CNC (Computer Numerical Control) tray automatic feeding equipment for series AGV (Automatic Guided Vehicle)

Abstract

The utility model relates to the technical field of automatic feeding equipment, and discloses CNC (computer numerical control) tray automatic feeding equipment for serially connecting AGVs (automatic guided vehicles), which comprises a rack fence, a power interface is arranged on one side of the top of the rack fence, damping ground feet are fixedly connected to four corners of the bottom of the rack fence, a plurality of control keys are arranged on one side of the rack fence, and the control keys are connected with the power interface. A touch screen is arranged on one side of the machine frame fence and located above the control keys, three-color light bars are installed on the two sides of the outer portion of the machine frame fence, an air source connector is arranged on the outer side of the machine frame fence and located below the control keys, and a driver box is arranged at the top of the machine frame fence. According to the feeding device, four watch middle frames can be fed at a time, and the feeding rhythm can still reach 2S / PCS; the AGV can be connected in series to feed the whole stack of trays; when the AGV is in abnormal downtime, the whole stack of CNC material trays can be manually carried to perform the action of feeding the material trays; and the modular design can be matched with any functional equipment for use.

Description

Technical Field

[0001] This utility model relates to the field of automatic feeding equipment technology, and in particular to a CNC tray automatic feeding device for tandem AGVs. Background Technology

[0002] In today's manufacturing industry, with continuous technological advancements, products are becoming increasingly sophisticated and intelligent. Taking the CNC machining of aluminum watch frames for smartwatches as an example, the material loading process demands extremely high precision. Currently, in the CNC machining industry, using CNC trays as carriers for loading watch frames offers significant advantages. CNC trays not only avoid damaging the product but are also less susceptible to damage themselves, are reasonably priced, and ensure high positioning accuracy of the product within the tray. Therefore, they have become the primary material loading carrier in the CNC machining process for watch frames.

[0003] Existing automated CNC tray feeding equipment typically employs a single feeding method, mostly relying on AGVs (Automated Guided Vehicles) to transport stacks of trays. The mechanical principle primarily involves the AGV's automated navigation system precisely transporting the fully loaded CNC trays to the designated position on the feeding equipment. The feeding equipment then uses a robotic arm or other transfer device to pick up the products from the trays one by one and place them onto the CNC machining equipment for processing. When the AGV is operating normally, this feeding method enables a highly efficient and automated production process, improving production efficiency and reducing manual intervention.

[0004] However, in actual production scenarios, the existing technology relying on a single AGV for material supply has significant problems. For example, in some large smartwatch manufacturing plants, AGVs need to operate in complex production workshop environments with frequent personnel and equipment movement and numerous electromagnetic interference factors. When an AGV malfunctions, such as navigation system interference, sudden power outages due to insufficient battery power, or mechanical component failures preventing the normal transport of material trays, the entire material feeding process is forced to stop. Due to the lack of backup material supply methods, manual handling of entire stacks of CNC material trays is impossible, forcing CNC machining equipment to stop working, severely impacting production progress, causing a significant drop in production efficiency, and even delaying product delivery, resulting in economic losses for the company. Therefore, this art proposes an automatic CNC material tray feeding device for cascaded AGVs to solve the above problems. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a CNC tray automatic feeding device for cascaded AGVs, aiming to improve the problem in the existing CNC tray automatic feeding device that uses AGV carts to transport stacks of materials for feeding, and cannot feed materials when the AGV malfunctions.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A CNC tray automatic feeding device for AGVs in series, comprising a frame enclosure, a power interface provided on one side of the top of the frame enclosure, shock-absorbing feet fixedly connected to the four corners of the bottom of the frame enclosure, multiple control buttons provided on one side of the frame enclosure, a touch screen provided on one side of the frame enclosure and located above the control buttons, three-color light strips installed on both outer sides of the frame enclosure, an air source interface provided on the outer side of the frame enclosure and located below the control buttons, a drive box provided on the top of the frame enclosure, and an FFU installed on the outer side of the drive box.

[0007] Furthermore, a full-material CNC tray production line input mechanism is installed inside the frame enclosure. The full-material CNC tray production line input mechanism is located in the lower layer inside the frame enclosure. One end of the full-material CNC tray production line input mechanism is provided with a full-material CNC tray Z-axis lifting mechanism. The full-material CNC tray Z-axis lifting mechanism includes a full-material CNC tray lifting module. A four-axis material handling mechanism is installed inside the frame enclosure.

[0008] Furthermore, a QR code reading mechanism is installed on the inner side of the frame enclosure, and an empty CNC material tray handling mechanism is fixedly connected inside the frame enclosure and located above the full CNC material tray production line input mechanism.

[0009] Furthermore, an empty CNC tray Z-axis lifting mechanism is installed inside the frame enclosure and is located below the four-axis material handling mechanism. The empty CNC tray Z-axis lifting mechanism includes an empty CNC tray lifting module. An empty CNC tray production line output mechanism is set inside the frame enclosure and is located in the lower layer inside the frame enclosure.

[0010] Furthermore, the full CNC tray production line input mechanism includes a full CNC tray flat belt conveyor, which is installed inside the lower layer of the frame enclosure. Multiple full CNC tray separating cylinders and full CNC tray blocking cylinders are installed on the top of the full CNC tray flat belt conveyor, and multiple full CNC tray receiving sensors are installed on the outside of the full CNC tray flat belt conveyor.

[0011] Furthermore, a full CNC tray positioning cylinder is installed at one end of the full CNC tray flat belt conveyor, and a full CNC tray rising to position sensor is installed on the outside of the full CNC tray positioning cylinder, and is located above the full CNC tray material arrival sensor.

[0012] Furthermore, the four-axis material handling mechanism includes an X-axis linear motor, a Y-axis module, a Z-axis electric cylinder, and a Q-axis rotary cylinder. The X-axis linear motor is mounted inside the frame enclosure. The Y-axis module is installed at the output end of the X-axis linear motor. The Z-axis electric cylinder is installed on the movable seat of the Y-axis module. The Q-axis rotary cylinder is installed at the output end of the Z-axis electric cylinder. Multiple vacuum suction cups are fixedly connected to the output end of the Q-axis rotary cylinder.

[0013] Furthermore, the QR code reading mechanism includes a reading camera, a reading lens, and a reading light source. The reading camera is installed inside the frame enclosure, the reading lens is installed outside the reading camera, and the reading light source is located outside the reading camera.

[0014] Furthermore, the empty CNC tray handling mechanism includes an empty tray handling module, which is installed inside the frame enclosure. A Z-axis lifting cylinder is installed on the outside of the empty tray handling module, and a clamping cylinder is installed on the outside of the Z-axis lifting cylinder.

[0015] Furthermore, the empty CNC tray production line output mechanism includes an empty CNC tray flat belt conveyor, which is installed inside the frame enclosure. The top of the empty CNC tray flat belt conveyor is equipped with multiple empty CNC tray blocking cylinders and empty CNC tray separating cylinders. The outside of the empty CNC tray flat belt conveyor is equipped with multiple empty CNC tray descent positioning sensors, and an empty CNC tray material arrival sensor is installed above the empty CNC tray descent positioning sensors.

[0016] This utility model has the following beneficial effects:

[0017] In this invention, an AGV (Automated Guided Vehicle) carries a stack of CNC trays to the input mechanism of a full-load CNC tray production line. The top tray is clamped and separated by the Z-axis lifting mechanism. A four-axis picking mechanism picks up four products one by one and moves them to the QR code reading mechanism for scanning. After completion, the products are placed in the AOI (Automated Guided Inspection) mechanism. When an empty tray appears, the empty CNC tray transport mechanism descends, and the empty CNC tray production line output mechanism removes the empty tray from the AGV. If the AGV malfunctions, the trays can be manually moved to fill or empty trays can be manually removed. This cycle repeats automatically to load products from the CNC trays. This solution can load four watch frames at a time, with a loading cycle of 2 seconds per piece. AGVs can be connected in series for loading stacks of trays. If the AGV malfunctions and malfunctions, the entire stack of CNC trays can be manually moved for loading. The modular design allows it to be used with any functional equipment. Attached Figure Description

[0018] Figure 1This is a perspective view of a CNC automatic material feeding device for AGVs connected in series, as proposed in this utility model.

[0019] Figure 2 This is a schematic diagram of the drive box structure of a CNC automatic material feeding device for series AGVs proposed in this utility model;

[0020] Figure 3 This is a schematic diagram of the internal structure of the frame enclosure of a CNC automatic material feeding device for AGVs in series according to the present invention.

[0021] Figure 4 This is a schematic diagram of the structure of an empty CNC tray handling mechanism for a CNC tray automatic feeding device for AGVs in series, as proposed in this utility model.

[0022] Figure 5 This is a schematic diagram of a full CNC tray flat belt conveyor for an automatic CNC tray feeding device for AGVs in series, as proposed in this utility model.

[0023] Figure 6 This is a schematic diagram of a CNC automatic material feeding device for AGVs connected in series, as proposed in this utility model;

[0024] Figure 7 This is a schematic diagram of a CNC automatic material feeding device for AGVs connected in series, as proposed in this utility model;

[0025] Figure 8 This is a schematic diagram of a full CNC tray lifting module structure for an automatic CNC tray feeding device for AGVs in series, as proposed in this utility model.

[0026] Figure 9 This is a schematic diagram of the empty tray handling module structure of a CNC tray automatic feeding device for series AGVs proposed in this utility model;

[0027] Figure 10 This is a schematic diagram of the empty CNC tray lifting module structure of an automatic CNC tray feeding device for AGVs in series, as proposed in this utility model.

[0028] Figure 11 This is a schematic diagram of an empty CNC tray flat belt conveyor for an automatic CNC tray feeding device for AGVs in series, as proposed in this utility model.

[0029] Legend:

[0030] 1. Vibration-damping feet; 2. Control buttons; 3. Touch screen; 4. Tri-color LED strip; 5. Power interface; 6. Air source interface; 7. Frame enclosure; 8. Driver box; 9. FFU; 10. Full CNC tray conveyor input mechanism; 11. Full CNC tray Z-axis lifting mechanism; 12. Four-axis material handling mechanism; 13. QR code reading mechanism; 14. Empty CNC tray handling mechanism; 15. Empty CNC tray Z-axis lifting mechanism; 16. Empty CNC tray conveyor output mechanism; 20. Full CNC tray flat belt conveyor; 21. Full CNC tray separating cylinder; 22. Full CNC tray blocking cylinder; 23. Full CNC tray receiving sensor; 24. Full... 25. CNC tray rising to position sensor; 31. Full CNC tray positioning cylinder; 40. Full CNC tray lifting module; 41. X-axis linear motor; 42. Y-axis module; 43. Z-axis electric cylinder; 44. Q-axis rotary cylinder; 50. Vacuum suction cup; 51. Code reader camera; 52. Code reader lens; 60. Code reader light source; 61. Empty tray handling module; 62. Z-axis lifting cylinder; 70. Clamping cylinder; 81. Empty CNC tray lifting module; 82. Empty CNC tray flat belt conveyor; 83. Empty CNC tray blocking cylinder; 84. Empty CNC tray separating cylinder; 85. Empty CNC tray falling to position sensor; 86. Empty CNC tray receiving sensor. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Reference Figures 1-11This utility model provides an embodiment of an automatic CNC tray feeding device for cascading AGVs, comprising a frame enclosure 7, a power interface 5 on one side of the top of the frame enclosure 7, shock-absorbing feet 1 fixedly connected to the four corners of the bottom of the frame enclosure 7, multiple control buttons 2 on one side of the frame enclosure 7, a touch screen 3 on one side of the frame enclosure 7 located above the control buttons 2, three-color light strips 4 installed on both sides of the outer side of the frame enclosure 7, an air source interface 6 located on the outer side of the frame enclosure 7 located below the control buttons 2, a driver box 8 on the top of the frame enclosure 7, and an FFU 9 installed on the outer side of the driver box 8. The rack enclosure 7 houses a full-material CNC tray conveyor input mechanism 10, located on the lower level inside the rack enclosure 7. One end of the full-material CNC tray conveyor input mechanism 10 is equipped with a full-material CNC tray Z-axis lifting mechanism 11, which includes a full-material CNC tray lifting module 31. A four-axis material handling mechanism 12 is also installed inside the rack enclosure 7. A QR code reading mechanism 13 is installed on the inner side of the rack enclosure 7. An empty CNC tray transport mechanism 14 is fixedly connected inside the rack enclosure 7 and located above the full-material CNC tray conveyor input mechanism 10. An empty CNC tray Z-axis lifting mechanism 15 is installed inside the frame enclosure 7, located below the four-axis material handling mechanism 12. The empty CNC tray Z-axis lifting mechanism 15 includes an empty CNC tray lifting module 70. An empty CNC tray production line output mechanism 16 is also installed inside the frame enclosure 7, located in the lower layer of the frame enclosure 7. A full CNC tray production line input mechanism 10 includes a full CNC tray flat belt conveyor 20, which is installed in the lower layer of the frame enclosure 7. Multiple full CNC tray separating cylinders 21 and full CNC tray blocking cylinders 22 are installed on the top of the full CNC tray flat belt conveyor 20. Multiple full CNC tray receiving sensors 23 are installed on the outside of the full CNC tray flat belt conveyor 20. A full CNC tray positioning cylinder 25 is installed at one end of the full CNC tray flat belt conveyor 20. A full CNC tray rising to position sensor 24 is installed on the outside of the full CNC tray positioning cylinder 25 and is located above the full CNC tray receiving sensor 23. The four-axis material handling mechanism 12 includes an X-axis linear motor 40, a Y-axis module 41, a Z-axis electric cylinder 42, and a Q-axis rotary cylinder 43. The X-axis linear motor 40 is mounted inside the frame enclosure 7. The Y-axis module 41 is installed at the output end of the X-axis linear motor 40. The Z-axis electric cylinder 42 is installed on the moving seat of the Y-axis module 41. The Q-axis rotary cylinder 43 is installed at the output end of the Z-axis electric cylinder 42. Multiple vacuum suction cups 44 are fixedly connected to the output end of the Q-axis rotary cylinder 43.The QR code reading mechanism 13 includes a QR code camera 50, a QR code lens 51, and a QR code light source 52. The QR code camera 50 is installed inside the frame enclosure 7, the QR code lens 51 is installed outside the QR code camera 50, and the QR code light source 52 is located outside the QR code camera 50. The empty CNC tray handling mechanism 14 includes an empty tray handling module 60, which is installed inside the frame enclosure 7. A Z-axis lifting cylinder 61 is installed outside the empty tray handling module 60, and a clamping cylinder 62 is installed outside the Z-axis lifting cylinder 61. The empty CNC tray production line output mechanism 16 includes an empty CNC tray flat belt conveyor 80, which is installed inside the frame enclosure 7. Multiple empty CNC tray blocking cylinders 81 and empty CNC tray separating cylinders 82 are installed on the top of the empty CNC tray flat belt conveyor 80. Multiple empty CNC tray descent positioning sensors 83 are installed on the outside of the empty CNC tray flat belt conveyor 80, and an empty CNC tray material receiving sensor 84 is installed above the empty CNC tray descent positioning sensors 83.

[0033] Specifically, the frame enclosure 7 serves as the supporting framework for the entire equipment, bearing various core components. The power interface 5 on its top side provides a stable power supply to the equipment, ensuring the normal operation of all electrical components. The vibration-damping feet 1, fixed at the four corners of the bottom, effectively reduce vibrations during operation, ensuring the stability of the equipment. Multiple control buttons 2 on one side allow operators to easily perform basic operations such as start, stop, and pause. The touchscreen 3 above the control buttons 2 displays the equipment's operating status, parameter settings, and fault alarms, allowing operators to intuitively understand the equipment's working condition and make corresponding parameter adjustments. The tri-color light strips 4 installed on both sides of the frame enclosure 7 provide real-time feedback on the equipment's operating status through different color changes: green indicates normal operation, yellow indicates standby or warning, and red indicates a fault. The air source interface 6 below the control buttons 2 connects to an external air source, providing power to the pneumatic components in the equipment, such as various cylinders. The top-mounted drive unit 8 houses the drivers that control the operation of various motors and cylinders, enabling precise control of the equipment's movement. The externally mounted FFU 9 filters and purifies the air inside the equipment, ensuring a clean environment and preventing dust and other impurities from damaging precision components. The full-load CNC tray conveyor input mechanism 10, located on the lower layer inside the frame enclosure 7, is the entry point for stacks of CNC trays fully loaded with watch frames. The full-load CNC tray flat belt conveyor 20, installed on the lower layer inside the frame enclosure 7, serves as the main carrier for material transport, smoothly conveying the stack of trays by belt rotation. Multiple full-load CNC tray separating cylinders 21 mounted on its top can separate the stack of CNC trays one by one through telescopic movement, facilitating subsequent operations; the full-load CNC tray blocking cylinder 22 can block the forward movement of the stack of trays when necessary, awaiting further processing. Multiple full-load CNC tray receiving sensors 23 mounted on the outside detect the entry of a stack of trays, transmitting a signal to the control system upon detection. A full CNC tray positioning cylinder 25 is installed at one end of the full CNC tray flat belt conveyor 20. After the full CNC tray rise-to-position sensor 24 detects that the tray has risen to the correct position, it accurately positions the top CNC tray to ensure the accuracy of subsequent material handling operations. The full CNC tray Z-axis lifting mechanism 11, including the full CNC tray lifting module 31, slowly raises the entire stack of trays after the full CNC tray arrival sensor 23 detects the tray until the full CNC tray rise-to-position sensor 24 detects the tray. At this point, the full CNC tray lifting module 31 stops rising, placing the tray at the appropriate operating height. The four-axis material handling mechanism 12 plays a crucial role in the entire material handling process.The X-axis linear motor 40 is mounted inside the frame enclosure 7, enabling rapid horizontal movement. The Y-axis module 41 is installed at the output end of the X-axis linear motor 40, further expanding the material handling range. The Z-axis electric cylinder 42 is mounted on the moving seat of the Y-axis module 41, enabling precise vertical positioning. The Q-axis rotary cylinder 43 is installed at the output end of the Z-axis electric cylinder 42, with multiple vacuum suction cups 44 fixedly connected to its output end. Under the three-axis linkage of the X-axis linear motor 40, Y-axis module 41, and Z-axis electric cylinder 42, the rotation of the Q-axis rotary cylinder 43 and the suction effect of the vacuum suction cups 44 can simultaneously and accurately pick up four watch frame products. The QR code reading mechanism 13 includes a code reading camera 50, a code reading lens 51, and a code reading light source 52. A barcode reader camera 50 is installed inside the frame enclosure 7, and a barcode reader lens 51 is installed outside the barcode reader camera 50, responsible for clearly capturing the QR code image at the bottom of the watch frame. A barcode reader light source 52 is located outside the barcode reader camera 50, providing sufficient light for the barcode reading process to ensure accurate reading of the QR code. An empty CNC tray transport mechanism 14 is located above a full CNC tray conveyor input mechanism 10, and its empty tray transport module 60 is installed inside the frame enclosure 7, enabling horizontal material transport. An externally mounted Z-axis lifting cylinder 61 can drive the empty tray to rise and fall vertically; a clamping cylinder 62 installed outside the Z-axis lifting cylinder 61 is used to clamp or release the empty CNC tray. These three components work together to place the CNC tray, after the watch frame product has been removed, into the empty CNC tray Z-axis lifting mechanism 15. The empty CNC tray Z-axis lifting mechanism 15 is located below the four-axis material handling mechanism 12. The empty CNC tray lifting module 70, in conjunction with the empty CNC tray receiving sensor 84, enables the step-down stacking of empty CNC trays. When the designed quantity is reached, the empty CNC tray production line output mechanism 16 begins operation. The empty CNC tray production line output mechanism 16 is located inside the lower layer of the frame enclosure 7. The empty CNC tray flat belt conveyor 80 is installed inside the frame enclosure 7 and is responsible for conveying the entire stack of empty CNC trays outwards. Multiple empty CNC tray blocking cylinders 81 are installed at the top to block the entire stack of empty CNC trays, awaiting the arrival of the AGV (Automated Guided Vehicle). The empty CNC tray separating cylinder 82 separates the empty CNC trays after the AGV arrives, allowing only one stack of empty CNC trays to enter the AGV. Multiple empty CNC tray descent sensors 83 are installed on the outer side to detect whether the stack of empty CNC trays has descended to the correct position. An empty CNC tray arrival sensor 84 is installed above the empty CNC tray descent sensors 83 to detect the arrival of empty CNC trays.

[0034] Working principle: The AGV trolley carries a stack of CNC trays fully loaded with watch frames through a flat belt conveyor 20 into the CNC tray production line input mechanism 10. A CNC tray blocking cylinder 22 blocks the stack of trays, and a CNC tray separating cylinder 21 separates the trays. When the CNC tray receiving sensor 23 detects the stack, the CNC tray lifting module 31 in the CNC tray Z-axis lifting mechanism 11 lifts the entire stack of trays. After the rising sensor 24 detects the full CNC tray, the lifting module 31 stops rising. The full CNC tray positioning cylinder 25 positions and separates the uppermost CNC tray. After completion, the four-axis material handling mechanism 12 uses the X-axis linear motor 40, Y-axis module 41, and Z-axis electric cylinder 42 in three-axis linkage, along with the Q-axis rotary cylinder 43 and vacuum suction cup 44, to simultaneously pick up four watch frame products. The bottom of the watch frame is then read by the QR code reading mechanism 13 using the QR code reading camera 50, reading lens 51, and reading light source 52. After obtaining the QR code, four product pieces are placed into the variable-pitch mechanism of the AOI. After removing the watch frame product, the CNC tray is placed into the empty CNC tray Z-axis lifting mechanism 15 by the empty CNC tray transport module 60, Z-axis lifting cylinder 61, and clamping cylinder 62 of the empty CNC tray transport mechanism 14. The empty CNC tray is then stacked by step-down movement using the empty CNC tray lifting module 70 and the empty CNC tray receiving sensor 84. When the stacking reaches the designed quantity, the empty CNC tray output mechanism 16 outputs the empty CNC tray. When the tray descends to the designated position, sensor 83 detects the entire stack of empty CNC trays. The empty CNC tray flat belt conveyor 80 then transports the entire stack of empty CNC trays outward until it is stopped by empty CNC tray blocking cylinder 81. When the AGV arrives, empty CNC tray blocking cylinder 81 retracts, empty CNC tray flat belt conveyor 80 starts, and empty CNC tray splitting cylinder 82 splits the empty CNC trays, allowing only one stack of empty CNC trays to enter the AGV. This cycle repeats to automatically load products from the CNC trays.

[0035] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A CNC automatic material feeding device for tandem AGVs, comprising a frame enclosure (7), characterized in that: A power interface (5) is provided on the top side of the rack enclosure (7). Shock-absorbing feet (1) are fixedly connected to the four corners of the bottom of the rack enclosure (7). Multiple control buttons (2) are provided on one side of the rack enclosure (7). A touch screen (3) is provided on one side of the rack enclosure (7) and is located above the control buttons (2). Three-color light strips (4) are installed on both sides of the outside of the rack enclosure (7). An air source interface (6) is provided on the outside of the rack enclosure (7) and is located below the control buttons (2). A drive box (8) is provided on the top of the rack enclosure (7), and an FFU (9) is installed on the outside of the drive box (8).

2. The CNC automatic material feeding device for tandem AGVs according to claim 1, characterized in that: The frame enclosure (7) is equipped with a full-material CNC tray production line input mechanism (10). The full-material CNC tray production line input mechanism (10) is located in the lower layer inside the frame enclosure (7). One end of the full-material CNC tray production line input mechanism (10) is equipped with a full-material CNC tray Z-axis lifting mechanism (11). The full-material CNC tray Z-axis lifting mechanism (11) includes a full-material CNC tray lifting module (31). The frame enclosure (7) is equipped with a four-axis material handling mechanism (12).

3. The CNC automatic material feeding device for tandem AGVs according to claim 2, characterized in that: A QR code reading mechanism (13) is installed on the inner side of the frame enclosure (7), and an empty CNC tray transport mechanism (14) is fixedly connected inside the frame enclosure (7), and is located above the full CNC tray production line input mechanism (10).

4. The CNC tray automatic feeding device for AGVs in series according to claim 3, characterized in that: The empty CNC tray Z-axis lifting mechanism (15) is installed inside the frame enclosure (7) and is located below the four-axis material handling mechanism (12). The empty CNC tray Z-axis lifting mechanism (15) includes an empty CNC tray lifting module (70). An empty CNC tray production line output mechanism (16) is set inside the frame enclosure (7) and is located in the lower layer inside the frame enclosure (7).

5. The CNC automatic material feeding device for tandem AGVs according to claim 2, characterized in that: The full CNC tray production line input mechanism (10) includes a full CNC tray flat belt conveyor (20). The full CNC tray flat belt conveyor (20) is installed inside the lower layer of the frame enclosure (7). Multiple full CNC tray splitting cylinders (21) and full CNC tray blocking cylinders (22) are installed on the top of the full CNC tray flat belt conveyor (20). Multiple full CNC tray receiving sensors (23) are installed on the outside of the full CNC tray flat belt conveyor (20).

6. The CNC automatic material feeding device for tandem AGVs according to claim 5, characterized in that: One end of the full CNC tray flat belt conveyor (20) is equipped with a full CNC tray positioning cylinder (25), and a full CNC tray rising to position sensor (24) is installed on the outside of the full CNC tray positioning cylinder (25), and is located above the full CNC tray material receiving sensor (23).

7. The CNC automatic material feeding device for tandem AGVs according to claim 2, characterized in that: The four-axis material handling mechanism (12) includes an X-axis linear motor (40), a Y-axis module (41), a Z-axis electric cylinder (42), and a Q-axis rotary cylinder (43). The X-axis linear motor (40) is mounted inside the frame enclosure (7). The Y-axis module (41) is installed at the output end of the X-axis linear motor (40). The Z-axis electric cylinder (42) is installed on the movable seat of the Y-axis module (41). The Q-axis rotary cylinder (43) is installed at the output end of the Z-axis electric cylinder (42). The output end of the Q-axis rotary cylinder (43) is fixedly connected to multiple vacuum suction cups (44).

8. The CNC automatic material feeding device for tandem AGVs according to claim 3, characterized in that: The QR code reading mechanism (13) includes a QR code camera (50), a QR code lens (51), and a QR code light source (52). The QR code camera (50) is installed inside the frame enclosure (7), the QR code lens (51) is installed outside the QR code camera (50), and the QR code light source (52) is located outside the QR code camera (50).

9. A CNC automatic tray feeding device for tandem AGVs according to claim 3, characterized in that: The empty CNC tray handling mechanism (14) includes an empty tray handling module (60), which is installed inside the frame enclosure (7). A Z-axis lifting cylinder (61) is installed on the outside of the empty tray handling module (60), and a clamping cylinder (62) is installed on the outside of the Z-axis lifting cylinder (61).

10. A CNC automatic material feeding device for tandem AGVs according to claim 4, characterized in that: The empty CNC tray production line output mechanism (16) includes an empty CNC tray flat belt conveyor (80). The empty CNC tray flat belt conveyor (80) is installed inside the frame enclosure (7). Multiple empty CNC tray blocking cylinders (81) and empty CNC tray separating cylinders (82) are provided on the top of the empty CNC tray flat belt conveyor (80). Multiple empty CNC tray descent positioning sensors (83) are provided on the outside of the empty CNC tray flat belt conveyor (80), and an empty CNC tray material receiving sensor (84) is installed above the empty CNC tray descent positioning sensors (83).

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