CN110834900A - Hatching farm chick frame transfer equipment and method based on AGV platform - Google Patents
Hatching farm chick frame transfer equipment and method based on AGV platform Download PDFInfo
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- CN110834900A CN110834900A CN201911157507.7A CN201911157507A CN110834900A CN 110834900 A CN110834900 A CN 110834900A CN 201911157507 A CN201911157507 A CN 201911157507A CN 110834900 A CN110834900 A CN 110834900A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
Abstract
The utility model provides a hatchery chick frame circulation equipment and method based on AGV platform, including AGV dolly, goods shelves and interface device and cache line, the interface device includes chick frame AGV device interface device and chick frame cache line interface device, chick frame cache line interface device is connected with the cache line, chick frame AGV device interface device is connected with the chick frame equipment for placing the chick frame after the chick, the cache line is used for storing the chick frame to be transported, the AGV dolly is used for transporting the chick frame on the chick frame AGV device interface device to the goods shelves or/and for transporting the chick frame on the goods shelves to the chick frame cache line interface device; through setting up intelligent AGV dolly and interface device, realize the control of AGV dolly based on the AGV platform, realize breeding the full-automatic circulation of technological process's seedling chicken frame, reduce the hatchery cost of labor, improve workman working environment.
Description
Technical Field
The utility model relates to the technical field of the automatic process flow of hatching industry, in particular to a hatching farm chick frame flow device and method based on an AGV platform.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
At present, the whole production process flow from hatching egg hatching to chick fry transportation in most of domestic hatcheries is basically manual operation, the labor intensity is high, the labor environment is severe, and the labor cost is high. The chick seedling transportation relates to the temporary storage and loading steps when the chick seedling frames are stacked and stored and transported, and the transportation of the chick seedling frames between the goods shelf and the chick seedling transporting vehicle requires manual operation. The existing production line, such as automatic egg-lighting production line equipment and poultry processing production line equipment, can reduce labor intensity to a certain extent, reduce labor cost and improve the labor environment of workers, but the automatic production line is relatively independent, the transfer of the young chicken frame in the middle link still needs manual operation, and the automation of the circulation of the young chicken frame cannot be realized.
Disclosure of Invention
In order to solve the problems, the utility model provides a hatchery chick frame circulation equipment and method based on AGV platform, through setting up intelligent AGV dolly and interface device, realize the control of AGV dolly based on the AGV platform, realize breeding the full-automatic circulation of the chick frame of technology flow, reduce hatchery cost of labor, improve workman working environment.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
one or more embodiments provide hatchery chick frame flow transfer equipment based on an AGV platform, which comprises an AGV trolley, a goods shelf, interface equipment and a cache line, wherein the interface equipment comprises chick frame AGV equipment interface equipment and chick frame cache line interface equipment;
still include the AGV platform, the AGV platform passes through wireless connection with the AGV dolly, and AGV platform and interface device pass through wireless or wired connection.
Further, the interface device detects the storage condition of the chick frames or the information of transportation and sends frame taking or sending requests to the AGV platforms, and the AGV platforms send frame taking or sending instructions to one or more corresponding AGV trolleys according to the frame taking or sending requests.
Furthermore, the AGV comprises a wireless trolley transmission module, a storage position management system, a motion control system and a lifting mechanism; the storage position management system is used for obtaining the path information of the AGV according to the instruction sent by the AGV platform; the motion control system is used for controlling the AGV to run according to the corresponding path according to the obtained path information; the lifting mechanism is used for picking and placing the young chicken frame.
Further, chick-frame AGV equipment interface equipment is connected through pile up neatly equipment with the equipment of hatching for transmit to chick-frame AGV equipment interface equipment after the chick-frame pile up neatly of equipment output of hatching.
Further, seedling chicken frame AGV equipment interface device includes first transfer chain and first controller, set up first photoelectric detection switch, first motor drive and branch frame device on the transfer chain, first controller is connected with second motor drive and first photoelectric detection switch respectively.
Further, the frame dividing device comprises a fixed shaft and a movable rod, the fixed shaft is connected with the movable rod, the front end of the movable rod is in an arc shape, the top end of the movable rod is tilted, a blocking rod is arranged at the other end of the movable rod, and the blocking rod at the other end is used for blocking the next chick frame to move forwards when the front end of the movable rod is pressed after the fixed shaft is connected with the movable rod.
Furthermore, the interface equipment for the cache line of the frame of the young chicken comprises a second conveying line and a second controller, wherein a second photoelectric detection switch and a second motor driving device are arranged on the second conveying line, and the second controller is respectively connected with the second photoelectric detection switch and the second motor driving device.
The chick frame transfer method based on the hatching farm chick frame transfer equipment based on the AGV platform comprises a frame taking step and a frame sending step, wherein the frame taking step comprises the following steps:
the interface equipment of the seedling frame AGV equipment receives a seedling frame, and a frame taking request generated by the seedling frame is detected in a corresponding area of the interface equipment 1 of the seedling frame AGV equipment;
the AGV platform receives a frame fetching request, generates a frame fetching instruction and sends the frame fetching instruction to the AGV trolley;
the AGV dolly generates the path information of the AGV dolly according to the frame fetching instruction, controls the AGV dolly to run according to the corresponding path according to the obtained path information, and conveys the chick frame on the chick frame AGV equipment interface equipment to the corresponding shelf position.
Further, the frame sending step comprises the following steps:
whether the AGV platform receives the seedling conveying information or not, if so, the seedling conveying information is sent to the interface equipment of the cache line of the seedling chicken frame, and the next step is executed; otherwise, no response is made;
the method comprises the steps that a frame sending request is generated by a chick frame cache line interface device according to received fry transporting information and sent to an AGV platform;
the AGV platform generates a frame sending instruction according to the frame sending request and sends the frame sending instruction to the AGV trolley;
the AGV trolley generates path information of the AGV trolley according to the frame sending instruction, controls the AGV trolley to run according to corresponding paths according to the obtained path information, conveys the chick frames at the corresponding shelf positions to the chick frame cache line interface equipment, and transmits the chick frames to corresponding cache lines.
Furthermore, flexible scheduling control is adopted for controlling the AGV trolleys, and when the cache lines are full or the seedling conveying information is not received, all the AGV trolleys are set to simultaneously complete the frame taking task; and when the frame taking task is not received, setting all AGV trolleys to complete the frame sending task at the same time.
Compared with the prior art, the beneficial effect of this disclosure is:
(1) this is disclosed through setting up intelligent AGV dolly and interface device, realizes the control of AGV dolly based on the AGV platform, realizes breeding the full-automatic circulation of technological process's seedling chicken frame, realizes hatchery seedling chicken and handles closed-loop control, improves degree of automation and reduces hatchery cost of labor, improves workman working environment, reduces intensity of labour, improves production efficiency.
(2) This openly sets up special goods shelves, deposits the probability that reduces the mistake with the chick seedling subregion.
(3) Compared with traditional logistics automation, the automatic guided vehicle has the advantages that the flexible characteristics of the AGV trolley are fully utilized, occupation of the site is reduced, the site and the path can be changed according to actual needs of users, the system is more flexible, and different user needs are met.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic overall structure diagram of an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of an AGV cart body configuration according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a interface device of an AGV device for a chicken frame according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a chicken frame cache line interface device according to an embodiment of the present disclosure;
FIG. 5 is a cache line structure schematic diagram of an embodiment of the disclosure;
FIG. 6 is a schematic view of a shelf configuration of an embodiment of the present disclosure;
fig. 7 is a flow chart of a chicken frame circulation method according to an embodiment of the disclosure;
wherein: 1. the interface device of the AGV comprises a seedling chicken frame AGV device, 2, a seedling chicken frame cache line interface device, 3, a cache line, 4, an AGV trolley, 5 and a goods shelf;
11. the frame dividing device comprises a first photoelectric detection switch 12, a first motor driving device 13, a frame dividing device 14 and a first conveying line; 131. a movable rod 132, a fixed shaft 133 and a stop rod;
21. a second photoelectric detection switch 22, a second motor driving device 23 and a second conveying line; 31. a third photoelectric detection switch 32, an electric roller 33, a third controller 34 and a switching power supply.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise. It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The embodiments will be described in detail below with reference to the accompanying drawings.
The traditional process flow of the breeding industry is as follows: after young seedling hatching is broken shell, reach after a certain amount (if about 95%) pull out from the young chicken machine, through the immunity of injecing, divide processing procedure such as box count, transport the plant at last, this disclosure mainly provides an automatic transfer equipment to the transportation of the young chicken frame in the cultivation process flow, does not need the manpower transport in the transportation, has improved degree of automation and has reduced intensity of labour, has reduced the cost of labor.
In the technical scheme disclosed in one or more embodiments, as shown in fig. 1, a hatchery chick frame circulation equipment based on AGV platform, including AGV dolly 4, goods shelves 5, interface device and cache line 3, interface device includes chick frame AGV equipment interface device 1 and chick frame cache line interface device 2, chick frame cache line interface device 2 is connected with cache line 3, and chick frame AGV equipment interface device 1 is connected out the equipment of brooding and is used for placing the chick frame after brooding, cache line 3 is used for depositing the chick frame that treats the transportation, AGV dolly 4 is used for realizing the transportation of chick frame between chick frame AGV equipment interface device 1, goods shelves 5 and chick frame cache line interface device 2.
AGV dolly 4 can be transferred to goods shelves to the seedling chicken frame on the seedling chicken frame AGV equipment interface device 1, also can transfer the seedling chicken frame on the goods shelves to seedling chicken frame cache line interface device 2 to can transport to cache line 3 on, transport the seedling to breed the unit through the dress seedling car.
Optionally, the system further comprises an AGV platform, the AGV platform is wirelessly connected with the AGV trolley 4, and the AGV platform is wirelessly or wiredly connected with the interface equipment, so that the operation of the trolley is controlled, and the monitoring of the operation of the AGV trolley 4 is realized. When wireless connection is adopted, wireless transmission modules are respectively arranged on two communication parties.
As an implementation manner, a monitoring host may be provided, an AGV platform is provided on the monitoring host, the interface device detects the storage condition of a specific chick frame or the transportation information, and sends a frame fetching or sending request to the AGV platform, and the AGV platform sends a corresponding frame fetching or sending instruction to one or more corresponding AGV dollies 4 according to the frame fetching or sending request. The frame fetching or sending instructions may include the number, kind and location on the shelves 5 of the chicks.
As shown in fig. 2, the AGV 4 includes a wireless transmission module, a storage management system, a motion control system and a lifting mechanism, the storage management system is used for obtaining the path information of the AGV 4 according to the instruction sent by the AGV platform, the motion control system is used for controlling the AGV 4 to run according to the corresponding path according to the obtained path information, and the lifting mechanism is used for realizing the picking and placing of the chick frame. The instruction sent by the AGV platform may be a frame fetch or a frame send instruction.
AGV dolly 4 can adopt the mode of magnetic stripe guide, according to appointed guide route, combines the position of storehouse management system and the motion control system of self with appointed goods transport to appointed position.
As further improvement, the interface equipment 1 of the seedling frame AGV equipment is connected with the hatching equipment through stacking equipment, and the stacking equipment transmits the stacked seedling frames to the interface equipment 1 of the seedling frame AGV equipment. The stacking equipment is used for stacking the young chicken frames output by the hatching equipment according to the setting of the stacking equipment, and the stacking equipment is specifically provided with layers for stacking. The operational steps of needle immunization and split counting may be provided before the palletizing step.
The embodiment can also be provided with a seedling storage room, different storage areas are divided in the seedling storage room and used for storing the chicken seedlings of different batches of different chicken factories, and the shelf is arranged in the seedling storage room. The AGV dolly 4 walks between each seedling room.
In some implementations, as shown in fig. 3, the interface device 1 for the AGV with chicken frame includes a first conveying line 14 and a first controller, the first photoelectric detection switch 11, the second motor driving device 12, and the frame dividing device 13 are disposed on the conveying line 14, the first controller is connected to the second motor driving device 12 and the first photoelectric detection switch 11, the first photoelectric detection switch 11 is uniformly disposed on the first conveying line 14, the first photoelectric detection switch 11 is configured to detect whether a frame exists at a current position, and whether a frame fetching condition is met, the frame fetching condition may be set such that the current position meets a frame fetching condition when the current position detection switch detects that a chicken frame exists, and may be set such that the number of positions meeting the frame fetching condition is set, and when the frame fetching condition is met, the first controller sends a frame fetching request to the AGV platform.
When the interface equipment 1 for the wireless transmission Automatic Guided Vehicle (AGV) equipment for the baby chick frames further comprises a second wireless transmission module. The second motor driving device 12 is used for controlling the running state of the motor to drive the transmission line 14 to run, so as to drive the chick frame to move to the corresponding position.
The frame separation device 13 is used for ensuring the distance between every two stacks of the young chicken frames. As a structure that can be realized, can be the structure as shown in fig. 3, can include mobilizable movable rod and fixed axle, fixed axle 132 and movable rod 131 are connected, movable rod 131's structure is for the front end be the arcuation and the tip perk, and the other end sets up shelves pole 133, and the shelves pole 133 of rear end is used for blockking next seedling chicken frame and moves forward when the front end receives to press after the installation to reach the effect of framing. The first conveying line 14 is in butt joint with stacking equipment and used for conveying the stacked chicken frame to the first conveying line 14 of the interface equipment 1 of the AGV equipment of the chicken frame.
As another structure that can realize, another kind of structure that can realize the frame of frame device 13 still can be for setting up the mobile baffle that corresponds the setting with first photoelectric detection switch 11 on transfer chain 14, mobile baffle is connected with first controller, mobile baffle can pack up and release, the seedling chicken frame on the transfer chain 1 can pass through when packing up, can block the operation of seedling chicken frame when releasing, correspond with first photoelectric detection switch 11 and set up can be for setting up according to the distance of settlement in relative first photoelectric detection switch 11, the distance can be the width of seedling chicken frame. When the frame is detected according to the first photoelectric detection switch 11, the corresponding baffle is released, if the distance is set to be the width of the young chicken frame from front to back, the baffle can block the movement of the next young chicken frame after being released, and after the current young chicken frame completely passes through the first photoelectric detection switch 11, the movable baffle is controlled to be retracted, so that the next young chicken frame is allowed to pass through.
The movable baffle can be arranged as a magnetic baffle in the coil, when the coil is electrified, the magnetic baffle can be attracted, and the baffle is folded; when the coil is de-energized, the flapper releases.
As shown in fig. 4, the interface device 2 for a cache line of a chicken frame includes a second conveying line 23 and a second controller, a second photoelectric detection switch 21 and a second motor driving device 22 are disposed on the second conveying line 23, and the second controller is connected to the second photoelectric detection switch 21 and the second motor driving device 22 respectively. Second photoelectric detection switch 21 is used for detecting whether current position has seedling chicken frame, whether satisfies and send the frame condition, sends frame strip spare and can sets up or set up according to fortune seedling information according to photoelectric detection switch 21's detection data.
Optionally, setting may be specifically performed according to the detection data of the photoelectric detection switch 21, where a certain number of chick frames are stored on the second conveyor line 23; the seedling conveying information can refer to conveying order information of the young chickens, if the seedling conveying vehicle sends the conveying order information in advance before loading, the conveying order information can comprise the types, the number and the predicted loading time of the conveyed young chickens, the corresponding seedling conveying information can be sent to the second controller through the AGV platform, the second controller generates a frame sending request according to the received seedling conveying information and the detection information of the second photoelectric detection switch 21, the frame sending request is sent to the AGV platform, and the AGV platform receives the frame sending request and sends a frame taking or sending instruction to one or more corresponding AGV trolleys 4. The conveyor line 2 is connected with the cache line 3, and the second motor driving device 22 is used for driving the front-end conveyor line 2 to drive the chick frame to move towards the cache line 3.
In some embodiments, as shown in fig. 5, the cache line 3 is used for caching the young chicken frames to be transported, the cache line 3 is provided with a plurality of control areas, each control area is provided with a third photoelectric detection switch 31, an electric roller 32, a third controller 33 and a switching power supply 34, the third controller 33 is respectively connected with the third photoelectric detection switch 31 and the electric roller 32, and the switching power supply 34 provides electric energy for the operation of the cache line 3. The electric roller 32 can drive the young chicken frame to move, and is used for conveying the young chicken frame to a corresponding position on the cache line 3 or conveying the young chicken frame to a young chicken conveying vehicle.
The structure of goods shelves 5 can set up to arbitrary structure, if be convenient for getting of AGV dolly 4 to put, the goods shelves 5 of this embodiment set up to the individual layer structure, can also set up monitoring sensor on goods shelves 5 for detect the condition that the thing was placed to the current position, with detection data transmission to AGV platform, be used for realizing getting of the accuracy of the thing of placing on goods shelves 5 and putting. The detection sensor may be a pressure sensor, an opto-electronic switch, or the like.
The present disclosure further provides a method for transferring hatchery chick frames using the AGV platform-based hatchery chick frame transferring device, which comprises the following steps:
the method comprises the steps that the stacked chick frames can be conveyed to corresponding areas on the interface equipment 1 of the AGV equipment of the chick frames according to the number and the types, and frame taking requests are sent when the corresponding areas detect the chick frames. The frame fetching request may specifically include information such as a frame fetching position, a number of frame of the chicken, a kind of the chicken, and the like.
And 2, the AGV platform receives the frame fetching request, generates a frame fetching instruction and sends the frame fetching instruction to the AGV trolley 4. The framing instruction may include information such as the number of deliveries, the framing position, and the framing position.
And 3, the AGV dolly 4 generates path information of the AGV dolly 4 according to the frame fetching instruction, controls the AGV dolly 4 to run according to the corresponding path according to the obtained path information, and conveys the chick-chick frames on the interface equipment 1 of the AGV equipment of the chick-chick frames to the corresponding shelf positions.
Step 4, whether the AGV platform receives the seedling conveying information or not, if so, the seedling conveying information is sent to the interface equipment 2 of the cache line of the chick frame, and the next step is executed; otherwise, there is no response.
And step 5, generating a frame sending request by the chick frame cache line interface equipment 2 according to the received seedling conveying information and the detection information of the second photoelectric detection switch 21, and sending the frame sending request to the AGV platform.
And 6, the AGV platform generates a frame sending instruction according to the frame sending request and sends the frame sending instruction to the AGV trolley 4.
And 7, the AGV dolly 4 generates path information of the AGV dolly 4 according to the frame sending instruction, controls the AGV dolly 4 to run according to the corresponding path according to the obtained path information, and conveys the chick-chick frames at the corresponding shelf positions to the chick-frame cache line interface equipment 2 and transmits the chick-frame cache lines to the corresponding cache lines 3.
And 8, starting the cache line 3 after the seedling conveying vehicle arrives, and conveying the cached seedling chicken frame to the seedling conveying vehicle.
Specifically, the specific circulation process of the hatchery chick frame circulation equipment based on the AGV platform in this embodiment may be: the method comprises the steps that a seedling frame stacking device completes stacking of a seedling frame filled with chicken seedlings and conveys the seedling frame to an AGV device interface device 1, the seedling frame AGV device interface device 1 sends a frame taking request to an AGV platform when conditions are met, the AGV platform generates a frame taking instruction after receiving the frame taking request and sends the frame taking instruction to an AGV trolley 4, the AGV trolley 4 moves to the lower side of a corresponding seedling frame according to a fixed path, the seedling frame is jacked up through a lifting mechanism of the AGV trolley 4, the current seedling frame is carried to a specified region between stored seedlings according to chicken seedling information, the lifting mechanism descends, the seedling frame falls onto a shelf, and the AGV moves to a specified position to wait for the next frame taking or sending instruction; after receiving cache line AGV interface arrangement frame delivery request, AGV platform control AGV dolly 4 sneaks into below the seedling chicken frame in appointed area according to fixed route, jack-up seedling chicken frame through self lifting mechanism, transport to cache line AGV interface arrangement department, lifting mechanism withdraws, seedling chicken frame is put on cache line AGV interface arrangement front end transfer chain 2, motor start operation transports seedling chicken frame to cache line department on front end transfer chain 2, cache line department is provided with detection switch and electronic roller, carry seedling chicken frame to cache line end, wait to pack into fortune seedling car.
Further, in order to improve production efficiency, flexible scheduling control is adopted for controlling the AGV trolleys 4, when the cache lines are full or the seedling conveying information is not available, all the set AGV trolleys 4 can complete the frame taking task at the same time, and simultaneously when the frame taking task is not available, the set AGV trolleys 4 can complete the frame conveying task at the same time.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (10)
1. The utility model provides a hatchery chick frame circulation equipment based on AGV platform, characterized by: the interface equipment comprises a baby chick frame AGV equipment interface equipment and a baby chick frame cache line interface equipment, the baby chick frame cache line interface equipment is connected with a cache line, the baby chick frame AGV equipment interface equipment is connected with a chick frame used for placing the chick frame after the chick is hatched, the cache line is used for storing the baby chick frame to be transported, and the AGV trolley is used for realizing the transfer of the baby chick frame among the baby chick frame AGV equipment interface equipment, the storage rack and the baby chick frame cache line interface equipment;
still include the AGV platform, the AGV platform passes through wireless connection with the AGV dolly, and AGV platform and interface device pass through wireless or wired connection.
2. The AGV platform-based hatchery chick frame transfer apparatus of claim 1, wherein: the interface equipment detects the storage condition of the chick frames or the information of transportation and sends frame taking or sending requests to the AGV platforms, and the AGV platforms send frame taking or sending instructions to one or more corresponding AGV trolleys according to the frame taking or sending requests.
3. The AGV platform-based hatchery chick frame transfer apparatus of claim 1, wherein: the AGV comprises a wireless trolley transmission module, a storage position management system, a motion control system and a lifting mechanism; the storage position management system is used for obtaining the path information of the AGV according to the instruction sent by the AGV platform; the motion control system is used for controlling the AGV to run according to the corresponding path according to the obtained path information; the lifting mechanism is used for picking and placing the young chicken frame.
4. The AGV platform-based hatchery chick frame transfer apparatus of claim 1, wherein: and the interface equipment of the seedling frame AGV equipment is connected with the chick box equipment through stacking equipment and is used for transmitting the output of the chick box equipment to the interface equipment of the seedling frame AGV equipment after the chick box is stacked.
5. The AGV platform-based hatchery chick frame transfer apparatus of claim 1, wherein: seedling chicken frame AGV equipment interface device includes first transfer chain and first controller, set up first photoelectric detection switch, first motor drive and divide the frame device on the transfer chain, first controller is connected with second motor drive and first photoelectric detection switch respectively.
6. The AGV platform based hatchery chick frame transfer device of claim 5, wherein: divide frame device to include fixed axle and movable rod, the fixed axle is connected with the movable rod, and the front end of movable rod is the arcuation and the top perk, and the other end sets up shelves pole, and the shelves pole of the other end is used for blockking next seedling chicken frame and moves forward when the front end receives to press after fixed axle and movable rod are connected.
7. The AGV platform-based hatchery chick frame transfer apparatus of claim 1, wherein: the interface equipment for the seedling chicken frame cache line comprises a second conveying line and a second controller, wherein a second photoelectric detection switch and a second motor driving device are arranged on the second conveying line, and the second controller is connected with the second photoelectric detection switch and the second motor driving device respectively.
8. The chick frame flowing method of the chick frame flowing device in the hatching farm based on the AGV platform as claimed in any one of claims 1 to 7, comprising a frame taking step and a frame sending step, wherein the frame taking step comprises:
the interface equipment of the seedling frame AGV equipment receives a seedling frame, and a frame taking request generated by the seedling frame is detected in a corresponding area of the interface equipment 1 of the seedling frame AGV equipment;
the AGV platform receives a frame fetching request, generates a frame fetching instruction and sends the frame fetching instruction to the AGV trolley;
the AGV dolly generates the path information of the AGV dolly according to the frame fetching instruction, controls the AGV dolly to run according to the corresponding path according to the obtained path information, and conveys the chick frame on the chick frame AGV equipment interface equipment to the corresponding shelf position.
9. The frame circulation method of the chicken as claimed in claim 8, wherein the frame conveying step comprises the steps of:
whether the AGV platform receives the seedling conveying information or not, if so, the seedling conveying information is sent to the interface equipment of the cache line of the seedling chicken frame, and the next step is executed; otherwise, no response is made;
the method comprises the steps that a frame sending request is generated by a chick frame cache line interface device according to received fry transporting information and sent to an AGV platform;
the AGV platform generates a frame sending instruction according to the frame sending request and sends the frame sending instruction to the AGV trolley;
the AGV trolley generates path information of the AGV trolley according to the frame sending instruction, controls the AGV trolley to run according to corresponding paths according to the obtained path information, conveys the chick frames at the corresponding shelf positions to the chick frame cache line interface equipment, and transmits the chick frames to corresponding cache lines.
10. The chick-frame circulation method according to claim 8, wherein: the AGV trolleys are controlled by adopting flexible scheduling control, and when the cache lines are full or the seedling conveying information is not received, all the AGV trolleys are arranged to simultaneously complete the frame taking task; and when the frame taking task is not received, setting all AGV trolleys to complete the frame sending task at the same time.
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