Tray type automatic feeding device based on AGV

Abstract

The invention relates to a charging tray type automatic feeding device based on an AGV. The upper platform is arranged above the machine table, the material receiving opening is formed in the middle of the upper platform, the material receiving conveying line is arranged below the upper platform and used for being in butt joint with an AGV, the lifting mechanism is used for conveying stacked material discs to the material receiving opening from the material receiving conveying line, and the correction mechanism and the empty disc stacking mechanism are located on the left side and the right side of the material receiving opening correspondingly. The carrying mechanism moves back and forth between the material receiving opening and the empty tray stacking mechanism, the carrying manipulator is used for sucking materials to be processed from the material tray on the uppermost layer of the material receiving opening and placing the materials to be processed on the correction mechanism, and the feeding manipulator is used for sucking the materials to be processed from the correction mechanism and placing the materials to be processed on processing equipment; the automatic feeding device can be automatically in butt joint with an AGV, receive stacked trays and achieve automatic feeding, manual dependence in the process is eliminated, the correcting mechanism is arranged, the feeding precision can be improved, meanwhile, empty trays can be automatically stacked, the automation degree is high, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of automated production, and in particular to an AGV-based tray-type automatic feeding device. Background Art

[0002] The production process of LCD screen panels covers multiple delicate processing links, each of which relies on specific processing equipment, and the material transportation between these equipment has become the key to improving production efficiency. In order to efficiently transport large quantities of LCD screen panels, manufacturers generally use pallets as carrying tools. These pallets are designed to be stacked for easy transportation and effectively protect the panels from damage.

[0003] However, the traditional material transportation method is highly dependent on manual labor, which is not only time-consuming and labor-intensive, increasing the labor intensity of workers, but also seriously restricting the improvement of production efficiency. With the continuous advancement of automation technology, especially the widespread application of AGV (automatic guided vehicle) technology, more and more modern factories have begun to use AGV vehicles to realize the automated transportation of materials. Despite this, the current automated transportation system still has bottlenecks: although AGV vehicles can efficiently transport stacked pallets to designated processing equipment, manual intervention is still required in the loading and unloading links. Specifically, workers need to manually place pallets full of materials to be processed at the loading position for the processing equipment to pick up materials; and when all the materials on the pallets are taken away, they need to be manually removed from the loading position and stacked for storage. The manual operation in this process undoubtedly slows down the overall production rhythm. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide an AGV-based tray-type automatic loading device, aiming to eliminate manual dependence in this process and achieve true end-to-end automated material handling.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an AGV-based tray-type automatic loading device, comprising a machine platform with a C-shaped structure, a lower platform arranged below the machine platform, an upper platform arranged above the machine platform, a material receiving port arranged in the middle of the upper platform, a material receiving conveyor line arranged on the lower platform for docking with the AGV vehicle, a lifting mechanism vertically arranged at the discharge end of the material receiving conveyor line for delivering stacked material trays from the material receiving conveyor line to the material receiving port, a correction mechanism and an empty tray stacking mechanism respectively located on the left and right sides of the material receiving port, a conveying mechanism arranged on the upper platform and capable of reciprocating between the material receiving port and the empty tray stacking mechanism, a tray dismantling mechanism arranged on the upper platform and respectively located on the front and rear sides of the material receiving port for placing the uppermost material tray on the conveying mechanism, a handling robot arranged on the upper platform for sucking the material to be processed from the uppermost material tray at the material receiving port and placing it on the correction mechanism, and a loading robot arranged on the upper platform for sucking the material to be processed from the correction mechanism and placing it on the processing equipment.

[0006] Preferably, the correction mechanism includes a correction platform, at least one correction area arranged on the correction platform for placing the material to be processed, correction blocks respectively arranged on two adjacent sides of the correction area for correcting the material to be processed in the XY directions, and correction driving parts respectively arranged at the bottom of the correction platform for driving the two correction blocks; the correction area has a vacuum adsorption function.

[0007] Preferably, it also includes a translation mechanism arranged on the upper platform for driving the correction mechanism to move back and forth between the handling robot and the loading robot; the translation mechanism includes a translation seat, two translation guide rails arranged parallel to the translation seat, and a translation drive member arranged on the translation seat and located between the two translation guide rails; the correction platform is slidably arranged on the two translation guide rails and is driven by the translation drive member.

[0008] Preferably, the handling robot and the loading robot are arranged on the same gantry, and both include an X-axis linear module, a Y-axis linear module arranged at the driving end of the X-axis servo module, at least one Z-axis linear module vertically arranged at the driving end of the Y-axis linear module, a suction cup frame horizontally arranged at the driving end of the Z-axis linear module, and at least one first vacuum suction cup vertically arranged on the suction cup frame for sucking the material to be processed; the X-axis linear module of the loading robot extends out of the machine platform, can realize online operation with the processing equipment, and suck the material to be processed from the correction mechanism and place it on the processing equipment.

[0009] Preferably, the handling robot further comprises a rotating drive member vertically arranged at the driving end of the Z-axis linear module for driving the suction cup frame to rotate.

[0010] Preferably, the conveying mechanism includes two conveying rails arranged on the upper platform and respectively located on the front and rear sides of the material receiving port, a conveying platform slidably arranged on the two conveying rails, and a conveying drive assembly arranged on the upper platform for driving the conveying platform to move back and forth between the material receiving port and the empty tray stacking mechanism; first guide positioning plates are respectively arranged on all four sides of the conveying platform.

[0011] Preferably, each of the disc removing mechanisms includes a lifting cylinder vertically arranged on the upper platform and located on the outside of the conveying guide rail, an opening and closing cylinder horizontally arranged at the driving end of the lifting cylinder, a disc removing frame arranged at the driving end of the opening and closing cylinder, and at least two second vacuum suction cups vertically arranged on the disc removing frame.

[0012] Preferably, the empty tray stacking mechanism comprises a stacking rack with an opening at one end, a stacking area arranged in the middle of the stacking rack, at least four second guide positioning pieces respectively arranged on both sides of the stacking area, at least four storage racks respectively arranged on the other two sides of the stacking area, a support plate rotatably arranged on the storage rack, and a torsion spring and a limiter respectively arranged at the connection between the support plate and the storage rack; the torsion spring is used to flip the support plate from a vertical state to a horizontal state; the limiter is used to limit the support plate in a horizontal state so that the support plate cannot continue to flip downward;

[0013] The transport platform can pass through the opening and enter the stacking area under the drive of the transport drive assembly; a avoidance opening is provided in the middle of the transport platform;

[0014] The upper platform is provided with a lifting assembly in the stacking area, which can pass through the avoidance opening to place the material trays above the transport platform on four support plates for stacking and storage.

[0015] Preferably, the material receiving conveyor line adopts a double-row belt conveyor line; the double-row belt conveyor line at least includes a feeding area and a discharging area; a blocker is arranged between the feeding area and the discharging area; and third guide positioning plates are respectively arranged on both sides of the feeding area.

[0016] Preferably, the lifting mechanism includes a lifting seat arranged on the lower platform, two lifting guide rails vertically arranged on the lifting seat, a lifting frame slidably arranged on the two lifting guide rails, and a lifting drive assembly arranged on the lifting seat for driving the lifting frame to rise and fall; the lifting frame is located in the discharge area of ​​the double-row belt conveyor line in the vertical direction; the lifting frame is provided with two avoidance grooves for avoiding the double-row belt conveyor line, and fourth guide positioning plates are respectively provided on both sides thereof.

[0017] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0018] 1. The present invention can automatically dock with the AGV vehicle, receive stacked material trays, realize automatic loading, eliminate manual dependence in the loading and unloading links, realize true end-to-end automated material processing, and have a high degree of automation, thereby greatly improving production efficiency and reducing production costs, providing more powerful support for the production of LCD screen panels;

[0019] 2. The present invention is provided with a correction mechanism, which can accurately correct the position of the material to be processed before loading, thereby significantly improving the loading accuracy and ensuring the smooth material collection and efficient operation of the subsequent processing equipment;

[0020] 3. The present invention can automatically stack empty trays, which helps to improve storage space utilization, reduce manual intervention and improve overall production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The technical solution of the present invention is further described below in conjunction with the accompanying drawings:

[0022] Attached Figure 1 It is a structural schematic diagram of the AGV-based tray-type automatic loading device of the present invention;

[0023] Attached Figure 2 It is a schematic diagram of the structure in which the correction mechanism in the present invention is installed on the translation mechanism;

[0024] Attached Figure 3 It is a schematic diagram of the bottom structure of the correction mechanism in the present invention;

[0025] Attached Figure 4 It is a schematic diagram of the structure of the handling robot and the loading robot in the present invention;

[0026] Attached Figure 5 It is a partial structural schematic diagram of the handling robot in the present invention;

[0027] Attached Figure 6 It is a structural schematic diagram of the tray disassembling mechanism and the conveying mechanism in the present invention;

[0028] Attached Figure 7 It is a structural schematic diagram of the hollow disk stacking mechanism of the present invention;

[0029] Attached Figure 8 It is a structural schematic diagram of the material receiving and conveying line in the present invention;

[0030] Attached Fig. 9 It is a structural schematic diagram of the lifting mechanism in the present invention.

[0031] Among them: 1. Machine; 11. Lower platform; 12. Upper platform; 13. Material receiving port; 14. Gantry; 2. Material receiving conveyor line; 21. Feeding area; 22. Discharging area; 23. Blocker; 24. Third guide positioning piece; 3. Lifting mechanism; 31. Lifting seat; 32. Lifting guide rail; 33. Lifting frame; 34. Lifting drive assembly; 35. Avoidance groove; 36. Fourth guide positioning piece; 4. Correction mechanism; 41. Correction platform; 42. Correction area; 43. Correction block; 44. Correction drive member; 45. Translation seat; 46. Translation guide rail; 47. Translation drive member; 5. Empty tray stacking mechanism; 51. Stacking Rack; 52, stacking area; 53, second guide positioning piece; 54, storage rack; 55, support plate; 56, lifting assembly; 6, conveying mechanism; 61, conveying guide rail; 62, conveying platform; 63, conveying drive assembly; 64, first guide positioning piece; 65, avoidance; 7, plate removal mechanism; 71, lifting cylinder; 72, opening and closing cylinder; 73, plate removal rack; 74, second vacuum suction cup; 8, conveying robot; 81, X-axis linear module; 82, Y-axis linear module; 83, Z-axis linear module; 84, suction cup rack; 85, first vacuum suction cup; 86, rotating drive member; 9, loading robot; 10, bevel. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] Attached Figure 1 The AGV-based tray-type automatic loading device of the present invention comprises a C-shaped machine platform 1, a lower platform 11 arranged below the machine platform 1, an upper platform 12 arranged above the machine platform 1, a receiving port 13 arranged in the middle of the upper platform 12, a receiving conveyor line 2 arranged on the lower platform 11 for docking with the AGV vehicle, a lifting mechanism 3 vertically arranged at the discharge end of the receiving conveyor line 2 for delivering the stacked trays from the receiving conveyor line 2 to the receiving port 13, a correction mechanism 4 respectively located on the left and right sides of the receiving port 13 and an empty tray stacking mechanism 3. A stacking mechanism 5, a conveying mechanism 6 arranged on the upper platform 12 and capable of reciprocating between the material receiving port 13 and the empty tray stacking mechanism 5, a tray dismantling mechanism 7 arranged on the upper platform 12 and respectively located at the front and rear sides of the material receiving port 13 for placing the uppermost material tray on the conveying mechanism 6, a handling manipulator 8 arranged on the upper platform 12 for sucking the material to be processed from the uppermost material tray of the material receiving port 13 and placing it on the correction mechanism 4, and a loading manipulator 9 arranged on the upper platform 12 for sucking the material to be processed from the correction mechanism 4 and placing it on the processing equipment;

[0034] During operation: the AGV transfers the stacked trays to the receiving material conveyor line 2, and then the receiving material conveyor line 2 transfers the stacked trays to the lifting mechanism 3, and then the lifting mechanism 3 drives the stacked trays to rise; when the uppermost tray reaches the receiving port 13, the tray removal mechanism 7 sucks up the uppermost tray, and then the conveying mechanism 6 moves to the top of the receiving port 13, and then the tray removal mechanism 7 places the sucked tray on the conveying mechanism 6, and then the handling robot 8 sucks the material to be processed from the tray and places it on the correction mechanism 4 for position correction, and finally the loading robot 9 takes the material from the correction mechanism 4 The material to be processed is sucked up and placed on the processing equipment; when the material to be processed in the tray is completely taken out, the conveying mechanism 6 transports the empty tray to the empty tray stacking mechanism 5, and the empty tray stacking mechanism 5 is used to stack and store it, and then the lifting mechanism 3 continues to lift the height of one tray upwards to ensure that the uppermost tray is always at the material receiving port 13, and the cycle is repeated in sequence until all the stacked trays on the lifting mechanism 3 are taken out, and then the material receiving conveyor line 2 refills the lifting mechanism 3 with material; if there is no material on the material receiving conveyor line 2, the AGV vehicle will automatically refill the material to ensure automated continuous production.

[0035] When the lifting mechanism 3 drives the uppermost material tray to reach the receiving port 13, the material to be processed can also be directly sucked from the uppermost material tray by the handling robot 8 and placed on the correction mechanism 4. After all the material to be processed in the material tray is taken out, the uppermost empty material tray is sucked up by the tray removal mechanism 7 and placed on the conveying mechanism 6. However, placing the material tray on the conveying mechanism 6 first can perform preliminary positioning through the conveying mechanism 6 to improve the loading accuracy. After all, the stacked material trays may be displaced during the transportation process of the AGV vehicle.

[0036] Further, if Figure 2-3 As shown, the correction mechanism 4 includes a correction platform 41, two correction areas 42 arranged side by side on the correction platform 41 for placing the material to be processed, correction blocks 43 respectively arranged on the adjacent two sides of the correction area 42 for correcting the material to be processed in the XY direction, and correction driving members 44 respectively arranged at the bottom of the correction platform 41 for driving the two correction blocks 43; the correction area 42 has a vacuum adsorption function;

[0037] After the handling robot 8 absorbs the materials to be processed from the material tray and places them on the two correction areas 42 respectively, the two correction areas 42 use vacuum adsorption to adsorb the materials to be processed, and then the correction drive parts 44 of the two correction areas 42 respectively drive the two correction blocks 43 to calibrate the XY directions of the materials to be processed, thereby significantly improving the loading accuracy and ensuring the smooth material retrieval and efficient operation of subsequent processing equipment; the correction drive part 44 in this embodiment uses a cylinder, if higher accuracy is required, of course, an electric cylinder can also be used, which can be adjusted as required.

[0038] Further, if Figure 2As shown, it also includes a translation mechanism arranged on the upper platform 12 for driving the correction mechanism 4 to move back and forth between the handling robot 8 and the feeding robot 9; the translation mechanism includes a translation seat 45, two translation guide rails 46 arranged in parallel on the translation seat 45, and a translation driving member 47 arranged on the translation seat 45 and located between the two translation guide rails 46; the correction platform 41 is slidably arranged on the two translation guide rails 46 and driven by the translation driving member 47;

[0039] During operation: the translation mechanism first drives the correction platform 41 to be located on one side of the transport robot 8. After the transport robot 8 absorbs the materials to be processed from the material tray and places them on the correction platform 41, the correction platform 41 is then driven to be located on one side of the loading robot 9 to avoid interference between the material release by the transport robot 8 and the material collection by the loading robot 9. In this embodiment, the translation drive 47 uses a rodless cylinder. If higher precision is required, an electric cylinder can of course also be used, which can be adjusted as required.

[0040] Further, if Figure 4-5 As shown, the handling robot 8 and the loading robot 9 are arranged on the same gantry 14, so that the overall structure is more compact, and both include an X-axis linear module 81, a Y-axis linear module 82 arranged at the driving end of the X-axis servo module, two Z-axis linear modules 83 vertically arranged at the driving end of the Y-axis linear module 82, a suction cup frame 84 horizontally arranged at the driving end of the Z-axis linear module 83, and a first vacuum suction cup vertically arranged on the suction cup frame 84 for sucking the material to be processed;

[0041] During operation: driven by the X-axis linear module 81, the Y-axis linear module 82 and the Z-axis linear module 83, the first vacuum suction cup 85 is used to suck the material to be processed, and then placed on the correction mechanism 4 or the processing equipment; two Z-axis linear modules 83 are provided, which can not only suck two materials to be processed at one time, but also work independently, even if the two materials to be processed are not at the same height, they can be sucked, thereby ensuring the loading efficiency; in this embodiment, the X-axis linear module 81 and the Y-axis linear module 82 use servo linear modules, the Z-axis linear module 83 uses a cylinder, and the position of the first vacuum suction cup 85 on the suction cup frame 84 is adjustable.

[0042] Further, if Figure 1 As shown, the X-axis linear module 81 of the loading robot 9 extends out of the machine platform 1 and can realize online operation with the processing equipment, so as to facilitate the absorption of the material to be processed from the correction mechanism 4 and place it on the processing equipment.

[0043] Further, if Figure 5As shown, the handling robot 8 also includes a rotating drive member 86 vertically arranged at the driving end of the Z-axis linear module 83 for driving the suction cup frame 84 to rotate, which can adjust the angle of the material to be processed to meet the processing requirements of different products; in this embodiment, the rotating drive member 86 adopts a motor.

[0044] Furthermore, the transport robot 8 and the loading robot 9 are also provided with a visual component (not marked in the figure) at the driving end of the Z-axis linear module 83, so as to facilitate the transport robot 8 and the loading robot 9 to accurately grasp the materials to be processed in the tray.

[0045] Further, if Figure 6 As shown, the conveying mechanism 6 includes two conveying guide rails 61 arranged on the upper platform 12 and respectively located at the front and rear sides of the material receiving port 13, a conveying platform 62 slidably arranged on the two conveying guide rails, and a conveying driving assembly 63 arranged on the upper platform 12 for driving the conveying platform 62 to move back and forth between the material receiving port 13 and the empty tray stacking mechanism 5; the conveying platform 62 is respectively provided with first guide positioning pieces 64 around it;

[0046] During operation: the conveying drive assembly 63 drives the conveying platform 62 to move back and forth between the material receiving port 13 and the empty tray stacking mechanism 5, wherein the first guide positioning pieces 64 around the conveying platform 62 can perform preliminary positioning of the material tray; in this embodiment, the conveying drive assembly 63 adopts belt drive.

[0047] Further, if Figure 6 As shown, each of the tray disassembling mechanisms 7 includes a lifting cylinder 71 vertically arranged on the upper platform 12 and located outside the conveying guide rail 61, an opening and closing cylinder 72 horizontally arranged at the driving end of the lifting cylinder 71, a tray disassembling frame 73 arranged at the driving end of the opening and closing cylinder 72, and two second vacuum suction cups 74 vertically arranged on the tray disassembling frame 73;

[0048] When the lifting mechanism 3 drives the uppermost material tray to reach the material receiving port 13, the opening and closing cylinders 72 of the two sets of tray dismantling mechanisms 7 simultaneously drive the tray dismantling frame 73 to approach each other, so that the four second vacuum suction cups 74 are located in the material receiving port 13, and then the lifting cylinders 71 of the two sets of tray dismantling mechanisms 7 simultaneously drive the opening and closing cylinders 72 to drive the tray dismantling frame 73 to descend, and the second vacuum suction cups 74 suck the material tray, and then the lifting cylinders 71 of the two sets of tray dismantling mechanisms 7 simultaneously drive the sucked material tray to rise, and then the conveying drive assembly 63 drives the conveying The platform 62 is located between the material receiving port 13 and the material tray (the first guide positioning piece 64 on the conveying platform 62 is slightly lower than the sucked-up material tray), and then the four second vacuum suction cups 74 release the material tray at the same time, causing the material tray to fall onto the conveying platform 62 and be located between the four first guide positioning pieces 64. The material tray is initially positioned by the four first guide positioning pieces 64, and finally the opening and closing cylinders 72 of the two sets of tray removal mechanisms 7 simultaneously drive the tray removal frame 73 away and back to the initial position, so as to facilitate the conveying robot 8 to suck the contents of the tray.

[0049] Further, if Figure 7 As shown, the empty tray stacking mechanism 5 comprises a stacking frame 51 with an opening at the left end, a stacking area 52 arranged in the middle of the stacking frame 51, four second guide positioning pieces 53 respectively arranged on the left and right sides of the stacking area 52, four storage frames 54 respectively arranged on the front and rear sides of the stacking area 52, a support plate 55 rotatably arranged on the storage frame 54, and a torsion spring and a limiter (not marked in the figure) respectively arranged at the connection between the support plate 55 and the storage frame 54; the torsion spring is used to flip the support plate 55 from a vertical state to a horizontal state; the limiter is used to limit the support plate 55 in a horizontal state so that the support plate 55 cannot continue to flip downward;

[0050] The transport platform 62 can pass through the opening and enter the stacking area 52 under the drive of the transport drive assembly 63; a avoidance opening 65 is provided in the middle of the transport platform 62;

[0051] The upper platform 12 is provided with a lifting assembly 56 in the stacking area 52, which can pass through the avoidance opening 65 to place the empty trays on the transport platform 62 on the four support plates 55 for stacking and storage;

[0052] When all the materials to be processed in the tray are taken out, the conveying drive assembly 63 drives the conveying platform 62 through the opening to enter the stacking area 52, and then the lifting assembly 56 passes through the avoidance opening 65 in the middle of the conveying platform 62 to push the empty tray upward; since the support plate 55 is rotatably set on the storage rack 54, the support plate 55 will overcome the elastic force of the torsion spring during the rising process of the empty tray, and flip upward from a horizontal state to a vertical state; when the tray is higher than the support plate 55, the support plate 55 is flipped from a vertical state to a horizontal state under the action of the torsion spring, and is limited by the limiting part, and then the lifting assembly 56 descends back to the initial position, and the tray falls on the four support plates 55, so that the trays are stacked and stored; during the upward movement of the empty tray, the four two-guide positioning plates can make the empty trays stacked more neatly; the lifting assembly 56 is a prior art, so it will not be introduced in detail.

[0053] Further, if Figure 8 As shown, the receiving conveyor line 2 adopts a double-row belt conveyor line; the double-row belt conveyor line includes a feeding area 21 and a discharging area 22; a blocker 23 is provided between the feeding area 21 and the discharging area 22; third guide positioning pieces 24 are respectively provided on both sides of the feeding area 21;

[0054] During operation: the AGV automatically transfers the stacked trays to the feeding area 21 of the double-row belt conveyor line. If there is still material on the lifting mechanism 3, the blocker 23 will block it; when all the trays on the lifting mechanism 3 are taken out, the double-row belt conveyor line will transport the stacked trays to the discharging area 22 to feed the lifting mechanism 3; the third guide positioning pieces 24 on both sides of the feeding area 21 can position the stacked trays, so that the stacked trays can be aligned with the receiving port 13 after being placed on the lifting mechanism 3.

[0055] Further, if Fig. 9 As shown, the lifting mechanism 3 includes a lifting seat 31 arranged on the lower platform 11, two lifting guide rails 32 vertically arranged on the lifting seat 31, a lifting frame 33 slidably arranged on the two lifting guide rails 32, and a lifting drive assembly 34 arranged on the lifting seat 31 for driving the lifting frame 33 to rise and fall; the lifting frame 33 is located in the discharge area 22 of the double-row belt conveyor line in the vertical direction; the lifting frame 33 is provided with two avoidance grooves 35 for avoiding the double-row belt conveyor line, and fourth guide positioning pieces 36 are respectively arranged on both sides thereof;

[0056] At the initial position or after all the material trays on the lifting mechanism 3 have been taken out, the lifting drive component 34 will drive the lifting frame 33 to be slightly lower than the double-row belt conveyor line. At this time, the double-row belt conveyor lines are respectively located in two avoidance grooves 35, which is convenient for the double-row belt conveyor line to transport the stacked material trays to the discharge area 22 and locate them on the lifting frame 33. Then the lifting drive component 34 will drive the lifting frame 33 to rise until the uppermost material tray reaches the receiving port 13 and stops. In this embodiment, the lifting drive component 34 adopts a screw thread structure and is driven by a motor.

[0057] Further, if Figure 6-9 As shown, the feeding ends of the first guide positioning piece 64, the second guide positioning piece 53, the third guide positioning piece 24 and the fourth guide positioning piece 36 are all provided with trumpet-shaped bevel edges 10, which play a guiding role so that the material tray can enter smoothly.

[0058] The above are only specific application examples of the present invention and do not constitute any limitation on the protection scope of the present invention. Any technical solution formed by equivalent transformation or equivalent replacement shall fall within the protection scope of the present invention.

Claims

1. An AGV-based tray-type automatic feeding device, characterized in that: The invention comprises a machine with a C-shaped structure, a lower platform arranged below the machine, an upper platform arranged above the machine, a material receiving port arranged in the middle of the upper platform, a material receiving conveyor line arranged on the lower platform for docking with an AGV vehicle, a lifting mechanism vertically arranged at the discharge end of the material receiving conveyor line for delivering stacked material trays from the material receiving conveyor line to the material receiving port, a correction mechanism and an empty tray stacking mechanism respectively located on the left and right sides of the material receiving port, a conveying mechanism arranged on the upper platform and capable of reciprocating between the material receiving port and the empty tray stacking mechanism, a tray dismantling mechanism arranged on the upper platform and respectively located on the front and rear sides of the material receiving port for placing the uppermost material tray on the conveying mechanism, a handling robot arranged on the upper platform for sucking the material to be processed from the uppermost material tray at the material receiving port and placing it on the correction mechanism, and a loading robot arranged on the upper platform for sucking the material to be processed from the correction mechanism and placing it on the processing equipment.

2. The AGV-based tray-type automatic loading device according to claim 1 is characterized in that: The correction mechanism includes a correction platform, at least one correction area arranged on the correction platform for placing the material to be processed, correction blocks respectively arranged on two adjacent sides of the correction area for correcting the material to be processed in the XY directions, and correction driving members respectively arranged at the bottom of the correction platform for driving the two correction blocks; the correction area has a vacuum adsorption function.

3. The AGV-based tray-type automatic feeding device according to claim 2 is characterized in that: It also includes a translation mechanism arranged on the upper platform for driving the correction mechanism to move back and forth between the handling robot and the loading robot; the translation mechanism includes a translation seat, two translation guide rails arranged parallel to the translation seat, and a translation drive member arranged on the translation seat and located between the two translation guide rails; the correction platform is slidably arranged on the two translation guide rails and is driven by the translation drive member.

4. The AGV-based tray-type automatic loading device according to any one of claims 1 to 3, characterized in that: The handling robot and the loading robot are arranged on the same gantry, and both include an X-axis linear module, a Y-axis linear module arranged at the driving end of the X-axis servo module, at least one Z-axis linear module vertically arranged at the driving end of the Y-axis linear module, a suction cup frame horizontally arranged at the driving end of the Z-axis linear module, and at least one first vacuum suction cup vertically arranged on the suction cup frame for sucking the material to be processed; the X-axis linear module of the loading robot extends out of the machine platform, can realize online operation with the processing equipment, and suck the material to be processed from the correction mechanism and place it on the processing equipment.

5. The AGV-based tray-type automatic loading device according to claim 4 is characterized in that: The handling robot also includes a rotating drive member vertically arranged at the driving end of the Z-axis linear module for driving the suction cup frame to rotate.

6. The AGV-based tray-type automatic loading device according to claim 1 is characterized in that: The conveying mechanism includes two conveying guide rails arranged on the upper platform and respectively located on the front and rear sides of the material receiving port, a conveying platform slidably arranged on the two conveying guide rails, and a conveying drive assembly arranged on the upper platform for driving the conveying platform to move back and forth between the material receiving port and the empty tray stacking mechanism; first guide positioning plates are respectively arranged on all four sides of the conveying platform.

7. The AGV-based tray-type automatic loading device according to claim 6 is characterized in that: Each of the disc removing mechanisms includes a lifting cylinder vertically arranged on the upper platform and located outside the conveying guide rail, an opening and closing cylinder horizontally arranged at the driving end of the lifting cylinder, a disc removing frame arranged at the driving end of the opening and closing cylinder, and at least two second vacuum suction cups vertically arranged on the disc removing frame.

8. The AGV-based tray-type automatic loading device according to claim 6 is characterized in that: The empty tray stacking mechanism comprises a stacking frame with an opening at one end, a stacking area arranged in the middle of the stacking frame, at least four second guide positioning pieces respectively arranged on both sides of the stacking area, at least four storage frames respectively arranged on the other two sides of the stacking area, a support plate rotatably arranged on the storage frame, and a torsion spring and a limiter respectively arranged at the connection between the support plate and the storage frame; the torsion spring is used to flip the support plate from a vertical state to a horizontal state; the limiter is used to limit the support plate in a horizontal state so that the support plate cannot continue to flip downward; The transport platform can pass through the opening and enter the stacking area under the drive of the transport drive assembly; a avoidance opening is provided in the middle of the transport platform; The upper platform is provided with a lifting assembly in the stacking area, which can pass through the avoidance opening to place the material trays above the transport platform on four support plates for stacking and storage.

9. The AGV-based tray-type automatic loading device according to claim 1, characterized in that: The material receiving conveyor line adopts a double-row belt conveyor line; the double-row belt conveyor line at least includes a feeding area and a discharging area; a blocker is arranged between the feeding area and the discharging area; and third guide positioning plates are respectively arranged on both sides of the feeding area.

10. The AGV-based tray-type automatic loading device according to claim 9, characterized in that: The lifting mechanism includes a lifting seat arranged on the lower platform, two lifting guide rails vertically arranged on the lifting seat, a lifting frame slidably arranged on the two lifting guide rails, and a lifting drive assembly arranged on the lifting seat for driving the lifting frame to rise and fall; the lifting frame is located in the discharge area of ​​the double-row belt conveyor line in the vertical direction; the lifting frame is provided with two avoidance grooves for avoiding the double-row belt conveyor line, and fourth guide positioning plates are respectively arranged on both sides of the lifting frame.

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