A material handling system based on an AGV robot

Abstract

The application relates to the technical field of material processing, and discloses a material processing system based on an AGV robot, a material processing system based on an AGV robot, which comprises an AGV robot conveying line, a transmission module, a unpacking module and a code disc module; the AGV robot conveying line is used for feeding and empty tray transfer, and comprises at least two lifting AGV robots; the transmission module comprises first, second and third transmission devices which are arranged in sequence and located at the same height; the unpacking module is used for material package removal, and comprises a mounting frame, a mechanical clamp jaw and a material collecting hopper; and the code disc module is used for tray stacking, and comprises a limiting plate and a clamping cylinder. The material processing system based on the AGV robot greatly reduces the participation of manual work in the whole material processing process, guarantees the material processing efficiency, and improves the material processing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material processing, in particular to a material processing system based on an AGV robot. BACKGROUND

[0002] Material processing is a logistics operation mainly occurring at logistics network nodes, specifically including loading and unloading, sorting, collecting goods, assembling and transporting, and other processes; among them, loading and unloading specifically refers to the operation of loading transportation equipment at designated locations by manpower or mechanical devices; sorting refers to the operation of sorting and storing according to the variety of goods, the order of entering and leaving the warehouse; collecting refers to the operation of concentrating scattered or small batches of goods; assembling refers to the operation of organizing and arranging the loading of goods according to the flow, flow direction, and carrying capacity and volume of transportation tools before distribution; and transporting refers to the logistics operation of moving goods horizontally or vertically within the same place.

[0003] In large-scale production, due to the huge amount of material processing, the above-mentioned several links all require a large site, and the environment and requirements between sites are different, so there is a certain distance between each link; in actual production, the transfer of materials between the sites of each link has always been the key to solving the efficiency of material processing; in view of this problem, at present, workers drive forklifts or use AGV robots to transfer materials, but in actual operation, the applicant found that the degree of connection between each link is low, which causes manual assistance is still needed in the transfer process, and the efficiency is low. SUMMARY

[0004] The present application aims to provide a material processing system based on an AGV robot, in order to reduce manual participation in the entire process of material processing and improve the efficiency of material processing.

[0005] To solve the above problems, the application adopts the following technical scheme: a material processing system based on an AGV robot, comprising an AGV robot conveying line, a transmission module, a unpacking module and a code disc module; the AGV robot conveying line comprises at least two lifting AGV robots; the transmission module comprises first, second and third transmission devices arranged in sequence; the first transmission device is used for transferring a tray with materials, one end of the first transmission device and the third transmission device away from each other is provided with a containing cavity, the containing cavities are used for loading and unloading materials on the lifting AGV robots respectively, and lifting devices are fixedly arranged below the second and third transmission devices; the third transmission device can gradually descend along the second transmission device under the action of the lifting device to stack empty trays; the unpacking module comprises a mounting frame, a mechanical clamp and a material collecting hopper, the material collecting hopper is arranged on one side of the feeding direction of the second transmission device, the mounting frame is arranged above the material collecting hopper, the mechanical clamp is slidingly connected to the mounting frame and can reciprocate above the material collecting hopper and the second transmission device along the mounting frame, a cutting knife wheel is fixedly arranged on the upper end of the material collecting hopper near the second transmission device, and a vibrating frame screen is also fixedly arranged on the upper end of the material collecting hopper; the code disc module is used for tray stacking and comprises a limiting plate and clamping cylinders, the clamping cylinders are arranged on both sides of the third transmission device, the bases of the clamping cylinders are hingedly connected above the third transmission device, and the piston rods of the clamping cylinders are fixedly connected with the limiting plate; a plurality of rollers are arranged on both sides of the upper end of the tray, and the upper ends of the circumferences of the rollers are flush with the upper surface of the tray.

[0006] The principle of the scheme is that in actual application, the AGV robot conveying line transports a tray loaded with multiple layers of materials to the transmission module, and the tray is transferred between the transmission devices in the transmission module, when the tray loaded with multiple layers of materials is transferred to the second transmission device, the second transmission device stops working, the lifting device below the second transmission device lifts the tray, when the lifting device is lifted in place, the mechanical clamp transfers the uppermost material to the upper side of the material collecting hopper, and in the transfer process, the packaging bag of the material contacts the cutting knife wheel to transfer the material from the packaging bag to the material collecting hopper; when the material transfer on the second transmission device is completed, the second transmission device is lowered and reset, and the empty tray is brought to the third transmission device, the third transmission device is provided with a tray stacking module to stack the tray, and the third transmission device is lowered to realize stacking under the action of the lifting device when the subsequent empty tray is stacked, and the AGV robot conveying line transports the empty tray after the stacking is completed.

[0007] The advantages of the scheme are:

[0008] 1. In the scheme, manual intervention is not required throughout the process, which improves the material processing efficiency and reduces labor costs.

[0009] 2. The cavities provided at the first and third transmission devices facilitate docking with the lifting AGV robot. Furthermore, the presence of these cavities helps prevent collisions between the transmission devices during material transfer, resulting in a higher safety factor.

[0010] 3. After the packaging bag is cut by the cutting wheel, some material will still remain in the broken packaging bag. The vibrating screen can make the remaining material fall into the collection hopper, and at the same time, the vibrating screen can effectively prevent the packaging bag from falling into the collection hopper.

[0011] 4. When palletizing, the rollers on top of the pallet can smoothly slide the upper pallet onto the lower pallet. The upper edge of the roller circumference is flush with the upper surface of the pallet, which also makes it less likely for the pallets to slip.

[0012] As an improvement, a baffle is rotatably connected to the upper end of the hopper near the second transmission device. A first return spring is fixedly connected to both sides of the baffle. One end of the first return spring is connected to the baffle, and the other end is connected to the edge of the hopper. The beneficial effect of this improvement is that when the cutting wheel contacts the packaging bag, some material will fly out from both sides of the contact point. Since the cutting wheel is located near the second transmission device, material may fly out of the hopper. The baffle effectively prevents this from happening. The baffle can rotate on the hopper, avoiding impact on the packaging bag. Furthermore, the first return spring ensures that the baffle returns to its original position after rotation, guaranteeing its effectiveness in blocking splashed material.

[0013] As an improvement, the mechanical gripper includes a sliding frame, a bag-gripping cylinder, and a hook. The sliding frame is fixed to the mounting frame via a slide rail. A first mounting seat is symmetrically fixed below the sliding frame. A rotating shaft is mounted in the mounting seat via a bearing. The rotating shaft is fixedly connected to the hook. The rotating shaft is hinged to the piston rod of the bag-gripping cylinder via a connecting rod.

[0014] The beneficial effects of this improvement are as follows: the sliding frame is slidably connected to the mounting frame via a slide rail, and the mechanical gripper can slide on the mounting frame via the slide rail, thereby bringing the bagged material to the top of the collection hopper; several grippers are fixedly connected to the symmetrically arranged rotating shafts below the mounting frame, and under the drive of the bag-grabbing cylinder, the rotating shafts can rotate on the mounting base, thereby driving the hooks to rotate and realize the gripping of the bagged material.

[0015] As a kind of improvement, the sliding frame is fixedly provided with a bag pushing fork near one end of the aggregate hopper, and the free end of the bag pushing fork is bent to form a bag pushing part;The beneficial effects of the improvement are that when the mechanical gripper moves the material to the direction of the aggregate hopper, the bag pushing fork will push the empty bag on the vibrating frame screen to the position of the waste bag collecting hopper.

[0016] As a kind of improvement, the mechanical gripper further comprises a grid plate, and a second mounting seat is further provided on the sliding frame, the second mounting seat is provided with a vertical long hole, the grid plate is movably connected in the long hole, and the hooks are located in the gaps of the grid plate;The beneficial effects of the improvement are that when the lifting device under the second conveying device lifts the material, the material will push the grid plate upward, then the hooks will clamp the material through the grid, and the grid plate will be extruded with the hooks under the action of gravity to make the material clamping more stable;It is also convenient to apply pressure to the material during cutting to make the material better out of the bag, and the pressure applied to the material bag when the hooks are retracted facilitates the better separation of the material bag from the hooks.

[0017] As a kind of improvement, the upper end of the long hole is further fixedly provided with a position sensor, and the position sensor is electrically connected with the lifting device below the second conveying device;The beneficial effects of the improvement are that when the grid plate is pushed upward, the position sensor can determine whether the material is lifted in place through the position of the grid plate, and the lifting device stops lifting when receiving the in-place information of the position sensor.

[0018] As a kind of improvement, the side of the grid plate connected with the sliding frame is further provided with a second return spring, and the other end of the second return spring is fixedly connected with the sliding frame;The beneficial effects of the improvement are that when the grid plate is pushed upward, the restoring force of the return spring will provide a pushing force to the grid plate, so that the clamping effect of the grid plate and the hooks on the material is better, and at the same time, the grid plate under the action of the spring makes the empty material bag more easily separated from the hooks.

[0019] As a kind of improvement, the unpacking module further comprises a waste bag collecting hopper, and the waste bag collecting hopper is arranged on the side of the aggregate hopper away from the second conveying device, and a filter frame screen is arranged in the waste bag collecting hopper;The beneficial effects of the improvement are that under the action of the bag pushing fork, the waste bag falls into the waste bag collecting hopper, and in the falling process, the residual material will fall from the filter frame screen, while the waste bag is above the filter frame screen, realizing separation.

[0020] As a kind of improvement, a fan is arranged on one side wall of the aggregate hopper, and a negative pressure dust removal device is arranged on the side wall corresponding to the side wall of the fan;The beneficial effects of the improvement are that there will be waste bag debris in the process of the material bag contacting the cutting knife wheel, which will affect the purity of the material if not cleaned, and since there is a weight difference between the material and the debris, the fan can blow the debris to the negative pressure dust removal device for collection, avoiding the impact of the debris on the material. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a top view schematic diagram of a material handling system based on an AGV robot according to an embodiment of the present application.

[0022] Figure 2 is a schematic diagram of a tray profile structure according to an embodiment of the present application.

[0023] Figure 3 is a schematic diagram of a mechanical gripper structure according to an embodiment of the present application.

[0024] Figure 4 is a schematic diagram of a baffle structure of a collecting hopper according to an embodiment of the present application.

[0025] Figure 5 is a partial top view schematic diagram of a bag pushing fork according to an embodiment of the present application.

[0026] Figure 6 is a partial sectional view schematic diagram of a bag pushing fork according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be further described in detail through specific embodiments:

[0028] The reference signs in the drawings of the specification include: a first conveying device 110, a transfer area 111, a buffer area 112, a containing cavity 113, a second conveying device 120, a third conveying device 130, a tray 140, a roller 141, an electromagnetic guide circuit 201, a lifting AGV robot 202, a limiting plate 301, a clamping cylinder 302, a mounting frame 400, a collecting hopper 401, a lead screw 402, a sliding table 403, a servo motor 404, a sliding frame 405, a bag grabbing cylinder 406, a hook claw 407, a first mounting seat 408, a bag grabbing cylinder 409, a first connecting rod 410, a second connecting rod 411, a second mounting seat 412, a long hole 413, a grid plate 414, a second reset spring 415, a position sensor 416, a cutting knife wheel 417, a vibrating frame sieve 418, a baffle 419, a first reset spring 420, a bag pushing fork 421, a bag pushing part 422, a waste bag collecting hopper 423, and a filtering frame sieve 424.

[0029] The embodiments are substantially as shown in the drawings Figure 1 - the drawings Figure 6 :

[0030] The application provides a material processing system based on an AGV robot, which is composed of an AGV robot conveying line, a transmission module, a unpacking module and a stacking module. The AGV robot conveying line comprises electromagnetic guide lines 201 laid on the ground and lifting AGV robots 202, wherein the lifting AGV robots 202 are at least two, and the AGV robots are used for transferring the pallets 140 with materials to the transmission module and transferring the empty pallets 140 stacked in the stacking module.

[0031] In the implementation, the transmission module comprises a first transmission device, a second transmission device 120 and a third transmission device 130 which are sequentially arranged and communicatively connected; the first transmission device is a roller conveyor, which comprises a transfer area 111 and a buffer area 112, wherein the transfer area 111 and the buffer area 112 are both provided with pressure sensors, the transfer area 111 is symmetrically provided with conveying short rollers, and a containing cavity 113 is left between the conveying short rollers to facilitate the lifting AGV robot 202 to load materials, the first transmission device is communicatively connected with the lifting AGV robot for loading materials, when the pressure sensor of the transfer area 111 detects that there is no material, the lifting AGV robot is called to transfer the materials to the transfer area 111, and when the pressure sensor of the buffer area 112 detects that there is no material, the first transmission device is started to transfer the materials in the transfer area 111 to the buffer area 112.

[0032] The second transmission device 120 is a conveyor belt, and the conveyor belt is also provided with a pressure sensor, when the second transmission device 120 detects that there is no material, the second transmission device 120 and the first transmission device are simultaneously started to transfer the materials from the buffer area 112 to the second transmission device 120, wherein the second transmission device is arranged on a lifting device (not marked in the drawing), and the lifting device is a prior art and will not be described in detail here; when the materials are on the second transmission device, the second transmission device 120 stops running, and the lifting device lifts the materials for loading; after the loading of the materials is completed, the second transmission device 120 transfers the empty pallets 140 loaded with the materials to the stacking module of the third transmission device 130 for stacking.

[0033] In implementation, the third transmission device 130 is also a roller conveyor. A code disk device is fixed on the third transmission device 130, consisting of two limiting plates 301 and two clamping cylinders 302. The limiting plates 301 are L-shaped, and the clamping cylinders 302 are arranged parallel to the rollers of the roller conveyor on both sides of the third transmission device 130. The piston rods of the clamping cylinders 302 are welded and fixed to the L-shaped limiting plates 301. A lifting device is also provided below the third transmission device 130, and a position sensor 416 is also provided on the third transmission device 130. When the empty pallet 140 moves onto the third transmission device 130, the clamping cylinders 302 push the L-shaped limiting plates 301 to fix the empty pallet 140. The L-shaped limiting plates 301 can prevent the empty pallet 140 from detaching from the code disk position. In this embodiment, as shown in the attached... Figure 2 Multiple rollers 141 are fixed on both sides of the upper surface of the pallet 140, with the upper end of the circumference of the rollers 141 being flush with the upper surface of the pallet 140. When the first empty pallet 140 is clamped and fixed by the third transmission device 130, the lifting device below the third transmission device 130 moves down to make room for the next empty pallet 140 to be stacked. When subsequent pallets 140 are stacked on the previous pallet 140, due to the rollers 141 and inertia, they can reach the L-shaped limit plate 301 without the third transmission device being constantly running, thus saving energy.

[0034] In implementation, the unpacking module includes a mounting frame 400 positioned above the second transmission device 120, with the mounting frame 400 perpendicular to the transmission direction of the second transmission device 120. A collection hopper 401 is mounted on one side of the second transmission device 120. A mechanical gripper is also slidably connected to the mounting frame 400. Specifically, a lead screw 402 and a slide 403 are fixed to the mounting frame 400. Two sets of lead screws 402 are fixed to both sides of the mounting frame 400, and the slide 403 is mounted on the two sets of lead screws 402. The mechanical gripper is bolted to the underside of the lead screw 402 and slide 403. A servo motor 404 is mounted at one end of the mounting frame 400. The servo motor 404 drives the lead screw 402 to rotate, causing the slide 403 and the mechanical gripper to slide back and forth on the lead screw 402. This allows the mechanical gripper to slide back and forth between the second transmission device and the collection hopper 401.

[0035] In implementation, the mechanical gripper is composed of the sliding frame 405, the bag grabbing cylinder 406 and the hook 407. In the embodiment, the sliding frame 405 is bolted on the sliding table 403. In other embodiments, a sliding rail can also be fixed above the mounting frame 400, and the sliding frame 405 slides on the sliding rail. Two groups of first mounting seats 408 are welded below the sliding frame 405. A rotating shaft is installed in each group of mounting seats through bearings. The hook 407 is fixedly connected to the rotating shaft. In the embodiment, the hook 407 is composed of a claw hook and a mounting plate. Two to eight claw hooks are welded or threadedly connected to the mounting plate. The specific number and mounting position of the claw hooks can be adjusted according to the material layout. The two ends of the mounting plate are fixed with the first connecting rod 410 welded on the rotating shaft. The first connecting rod 410 and the mounting plate can be bolted.

[0036] In implementation, a second mounting seat 412 is also welded on the sliding frame 405. A long hole 413 vertically arranged is formed in the second mounting seat 412. A grid plate 414 is movably connected in the long hole 413 of the second mounting seat 412 through a screw plug. When the grid plate 414 is subjected to an upward force, the bolts on the grid plate 414 can move upward in the long hole 413, so that the grid plate 414 moves upward as a whole. In implementation, in order to avoid the influence of the grid plate 414 on the hook 407, the claw hooks of the hook 407 are all in the gap of the grid plate 414. In implementation, a second return spring 415 is also installed between the grid plate 414 and the sliding frame 405. The two ends of the second return spring 415 are connected with the grid plate 414 and the sliding frame 405 respectively. When the mechanical gripper grabs the material, the material will be lifted by the lifting device. The material can be more stably conveyed under the action of the grid plate 414 and the hook 407. When the material is unpacked, the downward pressure of the grid plate 414 is more conducive to the separation of the material and the packaging bag. After the material and the packaging bag are completely separated, the downward action of the grid plate 414 will make the packaging bag better separate from the hook 407.

[0037] In implementation, a position sensor 416 is also fixed at the top of the long hole 413. The position sensor 416 is also electrically connected with the lifting device below the second transmission device. When the position sensor 416 senses that the bolts of the grid plate 414 are in place, it means that the appropriate height for the mechanical gripper to grab the material has been reached. At this time, the lifting device stops rising. After the material is grabbed, the lifting device descends to leave enough space for the mechanical gripper to move.

[0038] In implementation, the upper end of the aggregate hopper 401 is provided with a cutting wheel 417 near the side of the second conveying device 120, wherein the cutting wheel 417 is composed of a wheel driving motor, a connecting shaft and blades, the blades are 3-12 pieces, 6 pieces in this embodiment, uniformly fixed on the connecting shaft, and the wheel driving motor is connected through a speed reducer and the connecting shaft; in implementation, when the material gripped by the mechanical gripper passes the cutting wheel 417, the cutting wheel 417 will break the packaging bag of the material, so that the material falls into the aggregate hopper 401 from the packaging bag.

[0039] In implementation, as shown in the accompanying drawings, Figure 1 In order to avoid the packaging bag falling into the aggregate hopper 401, a vibrating frame sieve 418 is further arranged above the aggregate hopper 401, wherein the vibrating frame sieve 418 comprises a vibrating motor and a sieve fence connected to the output end of the vibrating motor; when the packaging bag is cut open, part of the material will still remain in the cut open packaging bag, the vibrating frame sieve 418 can reduce the residual amount of the material in the packaging bag on the one hand, and can avoid the packaging bag falling into the aggregate hopper 401 on the other hand.

[0040] In implementation, during the process of cutting the packaging bag of the material, the material may splash, in this embodiment, as shown in the accompanying drawings, a baffle 419 is further rotatably connected to the end of the aggregate hopper 401 where the cutting wheel 417 is located, specifically, one end of the baffle 419 is hinged to the outer edge of the aggregate hopper 401 near the second conveying device 120, and first return springs 420 are arranged on both sides of the baffle 419, specifically, the first return springs 420 are obliquely arranged, one end of the first return springs 420 is fixed to the outer edge of the aggregate hopper 401, and the other end is fixed to the middle part of the baffle 419. In specific implementation, when the material passes the baffle 419, the baffle 419 is tilted to form an included angle, which can block the splashing material without affecting the material, and the baffle 419 can be reset by the return springs.

[0041] In implementation, as shown in the accompanying drawings, the side of the sliding frame 405 near the aggregate hopper 401 is further fixed with a bag pushing fork 421, wherein one end of the bag pushing fork 421 is a fixed end and is bolted to the sliding frame 405, and the other end is a free end and is bent upward or downward to form a bag pushing part 422, when the sliding frame 405 slides on the aggregate hopper 401, the bag pushing part 422 can push the packaging bag of the vibrating frame sieve 418 out of the vibrating frame sieve 424; in order to facilitate the collection of the packaging bag, a waste bag collecting hopper 423 is further arranged next to the aggregate hopper 401, and the bag pushing part 422 can directly push the waste bag into the waste bag collecting hopper 423, wherein the waste bag may still contain material, and a filter frame sieve 424 can be arranged in the waste bag collecting hopper 423 to separate the material from the packaging bag.

[0042] In the implementation, when the waste bag is cut, there may be waste bag debris contaminating the material, in the embodiment, a sidewall of the collecting hopper 401 is provided with a fan through a screw, and the corresponding sidewall of the collecting hopper 401 is provided with a negative pressure dust removal device, the fan and the negative pressure dust removal device are existing devices, and will not be described in detail here; the fan blows the debris to the side where the negative pressure dust removal device is located, and under the action of the negative pressure dust removal device, the debris of the packaging bag is collected and removed, so that the material is prevented from being contaminated by the broken packaging bag debris.

[0043] In the implementation, in order to facilitate the transfer of the material in the collecting hopper 401, a transfer hopper is further arranged below the collecting hopper 401, and a hopper switch is arranged at the bottom of the collecting hopper 401, so that the material can fall into the transfer hopper when the hopper switch is opened, and when the material in the transfer hopper reaches a set value, the AGV robot transfers the transfer hopper, and at the same time, the AGV robot moves the empty transfer hopper to below the collecting hopper 401.

[0044] The material processing system based on the AGV robot provided by the application greatly reduces the participation of manual labor in the whole process of material processing, improves the material processing efficiency while ensuring the material processing efficiency.

[0045] The above is only an embodiment of the application, and common technical solutions and / or characteristics in the scheme are not described in detail. It should be noted that for those skilled in the art, without departing from the technical solutions of the application, some modifications and improvements can be made, which should also be considered as the protection scope of the application, and these will not affect the effect and practicality of the application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like in the specification can be used to explain the content of the claims.

Claims

1. A material handling system based on AGV robots, characterized in that: This includes AGV robot conveyor lines, transmission modules, unpacking modules, and encoder modules; The AGV robot conveyor line includes at least two lifting AGV robots; The transmission module includes a first transmission device, a second transmission device, and a third transmission device arranged in sequence. The first transmission device is used for transferring pallets carrying materials. The opposite ends of the first and third transmission devices have receiving cavities, which are used for lifting the AGV robot for loading and unloading materials, respectively. Lifting devices are fixedly installed below the second and third transmission devices. The third transmission device can gradually descend below the second transmission device to stack empty pallets under the action of its lifting device. The unpacking module includes a mounting frame, mechanical grippers, and a collection hopper. The collection hopper is located on one side of the feeding direction of the second conveying device. The mounting frame is located above the collection hopper. The mechanical grippers are slidably connected to the mounting frame and can slide back and forth along the mounting frame above the collection hopper and the second conveying device. A cutting wheel is fixedly installed at the upper end of the collection hopper on the side close to the second conveying device. A vibrating screen is also fixedly installed at the upper end of the collection hopper. The pallet stacking module is used for pallet stacking and includes a limiting plate and clamping cylinders. There are two clamping cylinders, which are respectively arranged on both sides of the third transmission device. The base of the clamping cylinder is hinged to the top of the third transmission device, and the piston rod of the clamping cylinder is fixedly connected to the limiting plate. Several rollers are also provided on both sides of the upper end of the pallet, and the upper end of the circumference of the rollers is flush with the upper surface of the pallet. A baffle is rotatably connected to the upper end of the hopper near the second transmission device. A first return spring is fixedly connected to both sides of the baffle. One end of the first return spring is connected to the baffle, and the other end of the first return spring is connected to the edge of the hopper. The mechanical gripper includes a sliding frame, a bag-gripping cylinder, and a hook. The sliding frame is fixed to the mounting frame via a slide rail. A first mounting base is symmetrically fixed below the sliding frame. A rotating shaft is mounted in the first mounting base via a bearing. The rotating shaft is fixedly connected to the hook. The rotating shaft is hinged to the piston rod of the bag-gripping cylinder via a connecting rod. The mechanical gripper also includes a grid plate, and a second mounting base is provided on the sliding frame. The second mounting base has a vertical elongated hole, and the grid plate is movably connected to the elongated hole by bolts. The claws are all located in the gaps of the grid plate.

2. The material handling system based on AGV robots according to claim 1, characterized in that: A bag-pushing fork is fixedly installed at one end of the sliding frame near the hopper, and the free end of the bag-pushing fork is bent to form a bag-pushing part.

3. The material handling system based on AGV robots according to claim 1, characterized in that: A position sensor is also fixedly installed at the upper end of the elongated hole, and the position sensor is electrically connected to the lifting device below the second transmission device.

4. The material handling system based on AGV robots according to claim 1, characterized in that: A second return spring is also provided on the side of the grid plate connected to the sliding frame, and the other end of the second return spring is fixedly connected to the sliding frame.

5. The material handling system based on AGV robots according to claim 1, characterized in that: The unpacking module also includes a waste bag collection hopper, which is located on the side of the collection hopper away from the second transmission device, and a filter frame screen is installed inside the waste bag collection hopper.

6. The material handling system based on AGV robots according to claim 1, characterized in that: A fan is installed on one side wall of the hopper, and a negative pressure dust removal device is installed on the corresponding side wall of the fan.

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