Automatic conveying, basket opening and loading line for lithium battery top cover plate

Abstract

This invention discloses an automated conveying and loading line for lithium battery top covers, comprising a support frame, a parallel-arm robot with a robotic gripper mounted on its lower end, a cleaning basket roller conveyor, a battery cover unloading conveyor, a basket opening mechanism located on the side of the middle section of the cleaning basket roller conveyor, positioned to the left of the parallel-arm robot in the vertical direction; a belt meter installed on the battery cover unloading conveyor to monitor the belt movement distance; and a cover conveyor vision detector to monitor the movement distance of the battery covers. The entire device automates basket opening, battery cover loading, and cover closing. Multiple sets of sensors monitor the entire process, reducing manual supervision and freeing up significant labor. This improves product efficiency, saves labor, reduces product damage, ensures consistent stacking direction for each cover, and reduces downtime in subsequent automated feeding systems.

Description

Technical Field

[0001] This invention relates to the field of automatic loading technology for power battery top covers, and specifically to an automated conveying and loading line for lithium battery top covers. Background Technology

[0002] China accounts for approximately two-thirds of global lithium battery production and controls most of the world's lithium processing facilities. Due to their lightweight, high energy density, and environmental friendliness, lithium batteries have been widely used in the field of power batteries for new energy vehicles in recent years.

[0003] The battery box of a power battery consists of an aluminum shell and a battery cover. The battery cover undergoes more processing steps. After being stamped out by a stamping machine, the battery cover will have residual oil, metal shavings, dust, and other substances. Therefore, the battery cover needs to be placed in a cleaning basket for cleaning. During manual loading, the cover is prone to being bumped or falling off. Moreover, workers are easily fatigued after several hours of repetitive work, and may accidentally place the cover backwards, causing downtime in subsequent production processes. Overall, the efficiency is low, labor costs are high, and workers who are in prolonged contact with the machinery face occupational risks. How to reduce manual intervention, achieve automation, improve efficiency, increase production capacity, improve work quality, and reduce personnel hazards is an urgent problem to be solved. Summary of the Invention

[0004] To address the above problems, this invention provides an automated conveying and loading line for lithium battery top covers.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] An automated conveying and loading line for lithium battery top covers includes...

[0007] Bracket (1), used for loading and supporting other components;

[0008] Parallel arm robot (2) is installed on the upper part of the bracket. The lower end of the parallel arm robot (2) is equipped with a robot gripper (201) for picking up the battery cover (11) and placing the battery cover (11) into the cleaning basket (12).

[0009] The washing basket roller conveyor (3) is set in the horizontal direction of the bracket (1) and runs through the bracket (1) for conveying the washing basket (12);

[0010] The battery cover unloading line (4) is installed side by side on one side of the cleaning basket roller line (3) and passes through the bracket (1) for outputting battery covers (11);

[0011] The basket opening mechanism (5) is located on the side of the middle section of the washing basket roller line (3), on the left side of the parallel arm robot (2) in the vertical direction;

[0012] A belt meter (6) is installed on the battery cover unloading line (4) to monitor the belt movement distance on the battery cover unloading line (4).

[0013] A cover plate production line vision detector (7) is installed above the battery cover plate unloading production line (4) to monitor the moving distance of the battery cover plate (11).

[0014] Preferably, the robot gripper (201) includes a connector (2011), a rotating gripper (2012) is provided inside the connector (2011), and a material suction cup assembly (2013) is provided on the rotating gripper (2012).

[0015] Preferably, in the middle of the washing basket roller line (3), along the rolling direction of the washing basket roller line (3) and located at the rear end of the basket opening mechanism (5), there is a basket cover sliding rod (301) that is adapted to the height of the basket cover of the washing basket (12) after it is opened; the side of the basket cover sliding rod (301) is also provided with a basket cover closing rod (302) at a certain angle to it, the angle being closer to the washing basket roller line (3).

[0016] Preferably, the side of the washing basket roller line (3), located in the vertical direction of the parallel arm robot (2), is provided with a washing basket fastening mechanism (303), which includes a fastening plate (3031) and a cylinder (3032) connected thereto.

[0017] Preferably, the basket opening mechanism (5) includes a rotary motor (501), a transmission component (502) connected to the rotary motor (501), a basket opening arm (503) connected to the transmission component (502), a basket opening clamp (504) located at the end of the basket opening arm (503), a basket opening motor (505) connected to the basket opening clamp (504), and a basket opening arm support frame (506) located at the rear end of the basket opening arm (503); the lower end of the basket opening mechanism (5) is also provided with a basket opening fastening mechanism (507).

[0018] Preferably, the front end of the battery cover unloading production line (4) in the belt moving direction is provided with a belt ramp (8) connected to it, the ramp is connected to a stamping machine (9), and the belt ramp (8) is provided with progressive baffles (10) on both sides near the battery cover unloading production line (4), and the end of the progressive baffles (10) is provided with a blocking block (13).

[0019] Preferably, within the cleaning basket roller line (3), a first positioning detection device group (304) is provided at the end of the basket opening mechanism (5) in the vertical direction, and a basket opening blocking limit cylinder group (305) is provided at the rear end of the first positioning detection device group (304); within the cleaning basket roller line (3), a second positioning detection device group (306) is provided at the end of the cleaning basket fastening mechanism (303) in the vertical direction, and a loading blocking limit cylinder group (307) is provided at the rear end of the second positioning detection device group (306); on the side of the cleaning basket roller line (3), a first sensor group (308) is provided at the end of the basket cover closing rod (302) in the vertical direction; a second sensor group (309) is provided at the end of the cleaning basket roller line (3); a third sensor group (401) is provided at the front end of the battery cover unloading line (4) on both sides, a fourth sensor group (402) is provided at the rear end, a fifth sensor group (403) is provided at the end, and a material baffle (404) is also provided at the end.

[0020] As can be seen from the above description of the present invention, compared with the prior art, the advantages of the present invention are:

[0021] 1. The basket opening mechanism automatically opens the basket without manual intervention, reducing manpower input; and the basket opening and fastening mechanism is used to fasten the basket before opening, so as to avoid the failure of opening the basket affecting subsequent steps and improve the stability of the work; the basket opening blocking and limiting cylinder group limits the cleaning basket to the working position of the basket opening mechanism, and works with the first positioning detection device to ensure the smooth opening of the basket and the accuracy of the timing of the action.

[0022] 2. The basket cover sliding rod and basket cover closing rod are designed to keep the basket cover open after the cleaning basket is opened, making it convenient for loading; and to automatically close the basket cover after loading is completed, driven by the roller, eliminating the need for manual intervention.

[0023] 3. The positioning detection device installed on the cleaning basket roller line ensures the orderly coordination of the basket opening and loading process with the subsequent processes.

[0024] 4. Sensors on the cleaning basket roller line and the battery cover unloading line ensure that when the corresponding production line is full, they promptly remind the staff to remove the full cleaning baskets and battery covers, so as not to cause stagnation and affect the normal operation of the preceding processes.

[0025] 5. The entire equipment automates the opening, loading, and closing of the baskets, freeing up a significant amount of labor (previously, one worker was needed to move the cleaning basket and battery cover, and two workers were needed to open the basket and unload the material; now, only one worker is needed to move the empty cleaning basket to the bottom of the full cleaning basket, and the workload of this one worker is less and easier than before). While improving product efficiency and saving labor, it also reduces product damage (bumps and drops caused by manual unloading and loading), ensures that each cover is stacked in the same direction, and reduces the downtime failure rate of the automatic feeding system in subsequent processes. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall invention;

[0028] Figure 2 This is a schematic diagram of the overall invention (concealing the support and the stamping machine);

[0029] Figure 3 This is a detailed schematic diagram of the cleaning basket roller line and the battery cover unloading production line of the present invention;

[0030] Figure 4 This is a schematic diagram of the battery cover and cleaning basket of the present invention;

[0031] Figure 5 This is a schematic diagram of the parallel arm robot of the present invention;

[0032] Figure 6 This is a schematic diagram of the robot gripper of the present invention;

[0033] Figure 7 This is a schematic diagram of the basket opening mechanism of the present invention;

[0034] Figure 8 This is a schematic diagram of the belt metering device of the present invention;

[0035] Figure 9 This is a schematic diagram of the visual detector for the cover plate production line of the present invention;

[0036] Figure 1-9In the middle: 1. Support frame; 2. Parallel arm robot; 201. Robot gripper; 2011. Connector; 2012. Rotary gripper; 2013. Material suction cup assembly; 3. Cleaning basket roller conveyor; 301. Basket cover sliding rod; 302. Basket cover closing rod; 303. Cleaning basket fastening mechanism; 303. Fastening plate; 3032. Cylinder; 304. First positioning detection device assembly; 305. Basket opening blocking limit cylinder assembly; 306. Second positioning detection device assembly; 307. Material loading blocking limit cylinder assembly; 308. First sensor assembly; 309. Second sensor assembly; Battery cover. 4. Material feeding line; 401. Third sensor group; 402. Fourth sensor group; 403. Fifth sensor group; 404. Material baffle; 5. Basket opening mechanism; 501. Rotary motor; 502. Transmission component; 503. Basket opening arm; 504. Basket opening clamp; 505. Basket opening motor; 506. Basket opening arm support frame; 507. Basket opening fastening mechanism; 6. Belt meter; 7. Cover plate assembly line vision detector; 8. Belt slippage mechanism; 9. Stamping machine; 10. Progressive baffle; 11. Battery cover; 12. Cleaning basket; 13. Barrier block; 14. Parallel arm robot working area. Detailed Implementation

[0037] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0038] like Figure 1 An automated conveying and loading line for lithium battery top covers, comprising:

[0039] Bracket 1 is used to load and support other components;

[0040] Parallel arm robot 2 is installed on the upper part of the bracket. The lower end of the parallel arm robot 2 is equipped with a robot gripper 201 for picking up the battery cover 11 and placing the battery cover 11 into the cleaning basket 12.

[0041] The washing basket roller conveyor 3 is set horizontally in the support 1 and runs through the support 1 to convey the washing basket 12;

[0042] The battery cover unloading line 4 is installed side by side on one side of the cleaning basket roller line 3 and passes through the bracket 1 to output the battery cover 11.

[0043] The basket opening mechanism 5 is located on the side of the middle section of the washing basket roller line 3, on the left side of the parallel arm robot 2 in the vertical direction;

[0044] like Figure 8 The belt meter 6 is installed on the battery cover unloading line 4 to monitor the belt movement distance on the battery cover unloading line 4.

[0045] like Figure 9A vision detector 7 for the battery cover assembly line is installed above the battery cover unloading line 4 to monitor the moving distance of the battery cover 11. The belt meter 6 and the vision detector 7 together provide parameters to the parallel arm robot 2 for accurate positioning of the battery cover 11 and precise grasping.

[0046] like Figure 6 Preferably, the robot gripper 201 includes a connector 2011, within which a rotating gripper 2012 is provided, and the rotating gripper 2012 is provided with a material-picking suction cup assembly 2013. The rotating gripper 2012 can rotate to a horizontal position to pick up the battery cover 11 conveyed from the battery cover unloading line 4 through the material-picking suction cup assembly 2013; then move it above the cleaning basket 12, and simultaneously rotate to a vertical position to insert it downwards into the cleaning basket 12, repeating this process until the cleaning basket 12 is filled with battery cover 11.

[0047] like Figure 2 , 3 Preferably, in the middle of the cleaning basket roller line 3, along the rolling direction of the cleaning basket roller line 3 and located at the rear end of the basket opening mechanism 5, there is a basket cover sliding rod 301 that is adapted to the height of the basket cover after it is opened. This allows the basket cover to remain open even after it is opened by the basket opening mechanism 5 and slides on the basket cover sliding rod 301 to the bottom of the parallel arm robot 2. The side of the basket cover sliding rod 301 is also provided with a basket cover closing rod 302 at an obtuse angle to it, with the angle close to the cleaning basket roller line 3. After the cleaning basket 12 is loaded with the battery cover plate 11, it slides backward and passes the basket cover closing rod 302, causing the basket cover to flip up and then automatically close under the action of gravity.

[0048] like Figure 2 , 3 Preferably, the side of the washing basket roller line 3, located in the vertical direction of the parallel arm robot 2, is provided with a washing basket fastening mechanism 303. The washing basket fastening mechanism 303 includes a fastening plate 3031 and a cylinder 3032 connected thereto. The fastening mechanism 303 presses the side of the washing basket 12 tightly so that the washing basket 12 will not move when the parallel arm robot 2 is working, thus affecting the accuracy of its work.

[0049] like Figure 7 Preferably, the basket opening mechanism 5 includes a rotary motor 501, a transmission component 502 connected to the rotary motor 501, a basket opening arm 503 connected to the transmission component 502, a basket opening clamp 504 located at the end of the basket opening arm 503, a basket opening motor 505 connected to the basket opening clamp 504, and a basket opening arm support frame 506 located at the rear end of the basket opening arm 503. The basket opening arm support frame 506 is used to support the basket opening arm 503 when it is not in operation. The lower end of the basket opening mechanism 5 is also provided with a basket opening fastening mechanism 507, which is used to fix the cleaning basket 12 when the basket opening mechanism 5 opens the basket.

[0050] like Figure 2 , 3 Preferably, the front end of the battery cover unloading conveyor 4 is provided with a belt ramp 8 that connects to it in the direction of belt movement. The ramp is connected to a stamping machine 9. The belt ramp 8 is provided with progressive baffles 10 on both sides near the battery cover unloading conveyor 4. The progressive baffles 10 are used to correct the orientation of the battery cover 11. The end of the progressive baffles 10 is provided with a blocking block 13 to block some misaligned battery cover 11 from being blocked in front of the battery cover unloading conveyor 4.

[0051] like Figure 3 Preferably, within the cleaning basket roller line 3, a first positioning detection device group 304 is provided at the end of the basket opening mechanism 5 in the vertical direction, and a basket opening blocking limit cylinder group 305 is provided at the rear end of the first positioning detection device group 304; within the cleaning basket roller line 3, a second positioning detection device group 306 is provided at the end of the cleaning basket fastening mechanism 303 in the vertical direction, and a loading blocking limit cylinder group 307 is provided at the rear end of the second positioning detection device group 306; on the side of the cleaning basket roller line 3, a first sensor group 308 is provided at the end of the basket cover closing rod 302 in the vertical direction; a second sensor group 309 is provided at the end of the cleaning basket roller line 3; on both sides of the battery cover unloading line 4, a third sensor group 401 is provided at the front middle, a fourth sensor group 402 is provided at the rear middle, a fifth sensor group 403 is provided at the end, and a material baffle 404 is also provided at the end.

[0052] The first positioning detection device group 304 and the second positioning detection device group 306 are used to monitor the position of the cleaning basket 12; the basket opening blocking limit cylinder group 305 and the loading blocking limit cylinder group 307 are used to temporarily restrict the movement of the cleaning basket 12, thereby cooperating to complete the basket opening and loading operations respectively. The first sensor group 308 and the second sensor group 309 are used to monitor the position of the cleaning basket 12 to determine whether the rear end of the cleaning basket roller line 3 is full. The third sensor group 401 works with the belt meter 6 and the cover plate assembly line vision detector 7 to provide the parallel arm robot 2 with parameters of the position of the battery cover plate 11. The fourth sensor group 402 and the fifth sensor group 403 are used to monitor the position of the battery cover plate 11 to determine whether there is material accumulation at the rear end of the battery cover plate unloading assembly line 4.

[0053] Work process:

[0054] The stamping machine 9 stamps out the battery cover plate 11, which slides down the belt slide 8 to the battery cover plate unloading line 4. The third sensor group 401 detects the battery cover plate entering, and the cover plate assembly line vision detector 7 starts to monitor the position of the battery cover plate. At the same time, the distance parameters are counted by the belt meter 6, and the arm robot 2 grabs the battery cover plate 11.

[0055] An empty cleaning basket 12 is manually placed into the initial end of the cleaning basket roller conveyor 3. Driven by the roller conveyor, the cleaning basket 12 moves forward until it is detected by the first positioning detection device group 304. The basket opening blocking limit cylinder group 305 then lifts upwards, restricting the movement of the cleaning basket 12. At this time, the basket opening fastening mechanism 507 operates, holding the cleaning basket 12 in place. Next, the basket opening mechanism 5 operates, lifting the basket cover of the cleaning basket 12 and placing it against the basket cover sliding rod 301. The basket opening mechanism 5 completes its opening action. After completion, the basket opening and fastening mechanism 507 retracts, releasing the cleaning basket 12, and the basket opening blocking and limiting cylinder group 305 retracts. The cleaning basket 12 moves forward under the drive of the roller, and the basket cover slides on the basket cover sliding rod 301 in an open state. When the cleaning basket moves to the position of the second positioning detection device group 306 and is detected, the loading blocking and limiting cylinder group 307 pushes upward to restrict the movement of the cleaning basket 12. At this time, the cleaning basket fastening mechanism 303 works to hold the cleaning basket 12 in place.

[0056] Parallel-arm robot 2 picks up battery cover plates 11 from battery cover plate unloading line 4 and inserts them into cleaning basket 12. Cleaning basket 12 carries 100 battery cover plates 11. Once full, the cleaning basket fastening mechanism 303 retracts, followed by the retraction of the loading blocking limit cylinder group 307. Next, cleaning basket 12 continues to move forward, the basket cover sliding onto the basket cover closing rod 302. The basket cover is then closed by the force of the closing rod 302 and gravity. Cleaning basket 12 continues forward, passing through the first sensor group 308 and the second sensor group 309. If both the first sensor group 308 and the second sensor group 309 detect cleaning basket 12 simultaneously, it indicates that the rear end of the cleaning basket roller line 3 is full of cleaning basket 12, which is then manually removed. If the first sensor group 308 continuously detects cleaning basket 12 while the second sensor group 309 does not, it indicates a jam, requiring manual troubleshooting. The fourth sensor group 402 and the fifth sensor group 403 function similarly. The material baffle 404 at the end is used to block the stacked battery cover 11. All standard parts used in this invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0057] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An automated conveying and loading line for lithium battery top cover plates, characterized in that, include: Bracket (1), used for loading and supporting other components; Parallel arm robot (2) is installed on the upper part of the bracket. The lower end of the parallel arm robot (2) is equipped with a robot gripper (201) for picking up the battery cover (11) and placing the battery cover (11) into the cleaning basket (12). The washing basket roller conveyor (3) is set in the horizontal direction of the bracket (1) and passes through the bracket (1) for conveying the washing basket (12); A battery cover unloading line (4) is installed side by side on one side of the cleaning basket roller line (3) and passes through the bracket (1) to output the battery cover (11); The basket opening mechanism (5) is located on the side of the middle section of the washing basket roller line (3), on the left side of the parallel arm robot (2) in the vertical direction; the basket opening mechanism (5) includes a rotary motor (501), a transmission component (502) connected to the rotary motor (501), a basket opening arm (503) connected to the transmission component (502), a basket opening clamp (504) located at the end of the basket opening arm (503), a basket opening motor (505) connected to the basket opening clamp (504), and a basket opening arm support frame (506) located at the rear end of the basket opening arm (503); the lower end of the basket opening mechanism (5) is also provided with a basket opening fastening mechanism (507); In the middle of the washing basket roller line (3), along the rolling direction of the washing basket roller line (3) and located at the rear end of the opening mechanism (5), there is a basket cover sliding rod (301) adapted to the height of the basket cover of the washing basket (12) after it is opened; the side of the basket cover sliding rod (301) is also provided with a basket cover closing rod (302) at a certain angle to it, the angle being closer to the washing basket roller line (3); the side of the washing basket roller line (3), located in the vertical direction of the parallel arm robot (2), is provided with a washing basket fastening mechanism (303), the washing basket fastening mechanism (303) includes a fastening plate (3031) and a cylinder (3032) connected thereto; Within the washing basket roller conveyor (3), a first positioning detection device group (304) is provided at the end of the basket opening mechanism (5) in the vertical direction, and a basket opening blocking limit cylinder group (305) is provided at the rear end of the first positioning detection device group (304); within the washing basket roller conveyor (3), a second positioning detection device group (306) is provided at the end of the washing basket fastening mechanism (303) in the vertical direction, and a loading blocking limit cylinder group (305) is provided at the rear end of the second positioning detection device group (306). A cylinder assembly (307) is provided on the side of the cleaning basket roller line (3), at the end of the basket cover closing rod (302) in the vertical direction, a first sensor assembly (308) is provided; a second sensor assembly (309) is provided at the end of the cleaning basket roller line (3); a third sensor assembly (401) is provided at the front end of the battery cover unloading line (4), a fourth sensor assembly (402) is provided at the rear end, a fifth sensor assembly (403) is provided at the end, and a material baffle (404) is also provided at the end; When the cleaning basket (12) moves forward under the drive of the cleaning basket roller conveyor (3) and is detected at the position of the first positioning detection device group (304), the basket opening blocking limit cylinder group (305) pushes upward to restrict the movement of the cleaning basket (12). At this time, the basket opening fastening mechanism (507) works to hold the cleaning basket (12) in place. Then, the basket opening mechanism (5) works to lift the basket cover of the cleaning basket (12) and let it rest against the basket cover sliding rod (301). After the basket opening mechanism (5) completes its opening action, the basket opening fastening mechanism... (507) The action is retracted, the cleaning basket (12) is released, and the opening basket blocking limit cylinder group (305) is retracted; the cleaning basket (12) moves forward under the drive of the roller, and the basket cover slides on the basket cover sliding rod (301) in an open state. The cleaning basket (12) is detected when it moves to the position of the second positioning detection device group (306). The loading blocking limit cylinder group (307) is pushed up to restrict the movement of the cleaning basket (12). At this time, the cleaning basket fastening mechanism (303) works to hold the cleaning basket (12) in place. A belt meter (6) is installed on the battery cover unloading line (4) to monitor the belt movement distance on the battery cover unloading line (4). A cover plate production line visual detector (7) is installed above the battery cover plate unloading production line (4) to monitor the moving distance of the battery cover plate (11); When the third sensor group (401) detects the entry of the battery cover (11), the cover assembly line vision detector (7) starts to monitor the position of the battery cover (11), and at the same time, in conjunction with the distance parameters counted by the belt meter (6), the parallel arm robot (2) grabs the battery cover (11).

2. The automated conveying and loading line for lithium battery top cover plates as described in claim 1, characterized in that: The robot gripper (201) includes a connector (2011), a rotating gripper (2012) is provided inside the connector (2011), and a material suction cup assembly (2013) is provided on the rotating gripper (2012).

3. The automated conveying and loading line for lithium battery top cover plates as described in claim 1, characterized in that: The basket opening mechanism (5) includes a rotary motor (501), a transmission component (502) connected to the rotary motor (501), a basket opening arm (503) connected to the transmission component (502), a basket opening clamp (504) located at the end of the basket opening arm (503), a basket opening motor (505) connected to the basket opening clamp (504), and a basket opening arm support frame (506) located at the rear end of the basket opening arm (503); the lower end of the basket opening mechanism (5) is also provided with a basket opening fastening mechanism (507).

4. The automated conveying and loading line for lithium battery top cover plates as described in claim 1, characterized in that: The front end of the battery cover unloading production line (4) is provided with a belt ramp (8) connected to it in the direction of belt movement. The ramp is connected to a stamping machine (9). The belt ramp (8) is provided with progressive baffles (10) on both sides near the battery cover unloading production line (4). The end of the progressive baffles (10) is provided with a blocking block (13).

5. The automated conveying and loading line for lithium battery top cover plates as described in claim 1, characterized in that: When both the first sensor group (308) and the second sensor group (309) detect the cleaning basket (12) at the same time, it means that the rear end of the cleaning basket roller line (3) is full of the cleaning basket (12), and it is removed manually. If the first sensor group (308) continuously detects the cleaning basket while the second sensor group (309) does not detect the cleaning basket (12), it indicates that the basket is stuck and needs to be checked manually.

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