Automatic material taking device and circulating feeding equipment

Abstract

The present invention discloses an automatic material-picking device and a circulating feeding device, wherein the automatic material-picking device includes a frame, a material pushing mechanism, and a material buffer mechanism. The frame is provided with a docking bin and a docking inlet and outlet connected to the docking bin. The material pushing mechanism and the material buffer mechanism are both mounted on the frame and located at the edge of the docking bin. The material buffer mechanism is arranged on a side of the docking bin away from the docking inlet and outlet. The material pushing mechanism is arranged between the material buffer mechanism and the docking inlet and outlet. The material pushing mechanism is used to push materials onto the material buffer mechanism. By arranging the material pushing mechanism and the material buffer mechanism on the frame, after the AGV enters the docking bin, the material on the AGV can be directly pushed onto the material buffer mechanism through the material pushing mechanism, thereby making it unnecessary for the AGV to have its own lifting, roller, belt, manipulator and other mechanisms. The overall structure of the AGV is simple, the energy consumption of the AGV is reduced, the utilization rate of the AGV is improved, and production costs are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, in particular to an automatic material taking device and a circulating material feeding device. Background Art

[0002] With the introduction of the concept of Industry 4.0, the transformation and upgrading of equipment in various manufacturing industries have been accelerated. The field of in-factory logistics and distribution is an important part of this transformation and upgrading. AGV (commonly also called AGV cart, which refers to a device equipped with electromagnetic or optical automatic guidance) has been widely used in factories. Whether it is production line distribution or sorting operations in the express delivery industry, AGV is playing an increasingly important role as an important equipment for unmanned warehousing and distribution. Various supporting equipment for in-factory logistics and distribution of AGV has also emerged.

[0003] Currently, the feeding equipment on the market does not have the function of automatic material loading and unloading. Moreover, after the feeding equipment is completed, the tray containing the materials needs to be manually removed, which not only has high labor costs but also low efficiency. Among them, the feeding equipment usually adopts the AGV automatic loading and unloading method, which generally uses the rollers, belts, manipulators and other mechanisms on the AGV mobile platform to complete the automatic loading and unloading of materials; or uses the AGV mobile platform's built-in lifting mechanism and combines it with an external loading and unloading mechanism to complete the automatic loading and unloading of materials. The existing technology has the following defects:

[0004] (1) The addition of an automatic loading and unloading mechanism to the AGV results in a large volume of the AGV, requiring a large space for the AGV to work, occupying plant space, and is not applicable in places with limited space;

[0005] (2) The AGV is equipped with an automatic loading and unloading mechanism, which results in high power consumption and the need for frequent charging, resulting in a short effective working time.

[0006] (3) The installation of an automatic loading and unloading mechanism on the AGV makes the AGV difficult to control and complex to manufacture, resulting in a high cost per AGV.

[0007] (4) Due to the installation of automatic material loading and unloading mechanisms on AGVs, the number of materials that can be transported at a time is reduced within the same AGV size, or the number of effective transports of AGVs with the same battery capacity is reduced, resulting in the need to increase the number of AGVs and increase the cost of the entire project.

[0008] Currently, there is no feeding equipment on the market that can meet the needs of work scenarios. There is an urgent need to develop a feeding equipment that can automatically pick up multi-layer stacked materials on the AGV platform. Summary of the Invention

[0009] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present invention is to provide an automatic material picking device and a circulating feeding device to solve the problem that the feeding device in the prior art cannot pick up multi-layer stacked materials on the AGV platform.

[0010] The purpose of the present invention is achieved through the following technical solutions:

[0011] The present invention provides an automatic material taking device, comprising a frame, a material pushing mechanism and a material caching mechanism, the frame being provided with a docking bin and a docking inlet and outlet communicated with the docking bin, the material pushing mechanism and the material caching mechanism being both mounted on the frame and located at the edge of the docking bin, the material caching mechanism being arranged on a side of the docking bin away from the docking inlet and outlet, the material pushing mechanism being arranged between the material caching mechanism and the docking inlet and outlet, and the material pushing mechanism being used to push materials onto the material caching mechanism.

[0012] Furthermore, the material pushing mechanism includes a push rod, a first push rod driving mechanism and a second push rod driving mechanism, the push rod is connected to the first push rod driving mechanism, the first push rod driving mechanism is connected to the second push rod driving mechanism, the second push rod driving mechanism is connected to the frame, the first push rod driving mechanism is used to drive the push rod to move in the left and right directions, and the second push rod driving mechanism is used to drive the first push rod driving mechanism and the push rod to move in the front and back directions.

[0013] Furthermore, the material caching mechanism includes a caching platform and a platform driving mechanism. The caching platform is connected to the platform driving mechanism, and the platform driving mechanism is connected to the frame. The platform driving mechanism is used to drive the caching platform to move in the up and down directions; a power mechanism is provided on the caching platform, and the power mechanism is used to receive the material onto the caching platform.

[0014] Furthermore, the automatic material taking device also includes a material positioning mechanism for positioning the material, and the material positioning mechanism is located above the material buffer mechanism.

[0015] Furthermore, the material positioning mechanism includes a first limiting guide plate, a first push plate, a first push plate driving mechanism, a second limiting guide plate, a second push plate and a second push plate driving mechanism. The first limiting guide plate and the first push plate are arranged relative to each other and are used to position the material in the left and right directions. The second limiting guide plate and the second push plate are arranged relative to each other and are used to position the material in the front and back directions. The first limiting guide plate, the first push plate driving mechanism, the second limiting guide plate and the second push plate driving mechanism are all connected to the frame. The first push plate driving mechanism is connected to the first push plate and is used to drive the first push plate to move in the left and right directions. The second push plate driving mechanism is connected to the second push plate and is used to drive the second push plate to move in the front and back directions.

[0016] Furthermore, the second limiting guide plate is provided with a claw, a claw driving mechanism and a through hole matching the claw, the claw and the claw driving mechanism are arranged on the side of the second limiting guide plate away from the second push plate, the claw driving mechanism is connected to the claw and is used to drive the claw to extend and retract in the through hole; the second push plate is provided with a first clamping strip on the side facing the second limiting guide plate, and the first clamping strip and the claw are at the same height.

[0017] Furthermore, the automatic material picking device also includes an AGV in place detection mechanism, a material in place detection mechanism and a material height detection mechanism. The AGV in place detection mechanism is used to detect whether the AGV has moved to the preset position of the docking warehouse, the material in place detection mechanism is used to detect whether the material is pushed to the material cache mechanism, and the material height detection mechanism is used to detect whether the material has moved to the preset height.

[0018] The present application also provides a circulating feeding device, including a pallet cache mechanism, a pallet transport mechanism and the automatic material retrieval device as described above, wherein the pallet cache mechanism and the pallet transport mechanism are both connected to the frame, the pallet cache mechanism is arranged on the side of the docking bin close to the docking inlet and outlet, and the pallet transport mechanism is arranged above the frame and is used to transport the pallet on the material cache mechanism to the pallet cache mechanism.

[0019] Furthermore, the tray cache mechanism includes a first limit baffle, a second limit baffle, a first guide pallet, a second guide pallet, a first pallet driving mechanism and a second pallet driving mechanism. The first limit baffle and the second limit baffle are arranged relative to each other and are used to limit the pallet in the front and rear directions. The first guide pallet and the second guide pallet are arranged relative to each other and are used to limit the pallet in the left and right directions. The first limit baffle, the second limit baffle, the first pallet driving mechanism and the second pallet driving mechanism are all connected to the frame. The first pallet driving mechanism is connected to the first guide pallet and is used to drive the first guide pallet to move in the up and down directions. The second pallet driving mechanism is connected to the second guide pallet and is used to drive the second guide pallet to move in the up and down directions.

[0020] Furthermore, the pallet transport mechanism includes an adsorption mechanism, a connecting frame and a transport drive mechanism. The adsorption mechanism is connected to the transport drive mechanism through the connecting frame. The transport drive mechanism is connected to the frame and is used to drive the connecting frame and the adsorption mechanism to move in the front and rear directions.

[0021] The beneficial effect of the present invention is that by arranging a material pushing mechanism and a material caching mechanism on the frame, after the AGV enters the docking bin, the material on the AGV can be pushed directly to the material caching mechanism through the material pushing mechanism, so that the AGV does not need to have its own jacking, rollers, belts, manipulators and other mechanisms. The overall structure of the AGV is simple, the energy consumption of the AGV is reduced, the utilization rate of the AGV is improved, and production costs are saved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the front view of the three-dimensional structure of the circulating feeding device in the present invention when it is working;

[0023] Figure 2 This is a rear perspective structural diagram of the circulating feeding device of the present invention when it is working;

[0024] Figure 3 It is a schematic diagram of the front three-dimensional structure of the circulating feeding equipment in the present invention;

[0025] Figure 4 It is a rear perspective structural diagram of the circulating feeding device in the present invention;

[0026] Figure 5 It is a schematic diagram of the disassembled structure of the circulating feeding equipment in the present invention;

[0027] Figure 6 This is a schematic diagram of the front three-dimensional structure of the frame of the present invention;

[0028] Figure 7It is a schematic diagram of the front three-dimensional structure of the material pushing mechanism in the present invention;

[0029] Figure 8 It is a rear perspective structural diagram of the material pushing mechanism in the present invention;

[0030] Figure 9 It is a schematic diagram of the front three-dimensional structure of the material buffer mechanism of the present invention;

[0031] Figure 10 It is a rear perspective structural diagram of the material buffer mechanism of the present invention;

[0032] Figure 11 It is a schematic diagram of the front three-dimensional structure of the material positioning mechanism of the present invention;

[0033] Figure 12 It is a rear perspective structural diagram of the material positioning mechanism of the present invention;

[0034] Figure 13 Schematic diagram of the top view of the material positioning mechanism of the present invention;

[0035] Figure 14 It is a schematic diagram of the front three-dimensional structure of the tray buffer mechanism of the present invention;

[0036] Figure 15 It is a schematic top view of the structure of the tray buffer mechanism in the present invention;

[0037] Figure 16 1 is a schematic diagram of the top view of the pallet handling mechanism of the present invention;

[0038] Figure 17 It is a front view three-dimensional structural schematic diagram of the pallet transport mechanism in the present invention.

[0039] In the figure: frame 10, docking bin 101, docking inlet and outlet 102; material pushing mechanism 20, push rod 21, first push rod driving mechanism 22, second push rod driving mechanism 23; material buffer mechanism 30, buffer platform 31, platform driving mechanism 32; material positioning mechanism 40, first limiting guide plate 41, first push plate 42, second clamping strip 421, first push plate driving mechanism 43, second limiting guide plate 44, clamping claw 441, clamping claw driving mechanism 442, through hole 443, second push plate 45, first clamping strip 451, second push plate driving mechanism 46; tray buffer mechanism 5 0, first limit baffle 51, second limit baffle 52, first guide support plate 53, first guide plate 531, second guide support plate 54, second guide plate 541, first support plate drive mechanism 55, second support plate drive mechanism 56; pallet transport mechanism 60, adsorption mechanism 61, suction cup 611, suction cup mounting bracket 612, connecting bracket 62, transport drive mechanism 63; AGV in-place detection mechanism 1, material in-place detection mechanism 2, material height detection mechanism 3; AGV200, pallet 310, material 320; left and right direction F1, front and back direction F2, up and down direction F3. DETAILED DESCRIPTION

[0040] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation, structure, features and effects of the automatic material taking device and the circulating feeding equipment proposed by the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments:

[0041] Figure 1 It is a schematic diagram of the front three-dimensional structure of the circulating feeding equipment of the present invention when it is working. Figure 2 It is a rear perspective structural diagram of the circulating feeding device of the present invention when it is working. Figure 3 It is a schematic diagram of the front three-dimensional structure of the circulating feeding equipment in the present invention. Figure 4 It is a rear perspective structural diagram of the circulating feeding equipment in the present invention. Figure 5 It is a schematic diagram of the disassembled structure of the circulating feeding equipment in the present invention. Figure 6 It is a schematic diagram of the front three-dimensional structure of the frame in the present invention. Figure 7 It is a front view three-dimensional structural schematic diagram of the material pushing mechanism in the present invention. Figure 8 It is a rear perspective structural diagram of the material pushing mechanism in the present invention. Figure 9 It is a schematic diagram of the front three-dimensional structure of the material buffer mechanism in the present invention. Figure 10 It is a rear perspective structural diagram of the material buffer mechanism in the present invention. Figure 11 It is a schematic diagram of the front three-dimensional structure of the material positioning mechanism in the present invention. Figure 12 It is a rear perspective structural diagram of the material positioning mechanism in the present invention. Figure 13It is a schematic diagram of the top structure of the material positioning mechanism in the present invention. Figure 14 It is a schematic front view of the three-dimensional structure of the tray buffer mechanism in the present invention. Figure 15 It is a schematic top view of the structure of the tray buffer mechanism in the present invention. Figure 16 It is a schematic top view of the structure of the pallet transport mechanism in the present invention. Figure 17 It is a front view three-dimensional structural schematic diagram of the pallet transport mechanism in the present invention.

[0042] like Figures 1 to 5 As shown, the present invention provides an automatic material retrieval device, comprising a frame 10, a material pushing mechanism 20, and a material buffer mechanism 30. The frame 10 is provided with a docking chamber 101 and a docking inlet and outlet 102 communicating with the docking chamber 101. The material pushing mechanism 20 and the material buffer mechanism 30 are both mounted on the frame 10 and located at the edge of the docking chamber 101. The material buffer mechanism 30 is located on a side of the docking chamber 101 away from the docking inlet and outlet 102. The material pushing mechanism 20 is located between the material buffer mechanism 30 and the docking inlet and outlet 102. The material pushing mechanism 20 is used to push material 320 onto the material buffer mechanism 30. In this embodiment, the material 320 is, for example, a light bulb, an LED lamp, or an object of similar shape, and the tray 310 is a foam jig for placing the material 320. Of course, in other embodiments, the material 320 may also be other materials besides a light bulb.

[0043] In this application, a material pushing mechanism 20 and a material buffer mechanism 30 are set on the frame 10. After the AGV200 enters the docking warehouse, the material on the AGV200 can be directly pushed to the material buffer mechanism 30 through the material pushing mechanism 20, so that the AGV200 does not need to have its own jacking, rollers, belts, manipulators and other mechanisms. The overall structure of the AGV200 is simple, which reduces the energy consumption of the AGV200, improves the utilization rate of the AGV200, and saves production costs.

[0044] like Figure 7 and Figure 8As shown, the material pushing mechanism 20 includes a push rod 21, a first push rod driving mechanism 22, and a second push rod driving mechanism 23. The push rod 21 is connected to the first push rod driving mechanism 22, the first push rod driving mechanism 22 is connected to the second push rod driving mechanism 23, and the second push rod driving mechanism 23 is connected to the frame 10. The first push rod driving mechanism 22 is used to drive the push rod 21 to move in the left-right direction F1, and the second push rod driving mechanism 23 is used to drive the first push rod driving mechanism 22 and the push rod 21 to move in the front-back direction F2. Among them, the material pushing mechanism 20 is arranged on the left and right sides of the docking chamber 101. When pushing the material 320, the force on the material 320 can be made more stable, preventing the material 320 from falling from the AGV 200. Of course, in other embodiments, the material pushing mechanism 20 can also adopt other structures, as long as it can push the material 320 on the AGV 200 to the material buffer mechanism 30.

[0045] Furthermore, the push rod 21 is an elongated structure extending along the vertical direction F3. Its L-shaped cross-section can enclose the material carrier and provide a positioning function, thereby ensuring a more stable force on the material 320 when pushing it. Preferably, both the first push rod drive mechanism 22 and the second push rod drive mechanism 23 are sliding cylinders, which can be driven by an air pump. Of course, the first push rod drive mechanism 22 and the second push rod drive mechanism 23 can also be sliding actuators such as sliding oil cylinders, nut screws, etc.

[0046] like Figure 9 and Figure 10 As shown, the material caching mechanism 30 includes a caching platform 31 and a platform driving mechanism 32. The caching platform 31 is connected to the platform driving mechanism 32, and the platform driving mechanism 32 is connected to the frame 10. The platform driving mechanism 32 is used to drive the caching platform 31 to move in the up and down direction F3. The caching platform 31 is docked with the AGV platform and is used to store materials 320. The platform driving mechanism 32 is a lifting mechanism, which is used to drive the caching platform 31 to rise or fall, that is, to drive the caching platform 31 to move in the up and down direction F3. In order to adjust the docking position of the caching platform 31, after completing the material retrieval, the material 320 is delivered to the working height. The platform driving mechanism 32 can be a sliding drive such as a sliding cylinder, a sliding oil cylinder or a nut screw.

[0047] Furthermore, a power mechanism can be set on the cache platform 31, such as a power plane platform such as a synchronous belt, a belt, a roller, etc. When the tray 310 for placing the material 320 is large, it is difficult to deliver the material 320 to the specified position of the cache platform 31 relying solely on the driving action of the second push rod drive mechanism 23, so a power mechanism can be set.

[0048] like Figures 11 to 13As shown, the automatic material retrieving device also includes a material positioning mechanism 40 for positioning material 320. Material positioning mechanism 40 is located above material buffer mechanism 30. After the platform drive mechanism 32 delivers material 320 to the working height, it is positioned by material positioning mechanism 40 to prevent the placement of material 320 from being significantly offset, which could affect subsequent automated processes.

[0049] Specifically, the material positioning mechanism 40 includes a first limiting guide plate 41, a first push plate 42, a first push plate driving mechanism 43, a second limiting guide plate 44 ( Figure 6 ), a second push plate 45, and a second push plate driving mechanism 46. The first limiting guide plate 41 and the first push plate 42 are arranged relative to each other and are used to position the material 320 in the left-right direction F1. The second limiting guide plate 44 and the second push plate 45 are arranged relative to each other and are used to position the material 320 in the front-back direction F2. The first limiting guide plate 41, the first push plate driving mechanism 43, the second limiting guide plate 44, and the second push plate driving mechanism 46 are all connected to the frame 10. The first push plate driving mechanism 43 is connected to the first push plate 42 and is used to drive the first push plate 42 to move in the left-right direction F1. The second push plate driving mechanism 46 is connected to the second push plate 45 and is used to drive the second push plate 45 to move in the front-back direction F2. Among them, the first limiting guide plate 41 and the second limiting guide plate 44 are fixed separately, and the first push plate 42 and the second push plate 45 are movable, thereby moving the material 320 to the predetermined position, avoiding a large offset in the placement position of the material 320. Of course, in other embodiments, a driving mechanism may be provided to drive the first limiting guide plate 41 and the second limiting guide plate 44 to move, so that the range of position adjustment of the material 320 is wider and the applicability is stronger.

[0050] Preferably, the second limiting guide plate 44 directly adopts the back plate of the frame 10, thereby making the structure of the automatic material taking device more compact and reducing the manufacturing cost. Of course, in other embodiments, an additional plate can also be used as the second limiting guide plate 44.

[0051] Furthermore, the lower ends of the first limiting guide plate 41, the first push plate 42 and the second push plate 45 are all provided with guide slopes, which are inclined toward the outside of the material positioning mechanism 40. When the platform driving mechanism 32 drives the material 320 to rise, the first limiting guide plate 41, the first push plate 42 and the second push plate 45 can play a certain guiding role for the material 320.

[0052] Furthermore, the second position-limiting guide plate 44 is provided with a claw 441, a claw driving mechanism 442, and a through-hole 443 that matches the claw 441. The claw 441 and the claw driving mechanism 442 are located on the side of the second position-limiting guide plate 44 away from the second push plate 45. The claw driving mechanism 442 is connected to the claw 441 and is used to drive the claw 441 to extend and retract within the through-hole 443. A first clamping strip 451 is provided on the side of the second push plate 45 that faces the second position-limiting guide plate 44. The first clamping strip 451 is located at the same height as the claw 441. When the material 320 rises to a preset height, the tray 310 is positioned in the left-right direction F1 and the front-back direction F2 by the first limiting guide plate 41, the first push plate 42, the second limiting guide plate 44 and the second push plate 45, and then the upward movement of the tray 310 is restricted by the claw 441 and the first clamping strip 451, so as to prevent the tray 310 from being grabbed along with the material 320 when grabbing the material 320.

[0053] Furthermore, a second clip 421 is provided on one side of the first push plate 42 facing the first limiting guide plate 41. The second clip 421 is located at the same height as the first clip 451 and the claw 441. The first clip 451, the claw 441 and the second clip 421 together restrict the upward movement of the tray 310.

[0054] The first push plate driving mechanism 43 , the second push plate driving mechanism 46 and the claw driving mechanism 442 may all adopt sliding actuators such as sliding cylinders, sliding oil cylinders or nut screws.

[0055] like Figure 4 、 Figure 6 as well as Figure 12 As shown, the automatic material picking device also includes an AGV in-place detection mechanism 1, a material in-place detection mechanism 2, and a material height detection mechanism 3. The AGV in-place detection mechanism 1 is used to detect whether the AGV 200 has moved to the preset position of the docking bin 101, the material in-place detection mechanism 2 is used to detect whether the material 320 has been pushed to the material buffer mechanism 30, and the material height detection mechanism 3 is used to detect whether the material 320 has moved to the preset height. Among them, the AGV in-place detection mechanism 1, the material in-place detection mechanism 2, and the material height detection mechanism 3 can be infrared sensors. The AGV in-place detection mechanism 1 is located on the left or right side of the docking bin 101 and is connected to the frame 10; the material in-place detection mechanism 2 is provided on the second limit guide plate 44, that is, the back plate of the frame 10; the material height detection mechanism 3 is provided on the first limit guide plate 41.

[0056] like Figures 1 to 4As shown, the present application also provides a circulating feeding device, including a pallet buffer mechanism 50, a pallet transport mechanism 60, and the automatic material picking device described above. The pallet buffer mechanism 50 and the pallet transport mechanism 60 are both connected to the frame 10. The pallet buffer mechanism 50 is arranged on one side of the docking chamber 101 near the docking entrance 102, that is, the pallet buffer mechanism 50 and the material buffer mechanism 30 are arranged in the front-to-back direction F2. The pallet transport mechanism 60 is arranged above the frame 10 and is used to transport the pallet on the material buffer mechanism 30 to the pallet buffer mechanism 50. By providing the material buffer mechanism 30, the pallet buffer mechanism 50, and the pallet transport mechanism 60, the circulating feeding device can not only remove the material 320 on the platform of the AGV 200, but also automatically load the pallet 310 or the material 320 onto the platform of the AGV 200. The feeding and picking up of the pallet 310 by the feeding device can work in a continuous cycle, realizing 24-hour uninterrupted feeding, improving production efficiency, realizing unmanned operation, and reducing production costs.

[0057] like Figure 14 and Figure 15 As shown, the tray buffer mechanism 50 includes a first limiting baffle 51, a second limiting baffle 52, a first guide tray 53, a second guide tray 54, a first tray driving mechanism 55, and a second tray driving mechanism 56. The first limiting baffle 51 and the second limiting baffle 52 are arranged opposite to each other and are used to limit the position of the tray 310 in the front-to-back direction F2. The first guide tray 53 and the second guide tray 54 are arranged opposite to each other and are used to limit the position of the tray 310 in the left-to-right direction F1. The first limiting baffle 51, the second limiting baffle 52, the first tray driving mechanism 55, and the second tray driving mechanism 56 are all connected to the frame 10. The first tray driving mechanism 55 is connected to the first guide tray 53 and is used to drive the first guide tray 53 to move in the vertical direction F3. The second tray driving mechanism 56 is connected to the second guide tray 54 and is used to drive the second guide tray 54 to move in the vertical direction F3. The tray 310 is placed on the first guide tray 53 and the second guide tray 54 , and the tray 310 is driven downward by the first tray driving mechanism 55 and the second tray driving mechanism 56 to place the tray 310 on the AGV 200 .

[0058] The first support plate driving mechanism 55 and the second support plate driving mechanism 56 can both adopt sliding actuators such as sliding cylinders, sliding oil cylinders or nut screws.

[0059] Furthermore, a first guide plate 531 is provided on the first guide support plate 53, and a second guide plate 541 is provided on the second guide support plate 54. The first guide plate 531 and the second guide plate 541 can guide the pallet 310, so that when the pallet transporting mechanism 60 transports the pallet 310, the pallet 310 can be placed on the pallet cache mechanism 50 more easily, and the position of the pallet 310 can be automatically adjusted so that the pallets 310 are stacked neatly, which is convenient and smooth for loading onto the platform of AGV200.

[0060] like Figure 16 and Figure 17 As shown, the pallet transport mechanism 60 includes an adsorption mechanism 61, a connecting frame 62, and a transport drive mechanism 63. The adsorption mechanism 61 is connected to the transport drive mechanism 63 via the connecting frame 62. The transport drive mechanism 63 is connected to the frame 10 and is used to drive the connecting frame 62 and the adsorption mechanism 61 to move in the front-to-back direction F3. The adsorption mechanism 61 includes a plurality of suction cups 611 and a suction cup mounting frame 612. The plurality of suction cups 611 are mounted on the suction cup mounting frame 612, and the suction cup mounting frame 612 is connected to the connecting frame 62. The connecting frame 62 is an L-shaped structure. An air distribution mechanism is provided on the connecting frame 62. The plurality of suction cups 611 are connected to the air distribution mechanism via an air pipe. The transport drive mechanism 63 can adopt a sliding actuator such as a sliding cylinder, a sliding oil cylinder, or a nut screw.

[0061] Furthermore, the connecting frame 62 may also be provided with a telescopic mechanism, and the adsorption mechanism 61 is connected to the connecting frame 62 via the telescopic mechanism. The telescopic mechanism is used to adjust the height of the adsorption mechanism 61 so that the adsorption mechanism 61 can better adsorb the tray 310. Of course, the height of the tray 310 can also be adjusted by the platform drive mechanism 32 so that the adsorption mechanism 61 can better adsorb the tray 310 and avoid interference with the positioning mechanism 40 during the process of transporting the tray 310.

[0062] refer to Figure 1 and Figure 2During actual operation, AGV200 automatically transports material 320 to the unloading position (docking bin 101). The controller of AGV200 sends an in-position signal to MES. MES collects sensor information from the AGV in-position detection mechanism 1. After confirming that AGV200 is in position, MES sends a permission to unload instruction to AGV200. After receiving the permission to unload instruction, AGV200 retracts the barrier bar (not shown) on AGV200. After completing the retraction action, the controller of AGV200 sends a completion signal to MES. At the same time, MES sends a material retrieval signal to the controller of the material buffer mechanism 30. After receiving the material retrieval signal from MES, the controller controls the platform drive mechanism 32 of the material buffer mechanism 30 to descend to the material receiving position, that is, the plane of the buffer platform 31 is slightly lower than the loading plane of AGV200. After reaching the designated position, the controller of the material buffer mechanism 30 sends a completion signal to MES. Of course, the material buffer mechanism 30 can also be set up through an automatic program. After the material 320 and tray 310 on the buffer platform 31 are removed, it automatically arrives at the AGV 200 receiving position and prepares for receiving the material in advance. After receiving the MES signal, it directly feedbacks the signal that the material is ready to be received, shortening the docking time and improving overall operation efficiency.

[0063] Then, the MES sends an unloading instruction to the controller of the material pushing mechanism 20. After receiving the unloading instruction, the controller of the material pushing mechanism 20 controls the first push rod driving mechanism 22 of the material pushing mechanism 20 to extend horizontally. After the sensor detects that the push rod 21 has moved into place, the signal is sent to the controller. After the controller receives the signal that the push rod 21 is in place, the second push rod driving mechanism 23 is controlled to move. The push rod 21 is driven to move by the second push rod driving mechanism 23 to push the material 320 from the plane of AGV200 to the cache platform 31 of the material cache mechanism 30. After the sensor detects that the second push rod driving mechanism 23 has moved into place, the in-place signal is sent to the controller. At the same time, after the material in-place detection mechanism 2 detects the material 320, it sends an in-place signal to the controller. After receiving the two arrival signals, the controller controls the material pushing mechanism 20 to reset, and the material buffer mechanism 30 lifts the material 320 to the work position through the platform drive mechanism 32, and sends an unloading completion signal to the MES. After receiving the completion signal, the MES sends a completion instruction to the AGV200, notifying the AGV200 to move to the bottom of the tray buffer mechanism 50. Through position adjustment, the unloading position of the tray 310 can be coincided with the loading position of the material 320, that is, the unloading and loading are completed at the same position, simplifying the action, saving time, and improving stability and operating efficiency. The MES sends instructions to the first pallet drive mechanism 55 and the second pallet drive mechanism 56 to drive the first guide pallet 53 and the second guide pallet 54 to descend to the bottom of the AGV200 platform surface, and send the pallet 310 to the platform surface of the AGV200, completing an automatic feeding and automatic reflow of the fixture. While the automatic reflow of the jig is completed, the material height detection mechanism 3 detects that the material 320 is in place, and adjusts the material positioning mechanism 40 to cooperate in the work to adjust the positioning of the material 320; after one layer of material 320 is grabbed, the pallet conveying mechanism 60 adsorbs and conveys the pallet 310 to the discharge position of the pallet cache mechanism 50. At the same time, the platform driving mechanism 32 raises the material picking height to grab the next layer of material 320. This cycle continues until all materials 320 on the cache platform 31 are grabbed and all pallets 310 are sent to the discharge position of the pallet cache mechanism 50.

[0064] In this document, directional terms such as "up," "down," "left," "right," "front," and "back" are defined based on the positions of structures in the accompanying drawings and their relative positions to each other, for the sake of clarity and convenience in presenting the technical solution. It should be understood that the use of these directional terms does not limit the scope of protection claimed in this application. It should also be understood that the terms "first" and "second," etc., used herein, are used solely for distinctions and are not intended to limit quantity or order.

[0065] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with this profession can make some changes or modifications to the technical contents disclosed above without departing from the scope of the technical solution of the present invention, which are equivalent embodiments of equivalent changes. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. A circulating feeding device, characterized in that: The invention comprises a tray buffer mechanism (50), a tray transport mechanism (60) and an automatic material taking device, wherein the automatic material taking device comprises a frame (10), a material pushing mechanism (20) and a material buffer mechanism (30), wherein the frame (10) is provided with a docking bin (101) and a docking inlet and outlet (102) communicating with the docking bin (101), the material pushing mechanism (20) and the material buffer mechanism (30) are both installed on the frame (10) and located at the edge of the docking bin (101), the material buffer mechanism (30) is located on a side of the docking bin (101) away from the docking inlet and outlet (102), the material pushing mechanism (20) is located between the material buffer mechanism (30) and the docking inlet and outlet (102), and the material pushing mechanism (20) is used to push materials onto the material buffer mechanism (30); The pallet caching mechanism (50) and the pallet transporting mechanism (60) are both connected to the frame (10); the pallet caching mechanism (50) and the material caching mechanism (30) are arranged in a front-to-rear direction; the pallet caching mechanism (50) is arranged on a side of the docking chamber (101) close to the docking inlet and outlet (102); the pallet transporting mechanism (60) is arranged above the frame (10) and is used to transport the pallet on the material caching mechanism (30) to the pallet caching mechanism (50).

2. The circulating feeding equipment according to claim 1, characterized in that: The material pushing mechanism (20) includes a push rod (21), a first push rod driving mechanism (22) and a second push rod driving mechanism (23); the push rod (21) is connected to the first push rod driving mechanism (22); the first push rod driving mechanism (22) is connected to the second push rod driving mechanism (23); the second push rod driving mechanism (23) is connected to the frame (10); the first push rod driving mechanism (22) is used to drive the push rod (21) to move in the left and right directions; the second push rod driving mechanism (23) is used to drive the first push rod driving mechanism (22) and the push rod (21) to move in the front and back directions.

3. The circulating feeding equipment according to claim 1, characterized in that: The material caching mechanism (30) includes a caching platform (31) and a platform driving mechanism (32), wherein the caching platform (31) is connected to the platform driving mechanism (32), and the platform driving mechanism (32) is connected to the frame (10), and the platform driving mechanism (32) is used to drive the caching platform (31) to move in the up and down directions; a power mechanism is provided on the caching platform (31), and the power mechanism is used to receive materials onto the caching platform (31).

4. The circulating feeding equipment according to claim 1, characterized in that: The automatic material taking device further comprises a material positioning mechanism (40) for positioning the material, and the material positioning mechanism (40) is located above the material buffer mechanism (30).

5. The circulating feeding equipment according to claim 4, characterized in that: The material positioning mechanism (40) includes a first limiting guide plate (41), a first push plate (42), a first push plate driving mechanism (43), a second limiting guide plate (44), a second push plate (45) and a second push plate driving mechanism (46). The first limiting guide plate (41) and the first push plate (42) are arranged relative to each other and are used to position the material in the left-right direction. The second limiting guide plate (44) and the second push plate (45) are arranged relative to each other and are used to position the material in the front-back direction. The first limiting guide plate (41), the first push plate driving mechanism (43), the second limiting guide plate (44) and the second push plate driving mechanism (46) are all connected to the frame (10). The first push plate driving mechanism (43) is connected to the first push plate (42) and is used to drive the first push plate (42) to move in the left-right direction. The second push plate driving mechanism (46) is connected to the second push plate (45) and is used to drive the second push plate (45) to move in the front-back direction.

6. The circulating feeding equipment according to claim 5, characterized in that: The second limiting guide plate (44) is provided with a clamping claw (441), a clamping claw driving mechanism (442) and a through hole (443) matching the clamping claw (441); the clamping claw (441) and the clamping claw driving mechanism (442) are arranged on the side of the second limiting guide plate (44) away from the second push plate (45); the clamping claw driving mechanism (442) is connected to the clamping claw (441) and is used to drive the clamping claw (441) to extend and retract in the through hole (443); the second push plate (45) is provided with a first clamping strip (451) on the side facing the second limiting guide plate (44); the first clamping strip (451) and the clamping claw (441) are located at the same height.

7. The circulating feeding equipment according to any one of claims 1 to 6, characterized in that: The automatic material-retrieving device further comprises an AGV arrival detection mechanism (1), a material arrival detection mechanism (2), and a material height detection mechanism (3). The AGV arrival detection mechanism (1) is used to detect whether the AGV has moved to a preset position of the docking bin (101), the material arrival detection mechanism (2) is used to detect whether the material has been pushed to the material buffer mechanism (30), and the material height detection mechanism (3) is used to detect whether the material has moved to a preset height.

8. The circulating feeding equipment according to claim 1, characterized in that: The tray buffer mechanism (50) comprises a first limiting baffle (51), a second limiting baffle (52), a first guide support plate (53), a second guide support plate (54), a first support plate driving mechanism (55) and a second support plate driving mechanism (56); the first limiting baffle (51) and the second limiting baffle (52) are arranged relative to each other and are used to limit the tray in the front-back direction; the first guide support plate (53) and the second guide support plate (54) are arranged relative to each other and are used to limit the tray in the left-right direction; the first limiting baffle (51), the second limiting baffle (52), the first support plate driving mechanism (55) and the second support plate driving mechanism (56) are all connected to the frame (10); the first support plate driving mechanism (55) is connected to the first guide support plate (53) and is used to drive the first guide support plate (53) to move in the up-down direction; the second support plate driving mechanism (56) is connected to the second guide support plate (54) and is used to drive the second guide support plate (54) to move in the up-down direction.

9. The circulating feeding equipment according to claim 1, characterized in that: The pallet transport mechanism (60) comprises an adsorption mechanism (61), a connecting frame (62) and a transport drive mechanism (63); the adsorption mechanism (61) is connected to the transport drive mechanism (63) via the connecting frame (62); the transport drive mechanism (63) is connected to the frame (10) and is used to drive the connecting frame (62) and the adsorption mechanism (61) to move in a front-rear direction.

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