AGV-based automatic processing line for mixed workpieces

Abstract

The present invention discloses an automatic processing line for mixed workpieces based on AGV, comprising: a truss device having a crossbeam assembly and a mechanical claw assembly. A sawing device, a sawing machine equipment and a material preparation rack device located below the crossbeam assembly, an AGV trolley, a first visual inspection device and a material unloading robot device located in the output direction of the sawing machine equipment. The first visual inspection device collects the specification parameters of the material output by the sawing machine equipment, the material unloading robot device grabs the workpiece and puts it into the corresponding flow box based on the specification parameters collected by the first visual inspection device, and the material unloading robot device grabs the flow box full of workpieces to the AGV trolley. For two or more processing equipment, the AGV trolley moves the flow box full of workpieces to the corresponding processing equipment. The mechanical claw assembly then moves the preliminarily processed raw materials to the sawing machine equipment for secondary processing, with good automatic cutting effect and can realize automatic unloading of workpieces of different lengths.

Description

Technical Field

[0001] The present invention relates to the field of processing technology, and in particular to an AGV-based automatic processing line for mixed workpieces. Background Art

[0002] When processing parts made of plates or profiles in factories, raw materials such as long strips of plates or bars are usually purchased from raw material manufacturers, and some raw materials need to be initially cut before they can be stored. Furthermore, the raw materials are cut into lengths slightly larger than the product specifications by sawing machines to meet processing requirements. However, existing sawing machines require manual movement of materials to the sawing machine area, and manual positioning is used to achieve material loading and unloading positioning and cutting, resulting in low processing efficiency.

[0003] Chinese patent CN208132106U discloses an intelligent processing line for high-speed sawing of aluminum bars, including a machine body and an operating table for controlling the operation of the machine body. The machine body includes a feeding device for conveying aluminum bars, a feeding sizing device used in conjunction with the feeding device, a main machine sawing device used in conjunction with the feeding sizing device, and a discharging device for discharging materials after sawing is completed.

[0004] The above processing line can cut and unload materials and automatically load them, but it cannot control the size of the materials formed after cutting, and must be manually inspected, which has the technical problems of low inspection efficiency and high probability of missed inspection. In addition, the line can only unload the semi-finished materials after cutting, but cannot complete the automatic storage and allocation of the raw material area. There is also a technical problem of reducing the circulation efficiency of the materials in the overall storage area, so it needs to be improved. Summary of the invention

[0005] The purpose of the present invention is to provide an AGV-based automatic processing line for mixed workpieces.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] The first aspect of the present invention is to provide an AGV-based automatic processing line for mixed workpieces, comprising:

[0008] A truss device having a crossbeam assembly and a mechanical claw assembly slidably connected to the crossbeam assembly;

[0009] A sawing device, a sawing machine device and a material preparation rack device located below the crossbeam assembly, wherein the sawing machine device is located between the sawing device and the material preparation rack device, and the sawing device, the sawing machine device and the material preparation rack device are all within the sliding range of the mechanical claw assembly;

[0010] An AGV trolley, a first visual inspection device and a material unloading robot device are located in the output direction of the sawing machine equipment, the first visual inspection device collects the specification parameters of the material output by the sawing machine equipment, the material unloading robot device grabs the workpiece and puts it into the corresponding flow box based on the specification parameters collected by the first visual inspection device, and the material unloading robot device grabs the flow box full of workpieces to the AGV trolley;

[0011] For two or more sets of processing equipment, the AGV moves the flow box filled with workpieces to the corresponding processing equipment.

[0012] In one embodiment, the first visual inspection device includes a mounting frame, a camera module mounted on the mounting frame, and an image processing unit electrically connected to the camera module, the camera module is used to collect graphic information of the material output by the sawing machine equipment, and the image processing unit generates the specification parameters based on the graphic information and is communicated with the unloading robot device.

[0013] In one embodiment, the sawing machine equipment includes a conveying device, a cutting device located in the output direction of the conveying device, a clamping and positioning device located in the input direction of the conveying device, and a feeding device located on one side of the clamping and positioning device. The mechanical claw assembly moves between the sawing device and the feeding device, the clamping and positioning device automatically conveys the long material to the cutting device, and the first visual detection device is located above the conveying device.

[0014] In one embodiment, the clamping and positioning device includes a linear sliding component, a positioning frame installed on the linear sliding component, a telescopic clamping component and a self-adjusting component installed on the positioning frame. The positioning frame is located in the telescopic direction of the telescopic clamping component, and the self-adjusting component adjusts the inclination angle of the positioning frame in a direction perpendicular to the linear sliding component.

[0015] In one embodiment, the self-adjusting component includes a driving member for linear telescopic motion and a sliding wedge connected to the driving member, and the sliding wedge and the positioning frame are provided with mutually matching inclined surfaces.

[0016] In one embodiment, the length of the material cut by the sawing device is greater than the length of the material cut by the sawing machine equipment.

[0017] In one embodiment, it also includes a discharging device located in the discharging direction of the sawing machine equipment, the discharging device includes a discharging rack, a material assembly installed on the discharging rack, an output assembly and an identity recognition module, the flow box is placed on the output assembly and the flow box is equipped with an identity recognition card, the material assembly pushes the flow box to move to the recognition area of ​​the identity recognition module, and the first visual detection device determines the specification parameters of the material in the corresponding flow box based on the identity recognition information determined by the identity recognition module.

[0018] In one embodiment, the discharging device further comprises a stop assembly movably mounted on the discharging rack, the stop assembly is located at the exit portion of the output assembly, and a portion of the stop assembly moves beyond the conveying surface of the output assembly.

[0019] In one embodiment, the processing equipment includes a loading robot device, at least one processing machine tool located within the activity range of the loading robot device, and a second visual inspection device, wherein the second visual inspection device is used to capture image information of a workpiece processed by the processing machine tool grasped by the loading robot device, and determine the qualification of the processed product based on the image information.

[0020] In one embodiment, at least two groups of the processing equipment process materials with different specification parameters.

[0021] After adopting the above structure, the advantages of the present invention compared with the prior art are: the truss device spans the sawing device, the sawing machine equipment and the material preparation rack device, and the mechanical claw assembly grabs the long strip of raw material from the material preparation rack device and moves to the sawing device, and the sawing device can complete the initial cutting process. The mechanical claw assembly then moves the initially processed raw material to the sawing machine equipment for secondary processing. The automatic cutting effect is good and the automatic unloading of workpieces of different lengths can be realized. The first visual inspection device detects the specification parameters of the workpiece processed by the sawing machine equipment, realizes automatic full inspection, and removes unqualified products and raw materials with surface defects online, thereby providing a qualified rate for processed products. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention is further described below in conjunction with the accompanying drawings and embodiments:

[0023] Figure 1 It is a schematic diagram of the automatic processing line of mixed workpieces based on AGV in the present invention.

[0024] Figure 2 It is a structural schematic diagram of the truss device area in the present invention.

[0025] Figure 3 yes Figure 2 Enlarged structural diagram at A in the middle.

[0026] Figure 4It is a structural schematic diagram of the discharging device in the present invention.

[0027] Figure 5 It is a structural schematic diagram of the processing equipment in the present invention.

[0028] In the figure, there are a truss device 10; a crossbeam assembly 11; a mechanical claw assembly 12; a sawing device 20; a sawing machine device 30; a cutting device 31; a clamping and positioning device 32; a positioning frame 321; a linear sliding assembly 322; a telescopic clamping assembly 323; a feeding device 33; a material preparation rack device 40; an AGV trolley 50; a first visual inspection device 60; a mounting frame 61; a camera module 62; a material unloading robot device 70; a processing equipment 80; a processing machine tool 81; a second visual inspection device 82; a material loading robot device 83; a material flow device 84; a discharging device 90; a discharging rack 91; an identification module 92; a material assembly 93; an output assembly 94; a flow box 95; a stop assembly 96; and a stop rod 961. DETAILED DESCRIPTION

[0029] The following descriptions are merely preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention.

[0030] For example, see Figures 1 to 5 As shown: The present invention discloses an AGV-based automatic mixed workpiece processing line, which is used for automatic unloading, cutting, transportation and processing of workpieces. In particular, the line can realize mixed processing of workpieces of different processing specifications and sizes, with high processing efficiency and product diversification.

[0031] The processing line includes a truss device 10, which has a beam assembly 11 and a mechanical claw assembly 12 slidably connected to the beam assembly 11, and is fixed to a support assembly or erected on the wall of a building at both ends of the beam assembly 11. The mechanical claw assembly 12 includes a lateral moving mechanism, a longitudinal moving mechanism, and a claw mechanism installed on the longitudinal moving mechanism. The lateral moving mechanism drives the longitudinal moving mechanism to reciprocate along the beam assembly 11 in a straight line, and the longitudinal moving mechanism drives the claw mechanism to move up and down.

[0032] The processing line includes a sawing device 20, a sawing machine 30 and a material preparation rack 40 located below the crossbeam assembly 11, wherein the material preparation rack 40 can be used to place raw materials such as long plates or bars to form a material storage area. The length of the raw materials placed in the material storage area far exceeds the unloading length of the sawing machine 30. The claw mechanism moves the raw materials on the material preparation rack 40 to the sawing device 20, and the sawing device 20 preliminarily cuts the raw materials into blanks of a length that meets the processing length of multiple parts according to the specifications of the parts to be processed.

[0033] The sawing machine device 30 is located between the sawing device 20 and the material preparation rack device 40, and the sawing device 20, the sawing machine device 30 and the material preparation rack device 40 are all within the sliding range of the mechanical claw assembly 12. The claw mechanism moves to the sawing machine device 30 for precise material unloading after the sawing device 20 completes the preliminary cutting of the blank. Preferably, the length of the material cut by the sawing device 20 is greater than the length of the material cut by the sawing machine device 30, so that the material preparation rack device 40 can directly store the long strips of raw materials, and automatically grab and unload the materials when the processing equipment 80 is processing, thereby improving production efficiency and reducing the time and space for storage and transportation of intermediate blanks.

[0034] The truss device 10 spans the sawing device 20, the sawing machine device 30 and the material preparation rack device 40. The mechanical claw assembly 12 grabs the long strip of raw material from the material preparation rack device 40 and moves to the sawing device 20, and the sawing device 20 can complete the initial cutting process. The mechanical claw assembly 12 then moves the initially processed raw material to the sawing machine device 30 for secondary processing, and the automatic cutting effect is good and the automatic unloading of workpieces of different lengths can be realized.

[0035] See Figures 1 to 3 As shown: the processing line includes an AGV trolley 50, a first visual inspection device 60 and a material unloading robot device 70 located in the output direction of the sawing machine equipment 30. The first visual inspection device 60 collects the specification parameters of the material output by the sawing machine equipment 30. The first visual inspection device 60 is used to capture the image information of the workpiece and perform analysis based on the image information.

[0036] Optionally, the first visual inspection device 60 includes a mounting frame 61, a camera module 62 mounted on the mounting frame 61, and an image processing unit electrically connected to the camera module 62. The mounting frame 61 is fixed to the ground, a cantilever is provided on the mounting frame 61, and the camera module 62 is installed on the cantilever. The camera module 62 is located above the workpiece, and the camera module 62 is used to collect graphic information of the material output by the sawing machine equipment 30. The image processing unit generates specification parameters based on the graphic information and communicates with the blanking robot device 70. The camera module 62 can be configured as a 3D camera. The image processing unit analyzes the collected graphic information to obtain 3D image data of the corresponding workpiece. Preferably, the image processing unit determines whether the blanking size of the workpiece is qualified, for example, determines whether the length size, cross-sectional shape, end face shape and surface of the workpiece have unqualified factors such as pore defects and damage, and the first visual inspection device 60 performs a preliminary full inspection on the workpiece to eliminate some factors of poor raw materials in the blanking stage.

[0037] That is, the first visual inspection device 60 detects the specification parameters of the workpiece processed by the sawing machine equipment 30, realizes automatic full inspection, removes unqualified products and raw materials with surface defects online, and provides the qualified rate of processed products.

[0038] The image processing unit sends the image information to the unloading robot device 70 , which grabs the workpiece and puts it into the corresponding flow box 95 based on the specification parameters collected by the first visual inspection device 60 , and the unloading robot device 70 grabs the flow box 95 full of workpieces to the AGV cart 50 .

[0039] For two or more groups of processing equipment 80, the AGV trolley 50 moves the circulation box 95 filled with workpieces to the corresponding processing equipment 80. The processing equipment 80 is arranged in intervals in the production workshop, and the AGV trolley 50 moves between different processing equipment 80 to achieve automatic transportation and improve the overall production efficiency. Preferably, at least two groups of processing equipment 80 process materials with different specification parameters, so that the processing equipment 80 in the workshop can achieve mixed processing of different materials with a wide processing range. Based on the workpiece specifications detected and determined by the first visual inspection device 60, the AGV trolley 50 transports the corresponding circulation box 95 to the corresponding processing equipment 80, thereby meeting the mixed processing requirements, without adjusting the processing rhythm of the entire workshop, and simplifying the production process.

[0040] The sawing machine device 30 accurately cuts the blanks to improve the material utilization rate. The sawing machine device 30 includes a conveying device, a cutting device 31 located in the output direction of the conveying device, a clamping and positioning device 32 located in the input direction of the conveying device, and a feeding device 33 located on one side of the clamping and positioning device 32. The mechanical claw assembly 12 moves between the sawing device 20 and the feeding device 33. After the sawing device 20 completes sawing, the mechanical claw assembly 12 grabs the blanks to the feeding device 33, and the feeding device 33 continuously feeds the conveying device. Preferably, the feeding device 33 is provided with spaced positioning grooves, which are used to separate the blanks to facilitate the mechanical claw assembly 12 to grab them one by one.

[0041] The clamping and positioning device 32 fixes the blank and quantitatively delivers it to the cutting device 31 according to the length requirement of the workpiece to be cut. The cutting device 31 is configured as a sawing machine to achieve precise cutting. The first visual inspection device 60 is located above the conveying device, so as to collect the corresponding image information of the material output from the cutting device 31, and the collection is timely. If the first visual inspection device 60 detects that the workpiece cutting is abnormal, it outputs relevant instructions to the sawing machine device 30 so that the sawing machine device 30 can adjust the parameters such as the cutting angle and cutting size in time.

[0042] In an optional embodiment, the clamping and positioning device 32 includes a linear sliding assembly 322, a positioning frame 321 installed on the linear sliding assembly 322, and a telescopic clamping assembly 323, wherein the positioning frame 321 is located in the telescopic direction of the telescopic clamping assembly 323. The telescopic clamping assembly 323 extends and closes to the positioning frame 321 to clamp the blank, and the linear sliding assembly 322 drives the positioning frame 321 and the telescopic clamping assembly 323 to move a corresponding length toward the cutting device 31, so that the cutting device 31 cuts the corresponding workpiece.

[0043] The positioning frame includes a horizontal support portion and a vertical abutment portion, and the telescopic clamping assembly 323 includes a telescopic member and a push block connected to the output shaft of the telescopic member, the push block and the abutment portion are arranged opposite to each other, and a clamping groove space for accommodating the blank is formed between the push block and the abutment portion. Preferably, the telescopic member is configured as a cylinder or a hydraulic cylinder.

[0044] Furthermore, the clamping and positioning device 32 also includes a self-adjusting component installed on the positioning frame 321, and the self-adjusting component adjusts the inclination angle of the positioning frame in a direction perpendicular to the linear sliding component 322. The self-adjusting component fine-tunes the angle of the positioning frame 321 based on the relevant instructions output by the first visual inspection device 60, so as to achieve the angle of the cut end face of the blank. For example, the self-adjusting component drives the positioning frame 321 to move forward and backward to fine-tune the inclination angle of the positioning frame 321 relative to the cutting device 31, thereby changing the cutting angle between the cutting surface of the cutting device 31 and the blank, and improving the angle accuracy of the cut end face of the workpiece.

[0045] Furthermore, the self-adjusting assembly includes a driving member for linear telescopic motion and a sliding wedge connected to the driving member, and the sliding wedge and the positioning frame 321 are provided with mutually matching inclined surfaces. An inclined surface is provided between the sliding wedge and the positioning frame 321, and the angle of the positioning frame 321 changes accordingly during the forward and backward movement of the sliding wedge, thereby realizing flexible adjustment of the angle of the positioning frame 321. Preferably, the driving member is configured as a screw mechanism in which a motor drives the screw to rotate, so as to realize forward and backward driving and self-locking of the sliding block.

[0046] See Figure 3 and Figure 4 As shown: after the sawing machine 30 completes cutting, the unloading robot 70 grabs the workpiece and leaves the sawing machine 30 and puts it into the flow box 95. Preferably, the processing line also includes a discharge device 90 located in the discharge direction of the sawing machine 30, and the discharge device 90 is used to arrange and place the workpieces output by the sawing machine 30.

[0047] The discharging device 90 includes a discharging frame 91, a material assembly 93 installed on the discharging frame 91, and an output assembly 94. The discharging frame 91 is a rigid frame structure, which is erected on the ground by legs or rollers, and one end of which is suspended in the air, so that the AGV trolley 50 can move in and out. The other end of the discharging frame 91 is close to the sawing machine equipment 30 and is located within the range of motion of the unloading robot device 70. The output assembly 94 is installed on the top of the discharging frame 91 to facilitate the placement and output of the flow box 95. Preferably, the output assembly 94 is configured as a roller assembly to facilitate the movement of the flow box 95.

[0048] The material assembly 93 is installed on one side of the discharge rack 91, and the telescopic direction of the material assembly 93 is perpendicular to the length direction of the output assembly 94. The material assembly 93 pushes the flow box 95 against the output assembly 94 to keep the flow box 95 aligned with the output position of the output assembly 94. Further, the discharge device 90 includes an identity recognition module 92, which is a card reader installed on the discharge rack 91. Accordingly, the flow box 95 is placed on the output assembly 94 and the flow box 95 is equipped with an identity recognition card, each of which corresponds to the specifications and quantity of the parts placed in the flow box 95.

[0049] The whole material assembly 93 pushes the flow box 95 to move to the identification area of ​​the identity recognition module 92, and the identity recognition card is recognized by the identity recognition module 92, and the unloading robot device 70 grabs the corresponding flow box 95 for the workpiece. At the same time, the first visual inspection device 60 determines the specification parameters of the material in the corresponding flow box 95 based on the identity recognition information determined by the identity recognition module 92, wherein the first visual inspection device 60 reviews the workpiece to achieve multiple rechecks to avoid material errors in the mixed material processing process. Preferably, the identity recognition module 92 is connected to the AGV trolley 50 for communication, so that the AGV trolley 50 transports the corresponding flow box 95 to the corresponding processing equipment 80.

[0050] Further, the discharging device 90 also includes a stop assembly 96 movably mounted on the discharging rack 91, the stop assembly 96 is located at the exit portion of the output assembly 94, and part of the stop assembly 96 moves beyond the conveying surface of the output assembly 94. When the stop assembly 96 protrudes from the conveying surface of the output assembly 94, the stop assembly 96 is used to prevent the flow box 95 from detaching from the output assembly 94 without permission. When the stop assembly 96 is retracted below the conveying surface of the output assembly 94, the flow box 95 moves along the output assembly 94 and is output to the AGV trolley 50. Optionally, the stop assembly 96 includes a stop telescopic member and a stop rod 961 rotatably connected to the discharging rack 91, and the stop telescopic member telescopically moves to allow the stop rod 961 to rotate beyond or retract the conveying surface.

[0051] See Figure 1 and Figure 5As shown: there are multiple processing equipment 80, each processing equipment 80 processes a type of parts, and multiple processing equipment 80 can form multiple parts to achieve mixed material processing. In one embodiment, the processing equipment 80 includes a loading robot device 83, at least one processing machine 81 located within the range of the loading robot device 83, and a second visual inspection device 82. The processing equipment 80 can be equipped with multiple processing machine tools 81, and each processing machine tool 81 can perform different processing procedures. Multiple processing machine tools 81 are all located within the range of the loading robot device 83, and the loading robot device 83 grabs parts and switches between different processing machine tools 81.

[0052] The second visual inspection device 82 is used to capture the image information of the workpiece processed by the processing machine tool 81 grasped by the feeding robot device 83, and determine the qualification of the processed product based on the image information. Preferably, the second visual inspection device 82 can be configured as a 3D camera, and the image processing unit of the second visual inspection device 82 analyzes the collected graphic information to obtain the 3D image data of the corresponding part. Preferably, the image processing unit determines whether the processing size of the part is qualified.

[0053] Furthermore, the processing line also includes a material flow device 84 located within the range of motion of the loading robot device 83, and the material flow device 84 includes a loading roller assembly and a discharging roller assembly for parallel conveying. The AGV trolley 50 moves the flow box 95 to the loading roller assembly to achieve the replenishment of the workpieces to be processed. The discharging roller assembly is used to receive the qualified parts detected by the loading robot device 83 through the second visual inspection device 82, and can be moved to the qualified product area through the AGV trolley 50.

[0054] Preferably, the processing line is provided with five groups of processing equipment 80, and the five groups of processing equipment 80 are distributed on one side, so that the AGV trolley 50 feeds materials in turn among the five groups of processing equipment 80, and realizes mixed material processing, and the processing effect is good.

[0055] The above embodiments are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. An AGV-based automatic processing line for mixed workpieces, characterized in that: include: A truss device having a crossbeam assembly and a mechanical claw assembly slidably connected to the crossbeam assembly; A sawing device, a sawing machine device and a material preparation rack device located below the crossbeam assembly, wherein the sawing machine device is located between the sawing device and the material preparation rack device, and the sawing device, the sawing machine device and the material preparation rack device are all within the sliding range of the mechanical claw assembly; An AGV trolley, a first visual inspection device and a material unloading robot device are located in the output direction of the sawing machine equipment, the first visual inspection device collects the specification parameters of the material output by the sawing machine equipment, the material unloading robot device grabs the workpiece and puts it into the corresponding flow box based on the specification parameters collected by the first visual inspection device, and the material unloading robot device grabs the flow box full of workpieces to the AGV trolley; For two or more processing equipment, the AGV moves the transfer box filled with workpieces to the corresponding processing equipment; The length of the material cut by the sawing device is greater than the length of the material cut by the sawing machine equipment; The material preparation rack device can be used to place long strips of plate or bar raw materials to form a material storage area. The length of the raw materials placed in the material storage area far exceeds the unloading length of the sawing machine equipment. The mechanical claw assembly moves the raw materials on the material preparation rack device to the sawing device. The sawing device preliminarily cuts the raw materials into blanks that meet the length of multiple parts to be processed according to the specifications of the parts to be processed. The mechanical claw assembly completes the preliminary cutting of the blanks by the sawing device and moves them to the sawing machine equipment for precise cutting.

2. The AGV-based automatic processing line for mixed workpieces according to claim 1 is characterized in that: The first visual inspection device includes a mounting frame, a camera module mounted on the mounting frame, and an image processing unit electrically connected to the camera module. The camera module is used to collect graphic information of the material output by the sawing machine equipment. The image processing unit generates the specification parameters based on the graphic information and is communicated with the unloading robot device.

3. The AGV-based automatic processing line for mixed workpieces according to claim 1 is characterized in that: The sawing machine equipment includes a conveying device, a cutting device located in the output direction of the conveying device, a clamping and positioning device located in the input direction of the conveying device, and a feeding device located on one side of the clamping and positioning device. The mechanical claw assembly moves between the sawing device and the feeding device. The clamping and positioning device automatically conveys long strips of material to the cutting device. The first visual inspection device is located above the conveying device.

4. The AGV-based automatic processing line for mixed workpieces according to claim 3 is characterized in that: The clamping and positioning device includes a linear sliding component, a positioning frame installed on the linear sliding component, a telescopic clamping component and a self-adjusting component installed on the positioning frame. The positioning frame is located in the telescopic direction of the telescopic clamping component, and the self-adjusting component adjusts the inclination angle of the positioning frame in a direction perpendicular to the linear sliding component.

5. The AGV-based automatic processing line for mixed workpieces according to claim 4 is characterized in that: The self-adjusting component comprises a driving member for linear telescopic motion and a sliding wedge block connected to the driving member, and the sliding wedge block and the positioning frame are provided with mutually matching inclined surfaces.

6. The AGV-based automatic processing line for mixed workpieces according to claim 1 is characterized in that: It also includes a discharging device located in the discharging direction of the sawing machine equipment, the discharging device includes a discharging rack, a material assembly installed on the discharging rack, an output assembly and an identity recognition module, the flow box is placed on the output assembly and the flow box is equipped with an identity recognition card, the material assembly pushes the flow box to move to the recognition area of ​​the identity recognition module, and the first visual detection device determines the specification parameters of the material in the corresponding flow box based on the identity recognition information determined by the identity recognition module.

7. The AGV-based automatic processing line for mixed workpieces according to claim 6 is characterized in that: The discharging device further comprises a stop assembly movably mounted on the discharging frame, wherein the stop assembly is located at the exit portion of the output assembly, and a portion of the stop assembly moves beyond the conveying surface of the output assembly.

8. The AGV-based automatic processing line for mixed workpieces according to claim 1 is characterized in that: The processing equipment includes a loading robot device, at least one processing machine tool located within the activity range of the loading robot device, and a second visual inspection device, wherein the second visual inspection device is used to capture image information of a workpiece processed by the processing machine tool grasped by the loading robot device, and determine the qualification of the processed product based on the image information.

9. The AGV-based automatic processing line for mixed workpieces according to claim 1, characterized in that: At least two groups of the processing equipment process materials with different specification parameters.

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