Full-automatic material trolley on-line and off-line equipment

Abstract

The application discloses a full-automatic material trolley on-off line equipment and relates to the technical field of material trolley on-off line, which comprises a full-automatic piece feeding pushing ground rail mechanism, a full-automatic piece feeding pushing gripper mechanism, a first guide mechanism, an SPS trolley and a lever unhooking mechanism. The full-automatic piece feeding pushing ground rail mechanism comprises the first guide mechanism, the SPS trolley, a trolley traction hook separation mechanism, a second trolley detection stopping and blocking mechanism and a traction rod lifting rod mechanism. The first guide mechanism is arranged on the side of the SPS trolley. The trolley traction hook separation mechanism and the second trolley detection stopping and blocking mechanism are arranged on the side of the traction rod lifting rod mechanism. An electrical control system realizes signal interaction and action time sequence control of each mechanism through PLC communication, accurately matches the AGV import and export rhythm, realizes full-automatic flow of the SPS trolley on the whole line, reduces operation conflicts and waiting, lowers the labor cost and greatly improves the overall production efficiency.

Description

Technical Field

[0001] This invention relates to the field of material handling equipment, specifically a fully automatic material handling equipment. Background Technology

[0002] In the automotive assembly plant's door line production scenario, the current SPS material cart loading and unloading process mainly relies on the traditional manual handling operation mode, which exposes many significant drawbacks. This mode not only leads to low operating efficiency and makes it difficult to achieve precise control of production rhythm and stable operation of the production process, but also fails to meet the core needs of modern factories for efficient and stable production. At the same time, continuous manual operation drives up labor costs and is prone to negatively impacting product quality stability and production progress controllability due to human error. Therefore, the development of fully automated SPS material cart loading and unloading equipment has become an urgent need in the industry.

[0003] In the prior art, the "SPS loading and unloading conveying equipment" with application number CN201921701461.6 adopts a design scheme of basic conveying track combined with a single drive mechanism, which has the advantages of low manufacturing cost and low maintenance difficulty, and has certain applicability in small-scale production scenarios with low automation requirements. However, the equipment has obvious technical bottlenecks: its automated operation process has not yet achieved full closed-loop coverage. Manual intervention is still required in key links such as material car separation, traction rod operation, and docking with AGV, which limits the improvement of production efficiency and causes periodic fluctuations in production cycle. In addition, the equipment drive system lacks high-precision transmission components such as servo motors and gear rack mechanisms, resulting in insufficient positioning accuracy during material car transportation, which can easily cause positional deviations when docking with subsequent processes, adversely affecting the overall production line's collaborative operation accuracy.

[0004] Based on this, this solution proposes "a fully automatic material handling trolley loading and unloading device" to address the aforementioned problems. Summary of the Invention

[0005] The purpose of this invention is to provide a fully automatic material handling trolley loading and unloading device to solve the problems mentioned in the background art, such as the limited automation level of existing equipment on the market, the need for manual assistance in some processes, and the lack of high-precision drive components, resulting in low transportation accuracy and difficulty in meeting the needs of modern factories for efficient and stable production.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a fully automatic material trolley loading and unloading equipment, comprising a fully automatic loading and pushing ground rail mechanism, a fully automatic loading and pushing gripper mechanism, a first guiding mechanism, an SPS material trolley, and a lever unhooking mechanism;

[0007] The fully automatic loading and pushing ground rail mechanism includes a first guiding mechanism, an SPS material car, a material car traction hook separation mechanism, a second material car detection, stop and blocking mechanism, a material car lifting rod and blocking mechanism, an electrical control system, and a traction rod lifting mechanism. The first guiding mechanism is located on the side of the SPS material car, and the material car traction hook separation mechanism and the second material car detection, stop and blocking mechanism are located on the side of the traction rod lifting mechanism.

[0008] As a preferred technical solution of the present invention, the first guiding mechanism is used to guide the SPS material car to run smoothly and provide a channel for AGV to exit. The lever unhooking mechanism is used to separate at least two SPS material cars introduced by the first AGV and block subsequent SPS material cars. The material car lifting rod and blocking mechanism are connected to the side of the fully automatic loading transfer and pushing ground rail mechanism. The material car lifting rod and blocking mechanism is used to automatically lift the traction rod of the SPS material car and stop and prevent backward slip after the SPS material car is in place. The high-precision material car ground rail runs through the entire production line.

[0009] By adopting the above technical solution, the first guiding mechanism included in the fully automatic loading and pushing ground rail mechanism can not only guide the SPS material car to run smoothly, but also provide a channel for AGV to exit, ensuring the stability and safety of the initial stage of operation; the lever unhooking mechanism can separate multiple SPS material cars introduced by the first AGV and block subsequent material cars, realizing the orderly separation and control of material cars and avoiding chaos; the material car lifting lever and blocking mechanism can automatically lift the traction lever and stop and prevent backward slip after the material car is in place, ensuring the smooth progress of subsequent processes and improving the automation level and reliability of the loading process as a whole.

[0010] As a preferred embodiment of the present invention, the fully automatic loading and pushing ground rail mechanism includes a servo motor, a high-precision ground rail, and a gear and rack mechanism; the servo motor drives the gear and rack mechanism to move along the high-precision ground rail to drive the SPS material cart for transportation;

[0011] By adopting the above technical solution, the fully automatic loading and pushing ground rail mechanism uses a servo motor, a high-precision ground rail, and a gear and rack mechanism. The servo motor drives the gear and rack mechanism to move along the high-precision ground rail. This combination makes the transportation of SPS material carts more precise and stable. The high-precision control of the servo motor avoids positional deviations during operation, and the high-precision ground rail ensures the smooth operation of the material cart, effectively reducing shaking and deviation during material transportation, and laying the foundation for accurate docking of subsequent processes.

[0012] As a preferred technical solution of the present invention, the fully automatic loading and pushing gripper mechanism includes a high-precision loading transfer rail, a first transfer gripper, a second transfer gripper, and a transfer gripper running track.

[0013] The transfer gripper one and transfer gripper two move along the transfer gripper running track;

[0014] The transfer gripper is used to clamp the SPS cart from the fully automatic loading mechanism. After receiving the signal that the elevator has risen to a safe height, it drives the SPS cart to quickly pass through the elevator area to the transfer position, and returns to the initial position to wait after being released.

[0015] The second transfer gripper is used to receive the arrival signal of the first transfer gripper, move to the transfer position to clamp the SPS material car, transport it to the subsequent line, and then release and wait.

[0016] Using the above technical solution, the transfer gripper 1 and the transfer gripper 2 of the fully automatic loading and pushing gripper mechanism move along the transfer gripper running track. After the transfer gripper 1 clamps the material car, it drives the material car to quickly pass through the elevator area when it receives the elevator safety signal, ensuring operational safety. After receiving the signal, the transfer gripper 3 moves to the transfer position, clamps the material car, and transports it to the subsequent line, realizing efficient transfer and relay transportation of the material car, reducing waiting time, improving the efficiency of loading transfer, and ensuring the smooth connection of the entire loading process.

[0017] As a preferred technical solution of the present invention, the fully automatic loading and transfer pushing ground rail mechanism adopts a high-precision gear rack and slide rail mechanism to ensure the efficient and stable operation of transfer gripper one and transfer gripper two;

[0018] The above technical solution is adopted. The fully automatic loading and transfer pushing ground rail mechanism adopts a high-precision gear rack and slide rail mechanism. This design can ensure the efficient and stable operation of the transfer gripper mechanism and the transfer gripper. The high-precision gear rack and slide rail reduce the vibration and offset during the operation of the gripper, making the gripper more stable and reliable when driving the material cart, improving the accuracy and efficiency of the transfer process, and ensuring that the material cart can carry out transfer and transportation accurately.

[0019] As a preferred technical solution of the present invention, the fully automatic unloading transfer pushing ground rail mechanism includes a high-precision unloading transfer ground rail, an unloading transfer gripper one, an unloading transfer gripper two, and an unloading transfer gripper running track;

[0020] The first and second lower transfer grippers move along the lower transfer gripper running track. The first lower transfer gripper is used to clamp the SPS material car from the subsequent line, transport it to the transfer position, release it, and return to the initial position to wait. The second lower transfer gripper is used to receive the arrival signal of the first lower transfer gripper, move to the transfer position to clamp the SPS material car, run to the elevator position to wait, and after receiving the signal that the elevator has risen to a safe height, drive the SPS material car to quickly pass through the elevator area to the fully automatic unloading mechanism.

[0021] Using the above technical solution, the fully automatic unloading transfer mechanism's unloading transfer servo motor gripper mechanism one and unloading transfer servo motor gripper two move along the unloading transfer gripper running track. Unloading transfer servo motor gripper one clamps the material cart and transports it to the transfer position, then returns to wait. Unloading transfer servo motor gripper two receives a signal, moves to the transfer position, clamps the material cart, and runs to the elevator position to wait. Upon receiving a signal from the elevator, it drives the material cart through the elevator area. This cooperation of the two grippers ensures the orderly progress of the unloading transfer process, improves the efficiency and safety of unloading transfer, and guarantees the smooth flow of the material cart in the unloading stage.

[0022] As a preferred technical solution of the present invention, the fully automatic unloading transfer pushing ground rail mechanism adopts a high-precision gear rack and slide rail mechanism to ensure the efficient and stable operation of the unloading transfer gripper one and the unloading transfer gripper two;

[0023] By adopting the above technical solution, the fully automatic unloading transfer push rail mechanism uses a high-precision gear rack and slide rail mechanism, which can ensure the efficient and stable operation of the unloading transfer servo motor gripper mechanism 1 and the unloading transfer servo motor gripper mechanism 2. The high-precision transmission and guiding mechanism reduces the error and vibration in the operation of the gripper, making the gripper more accurate and stable when transporting the material car, improving the reliability and efficiency of the unloading transfer process, and ensuring that the material car can accurately reach the designated position;

[0024] As a preferred technical solution of the present invention, the fully automatic part-lifting and pushing ground rail mechanism includes a part-lifting guide mechanism, a part-lifting rod mechanism, a part-lifting pushing mechanism, and an end-blocking and detection mechanism.

[0025] The offline pushing mechanism drives the SPS material cart from the fully automatic offline transfer mechanism to move;

[0026] The lowering lever mechanism is used to lower the traction lever of the SPS material cart;

[0027] The end-blocking and detection mechanism is used to detect the arrival status of the SPS material cart and allows the end AGV to exit after at least two SPS material carts have combined.

[0028] The unloading guide mechanism is used to guide the SPS material cart to run smoothly and to provide a channel for the AGV to enter.

[0029] By adopting the above technical solution, the unloading guide mechanism of the fully automatic unloading push rail mechanism ensures the smooth operation of the SPS material car and provides a channel for AGV entry; the unloading drop bar mechanism lowers the material car traction bar, facilitating the combination of subsequent material cars; the end blocking and detection mechanism detects the material car's arrival status and allows the AGV to exit after multiple material cars are combined, realizing orderly control of the unloading process, ensuring the accuracy and safety of the material car's exit from the line, and improving the automation level of the unloading process.

[0030] As a preferred embodiment of the present invention, the fully automatic unloading and pushing rail mechanism includes a servo motor, a high-precision rail, and a gear and rack mechanism; the servo motor drives the gear and rack mechanism to move along the high-precision rail to drive the SPS material cart for precise transportation;

[0031] The above technical solution employs a servo motor, a high-precision ground rail, and a rack and pinion mechanism for fully automatic part unloading. The servo motor drives the rack and pinion mechanism to move along the high-precision ground rail, thereby driving the SPS material cart for precise transport. This drive method ensures the positional accuracy and smooth operation of the material cart during the part unloading process, avoids deviations and shaking during transportation, and ensures that the material cart can accurately reach the unloading position, thus guaranteeing the smooth unloading of the material cart.

[0032] As a preferred technical solution of the present invention, the electrical control system realizes signal interaction between various mechanisms through PLC communication, controls the action sequence of each mechanism, matches the import and export rhythm of the first AGV and the last AGV, and realizes the fully automated flow of the SPS material car line.

[0033] Using the above technical solution, the electrical control system realizes signal interaction between various mechanisms through PLC communication, controls the action sequence of each mechanism, and can accurately match the import and export rhythm of the first AGV and the last AGV, realizing the fully automated flow of the SPS material car line. This centralized control method ensures the coordination and cooperation between various mechanisms, reduces conflicts and waiting during operation, improves the operating efficiency of the entire equipment, realizes full-process automation from online to offline, and significantly reduces labor costs.

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] 1. Loading Process: The fully automatic loading and pushing ground rail mechanism ensures the smooth operation of the SPS material cart and the safe withdrawal of the AGV through the first guiding mechanism. The lever unhooking mechanism realizes the separation and blocking of multiple carts. The material cart lifting lever and blocking mechanism ensures that the traction lever is raised and prevents backward slippage. With the drive of "servo motor + high-precision ground rail + gear and rack mechanism", the accuracy and stability of loading and transportation are improved, and manual intervention is reduced. The double gripper relay design of the fully automatic loading and pushing gripper mechanism, combined with the high-precision gear and rack and slide rail of the fully automatic loading and transfer pushing ground rail mechanism, realizes the efficient transfer of material carts and safe passage through the elevator area, reduces waiting time, and ensures smooth connection.

[0036] 2. Unloading process: The fully automatic unloading transfer and pushing ground rail mechanism adopts high-precision gear rack and slide rail to ensure the efficient and stable operation of the first and second mechanisms of the unloading transfer servo motor gripper. The double gripper works together to realize the orderly unloading transfer, improving efficiency and safety. The unloading guide, drop bar mechanism and end block detection mechanism of the fully automatic unloading transfer and pushing ground rail mechanism, together with the "servo motor + high-precision ground rail + gear rack" drive, ensure the stable operation of the material cart, the traction bar reset, the combination of multiple carts and the accurate export of AGV, and improve the automation and accuracy of unloading.

[0037] 3. Overall Control: The electrical control system realizes signal interaction and action timing control of each mechanism through PLC communication, accurately matches the AGV import and export rhythm, realizes the fully automated flow of the SPS material car line, reduces operation conflicts and waiting, reduces labor costs, and significantly improves overall production efficiency. Attached Figure Description

[0038] Figure 1 This is a top view of the structure of the present invention;

[0039] Figure 2 This is a side view of the structure of the present invention;

[0040] Figure 3 For the present invention Figure 2 Enlarged structural diagram at point A;

[0041] Figure 4 For the present invention Figure 2 Enlarged structural diagram at point B;

[0042] Figure 5 For the present invention Figure 2 Enlarged structural diagram at point E;

[0043] Figure 6 For the present invention Figure 2 Enlarged structural diagram at point F;

[0044] Figure 7 For the present invention Figure 2 Enlarged structural diagram at point C;

[0045] Figure 8 This is a side view of the fully automatic loading and pushing ground rail mechanism of the present invention.

[0046] Figure 9 For the present invention Figure 8 Enlarged structural diagram at point F;

[0047] Figure 10 For the present invention Figure 8 Enlarged structural diagram at point G;

[0048] Figure 11 For the present invention Figure 8Enlarged structural diagram at point H.

[0049] In the diagram: 1. Fully automatic loading and pushing ground rail mechanism; 2. Fully automatic loading and pushing gripper mechanism; 3. First guide mechanism; 4. SPS material cart; 5. Material cart traction hook separation mechanism and second material cart detection, stop and blocking mechanism; 6. Traction rod lifting mechanism; 7. Fully automatic loading and transferring pushing ground rail mechanism; 8. Transfer gripper mechanism 1; 9. Transfer gripper; 10. High-precision material cart ground rail; 11. Fully automatic unloading and transferring pushing ground rail mechanism; 12. Unloading and transferring servo motor gripper mechanism 1; 13. Transfer blocking and stopping mechanism; 14. Unloading and transferring servo motor gripper mechanism 2; 15. Fully automatic unloading and pushing ground rail mechanism; 16. Second material cart arrival detection mechanism; 17. Second guide mechanism; 18. End blocking mechanism; 19. Lever unhooking mechanism. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Please see Figures 1-11 The technical solution of this invention is as follows: A fully automatic material trolley loading and unloading equipment. The fully automatic loading and pushing ground rail mechanism 1 is the core driving unit of the loading process. It drives the gear and rack mechanism to move along the high-precision ground rail through the servo motor, thereby driving the SPS material trolley 4 to transport. This mechanism works in conjunction with the lever unhooking mechanism 19, the material trolley traction hook separation mechanism, and the second material trolley detection, stop and blocking mechanism 5. When the AGV guides two SPS material trolleys 4, the lever unhooking mechanism 19 unhooks the front and rear material trolleys, and the blocking mechanism blocks the second material trolley, allowing only the first one to continue moving until it is processed and positioned by the SPS material trolley 4 traction rod lifting mechanism 6. The high-precision material trolley ground rail 10 of the traction rod lifting mechanism 6 is configured on the side and runs through the entire production line.

[0052] The fully automatic loading and pushing gripper mechanism 2 undertakes the loading and transfer task. The transfer gripper mechanism 8 and the transfer gripper 9 move along the transfer gripper running track. When the transfer gripper mechanism 8 detects the SPS material car 4 after loading, it will clamp it and carry it through the lifting area after the elevator is in place. After reaching the transfer position, it will release and return. After receiving the signal, the transfer gripper 9 will take over to clamp the material car and transport it to the subsequent line. The entire process relies on the high-precision gear rack and slide rail mechanism of the fully automatic loading and transfer pushing ground rail mechanism 7 to ensure stability.

[0053] The first guiding mechanism 3 is located on the side of the SPS material car 4, which not only guides the material car to run smoothly, but also provides a channel for the AGV to exit. It works with the fully automatic loading and pushing ground rail mechanism 1 to complete the initial stage of safe docking, avoiding conflict between the AGV and the material car.

[0054] The fully automatic unloading transfer push rail mechanism 11 is responsible for unloading transfer. The unloading transfer servo motor gripper mechanism 12 first clamps the SPS material cart 4 that has reached the unloading start position, sends it to the transfer position and then returns. The unloading transfer servo motor gripper mechanism 14 receives the signal and clamps the material cart. After the elevator is in place, it carries the cart through the unloading elevator area. The transfer blocking and stopping mechanism 13 assists in achieving precise stopping during the process.

[0055] The fully automatic unloading push rail mechanism 15 drives the SPS material car 4 to move towards the exit. The unloading drop bar mechanism causes the material car traction bar to fall. The second material car arrival detection mechanism 16 detects the arrival status of the material car. When the two material cars are combined, the end blocking mechanism 18 opens, allowing the end AGV to exit. The second guiding mechanism 17 guides the material car to run and provides a channel for the AGV to enter. Its servo motor-driven gear and rack mechanism ensures accurate transportation.

[0056] The electrical control system connects all mechanisms via PLC communication, coordinating the timing of each component's actions and matching the AGV's import and export rhythm. From the separation action of the lever unhooking mechanism 19 to the opening and closing of the end blocking mechanism 18, and the operation of each gripper and push mechanism, all processes are fully automated through signal interaction, requiring no manual intervention throughout the entire process. This ensures efficient and orderly loading and unloading of the SPS material cart 4.

[0057] Working principle: When using a fully automatic material handling trolley loading and unloading equipment, the equipment includes multiple mechanisms such as a fully automatic loading and unloading ground rail mechanism 1, a fully automatic loading and unloading gripper mechanism 2, a first guide mechanism 3, and an SPS material trolley 4. When loading, the first AGV guides the SPS material trolley 4. The lever unhooking mechanism 19 of the fully automatic loading and unloading ground rail mechanism 1 separates the material trolley and blocks subsequent material trolleys. The first guide mechanism 3 guides the operation and provides a channel for the AGV to exit. The traction lever lifting mechanism 6 of the SPS material trolley 4 lifts the traction lever. The transfer gripper mechanism 8 and the transfer gripper 9 of the fully automatic loading and unloading gripper mechanism 2 take over and transport the material trolley to the subsequent line.

[0058] Each mechanism of the equipment relies on a high-precision structure to achieve stable operation. The fully automatic loading and unloading driving rail mechanism 1 and the fully automatic unloading driving rail mechanism 15 adopt servo motors, high-precision rails and gear rack mechanisms to ensure accurate transportation of SPS material cart 4. The high-precision gear rack and slide rail mechanism of the fully automatic loading transfer driving rail mechanism 7 and the fully automatic unloading transfer driving rail mechanism 11 ensures efficient and stable operation of the grippers. The guiding mechanism guides the material cart and coordinates the AGV channel.

[0059] The electrical control system coordinates the various mechanisms through PLC communication and controls the timing of actions to match the rhythm of the first and last AGVs. When loading, each mechanism completes actions such as unhooking and transportation according to the signal. When unloading, the gripper of the fully automatic unloading transfer mechanism 11 relays the transportation, and the unloading mechanism of the fully automatic unloading mechanism 15 lowers the traction rod. After the end blocking mechanism 18 detects that it is in place, the AGV is allowed to exit, realizing fully automated circulation.

[0060] Compared to traditional methods, this equipment improves efficiency and process controllability through automated design. It eliminates the need for manual handling, and the collaboration between various mechanisms reduces waiting and conflicts. The SPS material cart 4 is more stable in and out of the line, reducing labor costs and adapting to the modern production demand for high efficiency and precision. By combining mechanical structure and electrical control, it achieves fully automated transfer in and out of the entire line.

[0061] This completes a series of tasks. The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0062] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A full-automatic material trolley on-off line equipment, comprising a full-automatic piece feeding and pushing ground rail mechanism (1), a full-automatic piece feeding and pushing gripper mechanism (2), a full-automatic piece feeding and transferring pushing ground rail mechanism (7), a high-precision trolley ground rail (10), a full-automatic piece feeding and transferring pushing ground rail mechanism (11), a lever unhooking mechanism (19) and a full-automatic piece feeding and pushing ground rail mechanism (15); characterized in that: The full-automatic feeding pushing ground rail mechanism (1) comprises a first guide mechanism (3), an SPS trolley (4), a trolley hook separation mechanism, a second trolley detection stopping and blocking mechanism (5), a pulling rod lifting mechanism (6), a trolley lifting and blocking mechanism and an electrical control system, the first guide mechanism (3) is arranged on the side of the SPS trolley (4), and the trolley hook separation mechanism and the second trolley detection stopping and blocking mechanism (5) are arranged on the side of the pulling rod lifting mechanism (6); The first guide mechanism (3) is used for guiding the stable operation of the SPS trolley (4) and providing a passage for the AGV to exit, the hook disengaging mechanism (19) is used for separating at least two SPS trolleys (4) introduced by the first-stage AGV and blocking the subsequent SPS trolleys (4), the trolley lifting and blocking mechanism is connected to the side of the full-automatic feeding transfer pushing ground rail mechanism (7), and the trolley lifting and blocking mechanism is used for automatically lifting the pulling rod of the SPS trolley (4) and stopping and preventing the SPS trolley (4) from sliding backward after the SPS trolley (4) is in place, and the high-precision trolley ground rail (10) penetrates through the whole production line; The full-automatic feeding pushing ground rail mechanism (1) comprises a servo motor, a high-precision ground rail and a gear and rack mechanism; the servo motor drives the gear and rack mechanism to move along the high-precision ground rail, so as to drive the SPS trolley (4) to transport. The full-automatic feeding pushing jaw mechanism (2) comprises a feeding transfer high-precision ground rail, a transfer jaw one, a transfer jaw two and a transfer jaw running track; The transfer jaw one and the transfer jaw two move along the transfer jaw running track; The transfer jaw one is used for clamping the SPS trolley (4) from the full-automatic feeding mechanism, and after receiving the signal that the elevator rises to a safe height, the transfer jaw one drives the SPS trolley (4) to quickly pass through the elevator area to a transfer position, is released and returns to an initial position to wait; The transfer jaw two is used for receiving the in-place signal of the transfer jaw one, moving to the transfer position to clamp the SPS trolley (4), conveying the SPS trolley (4) to the subsequent line body, releasing and waiting; The full-automatic feeding pushing ground rail mechanism (1) comprises a first guide mechanism (3), an SPS trolley (4), a trolley hook separation mechanism, a second trolley detection stopping and blocking mechanism (5), a pulling rod lifting mechanism (6), a trolley lifting and blocking mechanism and an electrical control system, the first guide mechanism (3) is arranged on the side of the SPS trolley (4), and the trolley hook separation mechanism and the second trolley detection stopping and blocking mechanism (5) are arranged on the side of the pulling rod lifting mechanism (6); The lower line pushing mechanism drives the SPS trolley (4) from the full-automatic lower line transfer mechanism to move; The lower line pushing mechanism drives the SPS trolley (4) from the full-automatic lower line transfer mechanism to move; The end blocking and detection mechanism is used for detecting the in-place condition of the SPS trolley (4), and after at least two SPS trolleys (4) are combined, the end AGV is allowed to guide the at least two SPS trolleys (4) out; The lower line pushing mechanism drives the SPS trolley (4) from the full-automatic lower line transfer mechanism to move; The electrical control system realizes signal interaction between mechanisms through PLC communication, controls the action time sequence of each mechanism, matches the introduction and export rhythm of the first-stage AGV and the end AGV, and realizes the full-automatic flow of the SPS trolley (4) in the whole line.

2. The full-automatic material vehicle on-line and off-line equipment according to claim 1, characterized in that, The full-automatic feeding transfer pushing ground rail mechanism (7) adopts a high-precision gear and rack and sliding rail mechanism, which is used for ensuring the efficient and stable operation of the transfer jaw one and the transfer jaw two.

3. The full-automatic material vehicle on-line and off-line equipment according to claim 1, characterized in that, The full-automatic unloading transfer pushing ground rail mechanism (11) comprises an unloading transfer high-precision ground rail, an unloading transfer gripper one, an unloading transfer gripper two and an unloading transfer gripper running track. The unloading transfer gripper one and the unloading transfer gripper two move along the unloading transfer gripper running track; the unloading transfer gripper one is used for clamping the SPS trolley (4) from the subsequent line body, conveying the SPS trolley (4) to the transfer position, releasing the SPS trolley (4) and returning to the initial position to wait. The unloading transfer gripper two is used for receiving the arrival signal of the unloading transfer gripper one, moving to the transfer position to clamp the SPS trolley (4), running to the elevator position to wait, and after receiving the signal that the elevator rises to the safe height, driving the SPS trolley (4) to quickly pass through the elevator area to the full-automatic unloading mechanism.

4. The full-automatic material vehicle on-line and off-line equipment according to claim 1, characterized in that, The full-automatic unloading transfer pushing ground rail mechanism (11) adopts a high-precision gear rack and slide rail mechanism, which is used for ensuring efficient and stable running of the unloading transfer gripper one and the unloading transfer gripper two.

5. The full-automatic material vehicle on-line and off-line equipment according to claim 1, characterized in that, The full-automatic unloading pushing ground rail mechanism (15) comprises a servo motor, a high-precision ground rail and a gear rack mechanism; the servo motor drives the gear rack mechanism to move along the high-precision ground rail, so as to drive the SPS trolley (4) to be accurately transported.

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