate of the cleaning machine.

[0074] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A cleaning and loading / unloading system, characterized in that, include: Cleaning machine; At least two material car positioning seats, one for positioning the loading material car and the other for positioning the unloading material car; A transfer platform is disposed between the washing machine and the material cart positioning seat; A robotic arm is used to move products between the material cart positioning seat, the transfer table and the washing machine; The transfer station includes at least two workstations, at least one of which is an empty workstation used for temporary storage of cleaned products.

2. The cleaning and loading / unloading system according to claim 1, characterized in that, It also includes a slidable mounting base for carrying the material box and movable between the washing machine and the transfer table.

3. The cleaning and loading / unloading system according to claim 2, characterized in that, The mounting base is provided with a first positioning hole; the robotic arm is provided with a liftable positioning pin, which is used to cooperate with the first positioning hole to realize the push-pull operation of the mounting base.

4. The cleaning and loading / unloading system according to claim 2, characterized in that, The mounting base is provided with a positioning post, and the bottom of the material box is provided with a second positioning hole that cooperates with the positioning post, for positioning the material box on the mounting base.

5. The cleaning and loading / unloading system according to claim 1, characterized in that, The transfer station includes: The lifting mechanism is used to drive the entire transfer platform to rise and fall as a whole. The left and right translation mechanism is used to drive the entire transfer platform to translate left and right. At least two forward and backward telescopic mechanisms, each corresponding to one of the at least two workstations, are used to drive each workstation to extend or retract independently.

6. The cleaning and loading / unloading system according to claim 1, characterized in that, The robotic arm is also equipped with a light source, a camera, and a distance sensor to identify the size of the material box, the position of the barcode, and the chip snap-in status.

7. The cleaning and loading / unloading system according to claim 2, characterized in that, Each station of the transfer platform is equipped with a sliding component, and the sliding component is equipped with wheels for rolling cooperation with the mounting base.

8. The cleaning and loading / unloading system according to claim 1, characterized in that, The robotic arm is equipped with grippers and a height-adjustable positioning pin. The robotic arm is configured to use the grippers when handling the material box and the positioning pin when pushing and pulling the mounting base, with the two actions occurring in separate time intervals.

9. The cleaning and loading / unloading system according to claim 1, characterized in that, The cleaning machine has two cleaning stations inside, one above the other. Each station is designed to allow a mounting base containing a material box to slide in and be cleaned.

10. The cleaning and loading / unloading system according to claim 2, characterized in that, The sliding assembly of the transfer platform is equipped with an electromagnet and a proximity switch for magnetically fixing the mounting base after it has been moved into place.

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