A material frame circulation type CCD feeding equipment realizing AGV docking

Abstract

The application discloses a kind of material frame circulation type CCD feeding equipment for realizing AGV butt joint, and relates to the technical field of automatic feeding of circuit board.The equipment includes machine case, operation table, fine positioning product placement platform and material taking manipulator, and four components in operation table are arranged counterclockwise along circumference and form closed circulation path through material frame translation track, material taking manipulator grabs circuit board to fine positioning platform, and simultaneously grabs separator paper to stacking position, to realize accurate feeding in cooperation with initial positioning and fine positioning device.The core is designed through material frame self-circulation and buffer, reduces AGV butt joint frequency, realizes non-stop feeding and discharging, and is suitable for stamping processing scene of circuit board (circuit board and separator paper in material frame are alternately stacked).

Description

Technical Field

[0001] The present invention relates to the technical field of automated feeding, and in particular to a frame-circulating CCD feeding device for achieving AGV docking. Background Art

[0002] First, AGV docking is inefficient and leads to significant downtime. While most production lines currently use AGVs for material frame transfer, the docking mechanism between the equipment and the AGVs suffers from significant flaws: Traditional equipment typically features only a single inlet and outlet, requiring both empty and full frames to be loaded and unloaded through the same interface. This means the AGV must remove an empty frame before it can deliver a full one. This entire process requires equipment downtime while waiting for the AGV to operate, severely impacting production continuity. This is particularly true in mass production of circuit boards, where dozens of loading and unloading operations are performed per hour. Frequent downtime can reduce equipment efficiency by over 30%, significantly hindering capacity expansion.

[0003] Secondly, the material frame circulation and buffering mechanism suffers from structural flaws. Traditional equipment often uses a "single-line flow" model for material frame processing. This means that after a material frame enters the feed port and is loaded, it flows directly out the same outlet, lacking any intermediate buffering. This design leads to two key issues: First, when a material frame is completely empty, production cannot resume until the AGV delivers a new frame, preventing non-stop restocking. Second, the storage areas for empty and full material frames overlap. If the AGV is delayed in scheduling, the accumulation of empty frames will occupy space in the feed port, further increasing the risk of production interruption. For products such as circuit boards that require continuous processing, even a few minutes of downtime can disrupt the batch production rhythm and increase the difficulty of coordinating subsequent processes.

[0004] Finally, there is insufficient coordination between positioning accuracy and paper separation processing. As a precision electronic component, the circuit board has a processing accuracy requirement of ±0.1mm, and positioning deviations during the loading process may directly lead to scrap in subsequent welding, stamping and other processes. The positioning of traditional equipment mostly relies on mechanical limits or single visual positioning. The former is prone to loss of accuracy due to wear, and the latter is greatly affected by ambient light and product posture, making it difficult to stably meet high-precision requirements. At the same time, the alternating stacking characteristics of circuit boards and paper separations place higher demands on automated processing: the material removal and paper separation removal actions of traditional equipment are often completed separately by independent mechanisms, which not only increases the complexity of the equipment structure, but also easily leads to problems such as paper separation residue and misplaced stacking due to asynchronous actions. Frequent manual intervention is required, which seriously affects production efficiency. In addition, the material frame after the paper separation is stacked lacks intelligent sensing and scheduling mechanisms. It is often the case that the AGV is not notified in time to take it away after it is full of material, which further restricts the smoothness of the production line. Summary of the Invention

[0005] The purpose of the present invention is to provide a material frame circulation type CCD loading equipment for realizing AGV docking, so as to solve the problems of low AGV docking efficiency, discontinuous material frame flow, insufficient positioning accuracy and poor process coordination in the existing technology, realize material frame self-circulation, reduce AGV docking frequency, and improve positioning accuracy and automation level.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A material frame circulation type CCD feeding device for realizing AGV docking, comprising:

[0008] Chassis, which serves as the basic mounting frame for the equipment;

[0009] An operating table is fixedly installed inside the chassis, and the operating table is provided with an incoming material buffer position component, a product waiting position component, a separator paper stacking and unloading position component, and a separator paper unloading and buffer position component in sequence counterclockwise along the circumference. Adjacent components are connected by a material frame translation track to form a closed material frame circulation path;

[0010] The incoming material buffer position assembly is provided with a first material frame translation track and a first docking sensor;

[0011] The product waiting-to-take material position component is provided with a second material frame translation track and a first material frame lifting and feeding component, and the first material frame lifting and feeding component is provided with a fifth material frame translation track and a product arrival sensor;

[0012] The separator stack lower material level assembly is provided with a third material frame translation track and a second material frame lifting and feeding assembly, and the second material frame lifting and feeding assembly is provided with a sixth material frame translation track;

[0013] The paper separator unloading buffer assembly is provided with a fourth material frame translation track and a second docking sensor;

[0014] The first to fourth material frame translation rails extend in the same direction and are all perpendicular to the Y-axis slide rail seat of the material retrieving robot; the fifth and sixth material frame translation rails extend in the same direction and are all parallel to the Y-axis slide rail seat;

[0015] The precise positioning product placement platform is set on the common side of the operating table's incoming material buffer component and the product waiting position component, including:

[0016] A precision positioning device, the base of which is fixedly connected to the Y-axis slide rail seat of the retrieving manipulator and is installed below the vacuum adsorption platform;

[0017] A vacuum adsorption platform is provided with a platform translation X-axis assembly and a platform translation Y-axis assembly at the bottom, the base of the platform translation X-axis assembly is fixedly connected with the case, and the platform translation Y-axis assembly is slidingly assembled on the platform translation X-axis assembly;

[0018] A positioning device translation assembly is provided with a base fixedly connected with the case and arranged between the vacuum adsorption platform and the product to-be-taken material position assembly, and the fine positioning device is slidingly assembled on the positioning device translation assembly;

[0019] A material taking manipulator is installed above the common side of the product to-be-taken material position assembly and the paper separator stacking material position assembly of the operation table and comprises:

[0020] A manipulator Y-axis assembly comprises a Y-axis sliding rail seat fixedly installed on the common side of the product to-be-taken material position assembly and the paper separator stacking material position assembly of the operation table;

[0021] A support frame is slidingly assembled at the bottom of the Y-axis sliding rail seat;

[0022] A manipulator X-axis assembly comprises an X-axis sliding rail seat, and the bottom of the X-axis sliding rail seat is fixedly connected with the top of the support frame;

[0023] A manipulator Z-axis assembly comprises a Z-axis sliding rail seat, and the Z-axis sliding rail seat is slidingly assembled on the X-axis sliding rail seat;

[0024] A manipulator R-axis assembly is rotationally assembled at the lower end of the manipulator Z-axis assembly;

[0025] A product taking suction disc is installed at the bottom of the manipulator R-axis assembly and synchronously rotates with the manipulator R-axis assembly;

[0026] A paper separator taking suction disc is fixedly installed at the middle position of the bottom of the X-axis sliding rail seat, remains relatively stationary with the X-axis sliding rail seat and cannot slide along the X-axis direction, and is provided with an independent Z-axis driving mechanism and can independently control the lifting action along the Z-axis direction;

[0027] A preliminary positioning device is fixedly installed at the top of the case, the detection end thereof faces the product to-be-taken material position assembly below in the vertical direction, and is used for preliminarily positioning the product on the product to-be-taken material position assembly;

[0028] The first docking sensor and the second docking sensor are both used to sense the docking of AGV equipment. The first material frame lifting and feeding assembly and the second material frame lifting and feeding assembly both include a mounting plate and a top plate. The mounting plate is arranged on the top of the top plate and is parallel to the top plate. The product arrival sensor is fixedly arranged on the edge of the mounting plate.

[0029] The workflow of the present invention is as follows:

[0030] The AGV delivers a material frame containing circuit boards (alternately stacked with separator paper) through the incoming material buffer assembly. After the first docking sensor confirms docking, the material frame flows counterclockwise along a closed loop path to the product waiting position assembly.

[0031] The initial positioning device performs initial positioning on the circuit board on the product to be taken material level component, and the product taking suction cup grabs the circuit board according to the positioning information and transfers it to the vacuum adsorption platform of the fine positioning product placement platform, and the fine positioning device performs fine positioning on the product;

[0032] When the material-taking manipulator returns from the precise positioning product placement platform to the top of the product to-be-taken material position component, the spacer paper-taking suction cup synchronously takes the spacer paper and moves it to the spacer paper stacking lower material position component;

[0033] When the product in the material frame of the product waiting to be taken material level component is completely taken out (detected by the product arrival sensor), the empty material frame is translated to the lower material level component of the paper stacking through the fifth material frame translation track of the first material frame lifting and feeding component, and at the same time, the material frame with material in the incoming material buffer position component is translated to the product waiting to be taken material level component for replenishment;

[0034] After the empty material frame flows through the second material frame lifting and feeding component of the paper stacking and unloading component, it continues to flow counterclockwise to the paper unloading cache component until the second docking sensor triggers the AGV to take away the full paper material frame, completing the material frame cycle.

[0035] Beneficial effects

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] Material frame self-circulation and cache design: Through closed loop paths and cache components, the material frame can flow autonomously within the equipment, reducing the frequency of AGV docking, achieving non-stop loading and unloading, and improving equipment utilization.

[0038] High-precision positioning: Combining the initial positioning device with the fine positioning device, it ensures the positioning accuracy of the circuit board and meets the requirements of precision processing.

[0039] Motion coordination optimization: The product picking action and the separator paper picking action are connected in a coherent manner. After the product picking suction cup completes product transfer, the separator paper picking suction cup action is synchronously triggered during the return process of the material picking robot, avoiding the time waste of independent actions, improving the overall efficiency of material loading and separator paper processing, and reducing process connection delays.

[0040] Strong adaptability: Designed for the alternating stacking of circuit boards and separators, it is suitable for automated loading of various plate-like products that require separator protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 Schematic diagram of the structure of the material frame circulation type CCD feeding equipment for achieving AGV docking of the present invention;

[0042] Figure 2 Schematic diagram of the internal structure of the chassis of the material frame circulation type CCD loading equipment for achieving AGV docking of the present invention;

[0043] Figure 3 Schematic diagram of the operating table structure of the material frame circulation type CCD loading equipment for achieving AGV docking of the present invention;

[0044] Figure 4 It is a structural schematic diagram of the material reclaiming manipulator of the present invention;

[0045] Figure 5 This is a structural diagram of the material reclaiming manipulator of the present invention from another angle;

[0046] Figure 6 A schematic structural diagram of the precise positioning product placement platform of the present invention;

[0047] Figure 7 This is a structural schematic diagram of the precise positioning product placement platform of the present invention from another angle. DETAILED DESCRIPTION

[0048] The following will be combined with the accompanying drawings to clearly and completely describe the solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0049] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0050] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element.

[0051] In addition, the descriptions of "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention. The following is a detailed description of the specific implementation plan with reference to the accompanying drawings.

[0052] Please refer to Figures 1 to 7 , Figure 1 This is a schematic diagram of the overall structure and installation relationship of a material frame circulation-type CCD loading device for AGV docking. As can be seen from the figure, the entire device is based on chassis 100, and all functional components are installed inside or on top of chassis 100. An operating table 101 is fixed inside chassis 100. Arranged counterclockwise along its surface are an incoming material buffer assembly 120, a product waiting level assembly 130, a paper stacking and unloading level assembly 140, and a paper unloading and buffer assembly 150. These four components are connected in sequence via a material frame translation track, forming a closed loop path for the autonomous circulation of the material frame within the device.

[0053] The material picking robot 110 is installed above the common side of the product waiting to be picked up level component 130 and the separator paper stacking lower level component 140 of the operating table 101. Its range of action covers the product waiting to be picked up level, the precision positioning product placement platform 160 and the separator paper stacking lower level, and is used to complete the grabbing and transfer of products and separator paper. The precision positioning product placement platform 160 is set on the common side of the incoming material buffer position component 120 and the product waiting to be picked up level component 130 of the operating table 101, and serves as a temporary storage area after the product is positioned, waiting for the subsequent process to pick up the material. The initial positioning device 170 is fixed on the top of the chassis 100, facing the product waiting to be picked up level component 130, and is used to perform preliminary position identification on the product in the material frame 102.

[0054] Please refer to Figure 2 and Figure 3 , Figure 2 It is clear that the structural connection and function of the core components of the equipment are as follows:

[0055] 1. Operation table 101 and material frame track assembly (refer to Figure 2 and Figure 3 )

[0056] Incoming material buffer position component 120: A first docking sensor 121 is installed on the side to sense the docking position of the AGV to ensure accurate docking between the AGV and the equipment; a first material frame translation track 122 is provided on the component, one end of which is docked with the discharge port of the AGV, and the other end is connected with the second material frame translation track 132 of the product waiting-to-be-taken material position component 130. Its function is to receive the material frame 102 sent in by the AGV and transmit it to the product waiting-to-be-taken material position component 130.

[0057] The product waiting-to-be-picked material position component 130 is provided with a second material frame translation track 132 for receiving the material frame conveyed by the incoming material buffer position component 120; a first material frame lifting and feeding component 131 is installed at the bottom of the component, and the component includes a parallel mounting plate 134 and a top plate 136, the mounting plate 134 is fixed to the bottom of the operating table 101, and the top plate 136 is connected to the mounting plate 134 through a lifting mechanism, and can be lifted and lowered in the vertical direction; a product in-place sensor 135 is fixed on the edge of the mounting plate 134 for detecting whether the material frame has reached the material picking position; a fifth material frame translation track 133 is provided on the top plate, which adopts a worm gear slider structure and is driven by a motor. When the top plate rises and pushes the material frame away from the second material frame translation track 132, the fifth material frame translation track 133 can drive the material frame to move in a direction parallel to the Y-axis, and can translate the material frame to the material frame placement position in the material position component 140 under the paper stack, and accurately adjust the material frame position to the operating range of the material picking robot 110.

[0058] The lower material level component 140 for stacking interleaving paper: is provided with a third material frame translation track 142, which is used to receive the empty material frame transmitted by the product waiting to be taken material level component 130; a second material frame lifting and feeding component 141 is installed at the bottom of the component, and is provided with a sixth material frame translation track 143, which is consistent with the direction of the fifth material frame translation track 133. Its function is to receive the empty material frame and adjust the position to facilitate the taking of the interleaving paper suction cup 116 to put the interleaving paper into the material frame to complete the interleaving paper stacking.

[0059] Interval paper unloading buffer position component 150: It is equipped with a fourth material frame translation track 152, which is connected with the third material frame translation track 142 of the interval paper stacking unloading position component 140, and is used to receive the material frame filled with interval paper; a second docking sensor 151 is installed on the component. When the interval paper in the material frame is stacked to a preset amount, the sensor sends a signal to the AGV to notify it to take away the material frame.

[0060] The coordinated relationship of the material frame translation rails: the extension directions of the first to fourth material frame translation rails 152 are consistent, and are all axially consistent with the X-axis slide rail seat of the material picking robot 110. The motor drives the slider to drive the material frame to translate along the rail, realizing the lateral flow of the material frame between adjacent components; the fifth and sixth material frame translation rails 143 are axially parallel to the Y-axis slide rail seat 1120, and cooperate with the jacking mechanism to realize the longitudinal position adjustment of the material frame, so that the material frame is always in a precise position during the material picking and stacking process.

[0061] 2. Reclaiming manipulator 110 (reference Figure 4 and Figure 5 )

[0062] Manipulator Y-axis assembly 112: includes a Y-axis slide rail seat 1120, which is fixed to the common side of the product waiting level assembly 130 and the paper stacking lower level assembly 140 of the operating table 101. The slide rail seat is equipped with a slider, which is connected to the bottom of the support frame 117. The ball screw driven by the motor drives the slider to slide along the Y-axis, thereby realizing the overall movement of the manipulator along the Y-axis direction.

[0063] Manipulator X-axis assembly 111: includes an X-axis slide rail seat 1110, the bottom of which is fixedly connected to the top of the support frame 117 and moves along the Y-axis with the support frame 117; the X-axis slide rail seat 1110 is equipped with a slider, which is connected to the manipulator Z-axis assembly. The motor drives the ball screw to drive the slider to slide along the X-axis, realizing the X-axis movement of the Z-axis assembly and the end suction cup.

[0064] Manipulator Z-axis assembly 113: includes Z-axis slide rail seat 1130, which is slidably assembled on the slider of X-axis slide rail seat 1110, and is driven by a motor to rise and fall along the Z-axis, driving the end product suction cup 115 and the spacer paper suction cup 116 to move vertically and adjust the gripping height.

[0065] Manipulator R-axis assembly 114: Rotatably assembled at the lower end of the Z-axis slide rail seat 1130, it is driven by a motor through a reducer and can rotate around the Z-axis; the product suction cup 115 is installed at the bottom of the R-axis assembly and rotates synchronously with the R-axis. In conjunction with the detection results of the initial positioning device 170, the product angle is adjusted by rotation to ensure accurate product grasping direction.

[0066] Take the spacer paper suction cup 116: the base is fixed in the middle position of the bottom of the X-axis slide seat 1110, and there is no relative sliding with the X-axis slide seat 1110; the suction cup is equipped with an independent Z-axis drive motor and slider structure, and can be independently raised and lowered along the Z-axis without relying on the robot Z-axis assembly. When the material taking robot 110 returns from the precision positioning platform to the top of the product to be taken material level assembly 130, the spacer paper suction cup 116 can synchronously descend to grab the spacer paper, and under the drive of the X-axis and Y-axis assemblies, the spacer paper is moved to the spacer paper stacking lower material level assembly 140.

[0067] 3. Precision positioning product placement platform 160 (reference Figure 6 and Figure 7 )

[0068] Vacuum adsorption platform 162: The surface is evenly distributed with adsorption holes, and negative pressure is provided by a vacuum pump to adsorb and fix the product to prevent the product from shifting during positioning. The bottom of the platform is equipped with a platform translation X-axis assembly 163 and a platform translation Y-axis assembly 164. Both are driven by motor-driven sliders to drive the platform to fine-tune along the X-axis and Y-axis directions to achieve product position calibration.

[0069] Precision positioning device 161: uses an industrial camera with a lens, installed below the vacuum adsorption platform 162, with the lens facing upward to capture the positioning mark on the bottom of the product; the precision positioning device 161 is slidably assembled on the positioning device translation component 165, the base of which is fixed to the chassis 100. The motor drives the slider to move the precision positioning device 161 along the X-axis to adjust the shooting position; the precision positioning device 161 cooperates with the primary positioning device 170 to calculate the product deviation through image recognition, control the platform translation component to adjust the product position, and achieve high-precision positioning.

[0070] Positioning device translation assembly 165: It is arranged between the vacuum adsorption platform 162 and the product to-be-taken material level assembly 130, and its function is to drive the precise positioning device 161 to move to adapt to the positioning requirements of products of different sizes.

[0071] Both the primary positioning device 170 and the fine positioning device 161 use industrial cameras, which together form a two-level visual positioning system from coarse to fine, providing a reliable position reference for the precise grasping and placement of circuit boards.

[0072] The initial positioning device 170 is an area array camera mounted on a fixed bracket at the top of the chassis 100. Its lens is pointed vertically downward, directly facing the material frame pickup area of ​​the product pickup position assembly 130. Its function is to identify the overall position of the topmost circuit board in the material frame before the pickup robot 110 grabs the product. By capturing the characteristic patterns or edge contours on the circuit board's surface, it quickly determines the approximate placement and angular deviation of the circuit board within the material frame. This provides a preliminary positional reference for the pickup robot 110's grasping action, ensuring that the product suction cup 115 accurately aligns with the circuit board's grasping area, avoiding grasping deviation caused by frame placement errors.

[0073] The precision positioning device 161 is a high-precision area array camera mounted directly below the vacuum platform 162, with its lens facing vertically upward, directly toward the product placement area on the platform. After the circuit board is transferred to the vacuum platform 162 and secured by suction, the precision positioning device 161 captures high-definition images of the board's positioning references (such as positioning holes and edge markings). By identifying subtle positional deviations and utilizing the translation assembly at the bottom of the vacuum platform 162, the precision positioning device 161 finely adjusts the board's position. Its core function is to eliminate minor positioning errors that may occur during initial positioning and transfer, ensuring that the board's positioning accuracy meets subsequent processing requirements and ensures precise docking when the robot retrieves the board.

[0074] The two cameras work together through a visual processing system. Initial positioning solves the problem of "accurate grasping" and fine positioning solves the problem of "precise placement". Together, they form a complete positioning chain from grasping to placement, adapting to the processing needs of precision products such as circuit boards.

[0075] When working, the coordinated operation relationship of the entire equipment is as follows:

[0076] When the equipment is working, the AGV docks with the incoming material buffer position component 120 through the first docking sensor 121, and feeds the material frame 102 into the equipment. The material frame flows counterclockwise along the first to fourth material frame translation rails 152 (perpendicular to the Y-axis direction) to the product waiting position component 130; the first material frame lifting and feeding component 131 lifts the material frame and adjusts its position through the fifth material frame translation rail 133. After the initial positioning device 170 detects the product position, the product suction cup 115 moves to the top of the product under the drive of the X, Y, and Z axis components, and cooperates with the R The axis assembly is rotated and adjusted to grab the product and transfer it to the precision positioning product placement platform 160; after the vacuum adsorption platform 162 fixes the product, the precision positioning device 161 adjusts the product position to a precise positioning through the platform translation assembly; when the material picking robot 110 returns, the paper separation suction cup 116 independently lifts and grabs the paper separation, and transfers it to the material frame of the paper separation stacking lower material level assembly 140; when the product in the material frame of the product to be picked up material level assembly 130 is taken out, the empty material frame is transferred to the paper separation stacking lower material level assembly 140 via the second box third material frame translation track 142, and the second material frame lifts the feeding assembly 141 to adjust the position to receive the paper separation, and finally the material frame full of paper separation is transferred to the paper separation material cache assembly 150 via the fourth material frame translation track 152, and the second docking sensor 151 notifies the AGV to take it away, completing the entire material frame 102 cycle.

[0077] The above components realize the automatic flow of material frames, precise grasping and positioning of products and separators through the coordinated cooperation of transmission structures such as motors, sliders, worm gears, etc., which greatly improves the automation level and operating efficiency of the equipment.

[0078] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. Any equivalent structural transformation made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields, is included in the scope of protection of the present invention.

Claims

1. A material frame circulation type CCD feeding equipment for realizing AGV docking, characterized in that: include: Chassis; An operating table is fixedly installed inside the chassis, and the operating table is provided with an incoming material buffer position component, a product waiting-to-be-taken material position component, a separator paper stacking material position component, and a separator paper unloading buffer position component. Along the circumference of the operating table, the incoming material buffer position component, the product waiting-to-be-taken material position component, the separator paper stacking material position component, and the separator paper unloading buffer position component are arranged in sequence in a counterclockwise direction, and adjacent two components are connected by a material frame translation track to form a closed material frame circulation path; The precise positioning product placement platform is set on the common side of the incoming material buffer component and the product waiting to be taken component of the operating table; A material-picking robot is installed above the common side of the product waiting-to-pick material level component and the partition paper stacking lower material level component of the operating table, and is used to grab products from the material frame of the product waiting-to-pick material level component and transfer them to the precision positioning product placement platform, and at the same time grab the partition paper from the material frame of the product waiting-to-pick material level component and transfer it to the partition paper stacking lower material level component; the precision positioning product placement platform includes a precision positioning device and a vacuum adsorption platform, the base of the precision positioning device is fixedly connected to the Y-axis slide rail seat of the material-picking robot, and the precision positioning device is installed below the vacuum adsorption platform; Among them, an initial positioning device is fixedly installed on the top of the chassis, and the detection end of the initial positioning device is facing the product waiting-to-take material position component below in the vertical direction; a first docking sensor is provided on the incoming material cache position component, and a second docking sensor is provided on the paper separation material cache position component. The first docking sensor and the second docking sensor are both used to sense the docking AGV equipment.

2. The material frame circulation type CCD feeding equipment for realizing AGV docking according to claim 1 is characterized in that: The material-taking robot comprises a robot X-axis assembly, a robot Y-axis assembly, a robot Z-axis assembly, a robot R-axis assembly, a product-taking suction cup, and a spacer paper-taking suction cup. The robot Y-axis assembly comprises a Y-axis slide rail seat, and the Y-axis slide rail seat is fixedly mounted on one side of the operating table, and the side is a common side of the product to-be-taken material position assembly and the spacer paper stacking lower material position assembly; the robot X-axis assembly is slidably assembled on the Y-axis slide rail seat of the robot Y-axis assembly, the robot Z-axis assembly is slidably assembled on the robot X-axis assembly, and the robot R-axis assembly is rotatably assembled on the lower end of the robot Z-axis assembly, the product-taking suction cup is mounted on the bottom of the robot R-axis assembly, and rotates synchronously with the robot R-axis assembly, the base of the spacer paper-taking suction cup is fixedly mounted at the bottom middle position of the robot X-axis assembly, and remains relatively stationary with the robot X-axis assembly, and cannot move along the robot X Axial sliding of the axis assembly; the spacer paper taking suction cup is equipped with an independent Z-axis drive mechanism, which can independently control its own lifting and lowering movement along the Z-axis direction. After the AGV sends the material frame through the incoming material buffer position assembly, the material frame flows in a counterclockwise direction along the closed loop path to the product to-be-taken material position assembly; the product taking suction cup takes the product from the material frame of the product to-be-taken material position assembly to the precise positioning product placement platform. When the manipulator returns from the precise positioning product placement platform to the top of the product to-be-taken material position assembly, the spacer paper taking suction cup synchronously takes the spacer paper to the spacer paper stacking lower material position assembly; when the product in the material frame of the product to-be-taken material position assembly is exhausted, the empty material frame is translated along the material frame translation track to the spacer paper stacking lower material position assembly, and at the same time, the material frame with material in the incoming material buffer position assembly is translated to the product to-be-taken material position assembly for replenishment; subsequent empty material frames continue to flow in a counterclockwise direction to the spacer paper unloading cache position assembly until the second docking sensor triggers the AGV. Remove the full paper feed frame to complete the feed frame cycle.

3. The frame circulation type CCD feeding equipment for achieving AGV docking according to claim 2 is characterized in that: The material picking robot also includes a support frame, and the robot X-axis assembly includes an X-axis slide seat. The bottom of the support frame is slidably assembled on the Y-axis slide seat, and the top of the support frame is fixedly connected to the bottom of the X-axis slide seat. The base of the paper removal suction cup is fixedly installed in the middle position of the bottom of the X-axis slide seat.

4. The frame circulation type CCD feeding equipment for achieving AGV docking according to claim 3, characterized in that: The manipulator Z-axis assembly includes a Z-axis slide rail seat, and the Z-axis slide rail seat is slidably assembled on the X-axis slide rail seat.

5. The frame circulation type CCD feeding equipment for achieving AGV docking according to claim 1, characterized in that: The incoming material cache position assembly is provided with a first material frame translation track, the product waiting material position assembly is provided with a second material frame translation track, the partition paper stacking material position assembly is provided with a third material frame translation track, and the partition paper unloading cache position assembly is provided with a fourth material frame translation track. The extension directions of the first material frame translation track, the second material frame translation track, the third material frame translation track, and the fourth material frame translation track are consistent and are all perpendicular to the axial direction of the Y-axis slide rail seat.

6. The frame circulation type CCD feeding equipment for achieving AGV docking according to claim 5, characterized in that: The product waiting to be taken material level component is further provided with a first material frame lifting and feeding component, which is arranged directly below the material frame placement position of the product waiting to be taken material level component; The first material frame lifting and feeding assembly is provided with a fifth material frame translation track, and the extension direction of the fifth material frame translation track is parallel to the axial direction of the Y-axis slide rail seat.

7. The frame circulation type CCD feeding equipment for achieving AGV docking according to claim 6, characterized in that: The paper separator stack lower material level component is further provided with a second material frame lifting and feeding component, which is arranged directly below the material frame placement position of the paper separator stack lower material level component; The second material frame lifting and feeding assembly is provided with a sixth material frame translation track, and the extension direction of the sixth material frame translation track is consistent with the extension direction of the fifth material frame translation track.

8. The frame circulation type CCD feeding equipment for achieving AGV docking according to claim 6, characterized in that: The first material frame lifting and feeding assembly is provided with a mounting plate, a top plate, and a product arrival sensor. The mounting plate is arranged on the top of the top plate, the mounting plate and the top plate are arranged parallel to each other, and the product arrival sensor is fixedly arranged on the edge of the mounting plate.

9. The frame circulation type CCD feeding equipment for achieving AGV docking according to claim 1, characterized in that: The precise positioning product placement platform also includes a positioning device translation assembly, the base of which is fixedly connected to the chassis, and the positioning device translation assembly is arranged between the vacuum adsorption platform and the product waiting position assembly, and the precise positioning device is slidably assembled on the positioning device translation assembly.

10. The frame circulation type CCD feeding equipment for achieving AGV docking according to claim 9, characterized in that: A platform translation X-axis assembly and a platform translation Y-axis assembly are provided at the bottom of the vacuum adsorption platform. The base of the platform translation X-axis assembly is fixedly connected to the chassis, and the platform translation Y-axis assembly is slidably assembled on the platform translation X-axis assembly.

Images