Tray type automatic feeding device based on AGV

Abstract

The utility model 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, feeding precision can be improved, meanwhile, empty trays can be automatically stacked, the automation degree is high, and working efficiency is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of automated production, and specifically refers to an AGV-based tray-type automatic feeding device. Background Technology

[0002] The production process of LCD screen panels involves multiple intricate processing steps, each relying on specific processing equipment. Material handling between these devices is crucial for improving production efficiency. To efficiently transport large quantities of LCD screen panels, manufacturers commonly use pallets as transport containers. These pallets are designed to be stackable for easy transport while effectively protecting the panels from damage.

[0003] However, traditional material handling methods are highly dependent on manual labor, which is not only time-consuming and labor-intensive, increasing the workload of workers, but also severely restricts the improvement of production efficiency. With the continuous advancement of automation technology, especially the widespread application of AGV (Automated Guided Vehicle) technology, more and more modern factories are beginning to use AGVs to achieve automated material transportation. Nevertheless, the current automated transportation system still has bottlenecks: although AGVs can efficiently transport stacked pallets to designated processing equipment, manual intervention is still required in the loading and unloading processes. Specifically, workers need to manually place pallets fully loaded with materials to be processed at the loading position for the processing equipment to pick up; and after all the materials on the pallets have been removed, they need to be manually moved from the loading position and stacked for storage. This manual operation undoubtedly slows down the overall production pace. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art by providing an AGV-based tray-type automatic feeding device, which aims to eliminate the reliance on manual labor in this process and achieve true end-to-end automated material handling.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: an AGV-based tray-type automatic feeding device, comprising a C-shaped machine base, a lower platform located below the machine base, an upper platform located above the machine base, a receiving port located in the middle of the upper platform, a receiving conveyor line located on the lower platform for docking with the AGV vehicle, a lifting mechanism vertically located at the discharge end of the receiving conveyor line for conveying stacked trays from the receiving conveyor line to the receiving port, a correction mechanism and an empty tray stacking mechanism located on the left and right sides of the receiving port, a conveying mechanism located on the upper platform and capable of reciprocating between the receiving port and the empty tray stacking mechanism, a tray removal mechanism located on the upper platform and located on the front and rear sides of the receiving port for placing the uppermost tray on the conveying mechanism, a handling robot located on the upper platform for picking up the material to be processed from the uppermost tray of the receiving port and placing it on the correction mechanism, and a feeding robot located on the upper platform for picking up the material to be processed from the correction mechanism and placing it on the processing equipment.

[0006] Preferably, the calibration mechanism includes a calibration platform, at least one calibration area disposed on the calibration platform for placing the material to be processed, calibration blocks disposed on adjacent sides of the calibration area for calibrating the material to be processed in the X and Y directions, and calibration drive components disposed at the bottom of the calibration platform for driving the two calibration blocks; the calibration area has a vacuum adsorption function.

[0007] Preferably, it further includes a translation mechanism disposed on the upper platform for driving the calibration mechanism to reciprocate between the handling robot and the loading robot; the translation mechanism includes a translation base, two parallel translation guide rails disposed on the translation base, and a translation drive component disposed on the translation base and located between the two translation guide rails; the calibration platform is slidably disposed on the two translation guide rails and is driven by the translation drive component.

[0008] Preferably, the handling robot and the loading robot are mounted on the same gantry frame, each including an X-axis linear module, a Y-axis linear module mounted on the drive end of the X-axis servo module, at least one Z-axis linear module vertically mounted on the drive end of the Y-axis linear module, a suction cup frame horizontally mounted on the drive end of the Z-axis linear module, and at least one first vacuum suction cup vertically mounted on the suction cup frame for picking up the material to be processed; the X-axis linear module of the loading robot extends outside the machine base and can be connected to the processing equipment for online operation, picking up the material to be processed from the calibration mechanism and placing it on the processing equipment.

[0009] Preferably, the handling robot further includes a rotary drive component vertically disposed at the Z-axis linear module drive end for driving the suction cup frame to rotate.

[0010] Preferably, the conveying mechanism includes two conveying guide rails disposed on the upper platform and located on the front and rear sides of the receiving port respectively, a conveying platform slidably disposed on the two conveying guide rails, and a conveying drive assembly disposed on the upper platform for driving the conveying platform to move back and forth between the receiving port and the empty pallet stacking mechanism; the conveying platform is provided with first guide positioning plates on its four sides respectively.

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

[0012] Preferably, the empty disk stacking mechanism includes a stacking rack with one end open, a stacking area disposed in the middle of the stacking rack, at least four second guide positioning plates respectively disposed on both sides of the stacking area, at least four storage racks respectively disposed on the other sides of the stacking area, a support plate rotatably disposed on the storage rack, and torsion springs and limiting parts respectively disposed at the connection between the support plate and the storage rack; the torsion springs are used to flip the support plate from a vertical state to a horizontal state; the limiting parts are used to limit the horizontal support plate so that the support plate can no longer be flipped downwards;

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

[0014] The upper platform is equipped with a lifting component in the stacking area, which allows the overhead pallets of the transport platform to be placed on four support plates for stacking and storage through the clearance opening.

[0015] Preferably, the receiving conveyor line is a double-row belt conveyor line; the double-row belt conveyor line includes at least a feeding area and a discharging area; a stopper is provided between the feeding area and the discharging area; and a third guide positioning plate is provided on both sides of the feeding area.

[0016] Preferably, the lifting mechanism includes a lifting seat on the lower platform, two vertically mounted lifting guide rails on the lifting seat, a lifting frame slidably mounted on the two lifting guide rails, and a lifting drive assembly mounted on the lifting seat for driving the lifting frame to rise and fall; the lifting frame is located vertically in the discharge area of ​​the double-row belt conveyor; the lifting frame is provided with two clearance grooves to avoid the double-row belt conveyor, and a fourth guide positioning piece is provided on each side of the groove.

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

[0018] 1. This utility model can automatically dock with AGV vehicles, receive stacked material trays, realize automatic feeding, eliminate the reliance on manual labor in the feeding and unloading process, realize true end-to-end automated material handling, with a high degree of automation, thereby greatly improving production efficiency, reducing production costs, and providing stronger support for the production of LCD screen panels.

[0019] 2. This utility model is equipped with a correction mechanism, which can accurately correct the position of the material to be processed before feeding, thereby significantly improving the feeding accuracy and ensuring the smooth material handling and efficient operation of subsequent processing equipment;

[0020] 3. This utility model can automatically stack empty disks, which helps to improve storage space utilization, reduce manual intervention and improve overall production efficiency. Attached Figure Description

[0021] The technical solution of this utility model will be further described below with reference to the accompanying drawings:

[0022] Appendix Figure 1 This is a schematic diagram of the structure of the AGV-based tray-type automatic feeding device described in this utility model;

[0023] Appendix Figure 2 This is a schematic diagram of the structure in which the correction mechanism is installed on the translation mechanism in this utility model;

[0024] Appendix Figure 3 This is a schematic diagram of the bottom structure of the correction mechanism in this utility model;

[0025] Appendix Figure 4 This is a schematic diagram of the structure of the handling robot and the loading robot in this utility model;

[0026] Appendix Figure 5 This is a partial structural diagram of the handling robot in this utility model;

[0027] Appendix Figure 6 This is a schematic diagram of the structure of the disassembly mechanism and the conveying mechanism in this utility model;

[0028] Appendix Figure 7 This is a schematic diagram of the hollow disk stacking mechanism of this utility model;

[0029] Appendix Figure 8 This is a schematic diagram of the material receiving and conveying line in this utility model;

[0030] Appendix Figure 9 This is a schematic diagram of the lifting mechanism in this utility model.

[0031] The components include: 1. Machine base; 11. Lower platform; 12. Upper platform; 13. Material receiving port; 14. Gantry frame; 2. Material receiving conveyor line; 21. Feeding area; 22. Discharge area; 23. Blocker; 24. Third guide positioning plate; 3. Lifting mechanism; 31. Lifting seat; 32. Lifting guide rail; 33. Lifting frame; 34. Lifting drive assembly; 35. Clearance groove; 36. Fourth guide positioning plate; 4. Correction mechanism; 41. Correction platform; 42. Correction area; 43. Correction block; 44. Correction drive component; 45. Translation seat; 46. Translation guide rail; 47. Translation drive component; 5. Empty tray stacking mechanism; 51. Stacking 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. Clearance opening; 7. Dismantling mechanism; 71. Lifting cylinder; 72. Opening and closing cylinder; 73. Dismantling frame; 74. Second vacuum suction cup; 8. Handling robot; 81. X-axis linear module; 82. Y-axis linear module; 83. Z-axis linear module; 84. Suction cup frame; 85. First vacuum suction cup; 86. Rotary drive component; 9. Loading robot; 10. Bevel. Detailed Implementation

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

[0033] Appendix Figure 1 The AGV-based automatic material feeding device of this utility model includes a C-shaped machine base 1, a lower platform 11 located below the machine base 1, an upper platform 12 located above the machine base 1, a receiving port 13 located in the middle of the upper platform 12, a receiving conveyor line 2 located on the lower platform 11 for docking with the AGV vehicle, a lifting mechanism 3 vertically located at the discharge end of the receiving conveyor line 2 for feeding stacked material trays from the receiving conveyor line 2 to the receiving port 13, a correction mechanism 4 located on the left and right sides of the receiving port 13, and an empty tray. Stacking mechanism 5; conveying mechanism 6, which is set on the upper platform 12 and can move back and forth between the receiving port 13 and the empty tray stacking mechanism 5; tray removal mechanism 7, which is set on the upper platform 12 and located on the front and rear sides of the receiving port 13 for placing the uppermost tray on the conveying mechanism 6; handling robot 8, which is set on the upper platform 12 for picking up the material to be processed from the uppermost tray of the receiving port 13 and placing it on the calibration mechanism 4; and loading robot 9, which is set on the upper platform 12 for picking up the material to be processed from the calibration mechanism 4 and placing it on the processing equipment.

[0034] During operation: The AGV transfers stacked pallets to receiving conveyor line 2, which then transfers them to lifting mechanism 3. Lifting mechanism 3 then drives the stacked pallets upwards. When the top pallet reaches receiving port 13, unpacking mechanism 7 picks it up. Then, conveying mechanism 6 moves it above receiving port 13. Unpacking mechanism 7 then places the picked-up pallet onto conveying mechanism 6. Next, handling robot 8 picks up the material to be processed from the pallet and places it on alignment mechanism 4 for position correction. Finally, loading robot 9 moves from alignment mechanism 4... The material to be processed is picked up from the upper part and placed on the processing equipment. When all the material to be processed in the tray is taken out, the conveying mechanism 6 transports the empty tray to the empty tray stacking mechanism 5, where it is stacked and stored. Then, the lifting mechanism 3 continues to lift the tray to the height of one tray, ensuring that the top tray is always at the receiving port 13. This cycle continues until all the trays stacked on the lifting mechanism 3 are taken out. Then, the receiving conveyor line 2 replenishes the lifting mechanism 3 with material. If there is no material on the receiving conveyor line 2, the AGV will automatically replenish the material to ensure automated continuous production.

[0035] When the lifting mechanism 3 drives the top tray to the receiving port 13, the material to be processed can also be directly picked up from the top tray by the handling robot 8 and placed on the calibration mechanism 4. After all the material to be processed in the tray is taken out, the empty tray on the top layer is picked up by the disassembly mechanism 7 and placed on the conveying mechanism 6. However, placing the tray on the conveying mechanism 6 first can be used for preliminary positioning to improve the feeding accuracy. After all, the stacked trays may shift during the conveying process of the AGV vehicle.

[0036] Furthermore, such as Figure 2-3 As shown, the calibration mechanism 4 includes a calibration platform 41, two calibration areas 42 arranged side by side on the calibration platform 41 for placing the material to be processed, calibration blocks 43 respectively arranged on adjacent sides of the calibration areas 42 for calibrating the material to be processed in the XY directions, and calibration drive components 44 respectively arranged at the bottom of the calibration platform 41 for driving the two calibration blocks 43; the calibration area 42 has a vacuum adsorption function.

[0037] After the handling robot 8 picks up the material to be processed from the material tray and places it on the two calibration areas 42, the two calibration areas 42 use vacuum adsorption to hold the material to be processed. Then, the calibration drive 44 of the two calibration areas 42 drives the two calibration blocks 43 to calibrate the material to be processed in the XY directions, thereby significantly improving the feeding accuracy and ensuring the smooth material picking and efficient operation of the subsequent processing equipment. In this embodiment, the calibration drive 44 uses a cylinder. If higher precision is required, an electric cylinder can also be used, and it can be adjusted according to requirements.

[0038] Furthermore, such as Figure 2As shown, it also includes a translation mechanism mounted on the upper platform 12 for driving the correction mechanism 4 to reciprocate between the handling robot 8 and the loading robot 9; the translation mechanism includes a translation base 45, two parallel translation guide rails 46 mounted on the translation base 45, and a translation drive member 47 mounted on the translation base 45 and located between the two translation guide rails 46; the correction platform 41 is slidably mounted on the two translation guide rails 46 and is driven by the translation drive member 47;

[0039] During operation: The translation mechanism first drives the calibration platform 41 to be located on one side of the handling robot 8. After the handling robot 8 picks up the materials to be processed from the material tray and places them on the calibration platform 41, it then drives the calibration platform 41 to be located on one side of the loading robot 9 to avoid interference between the material handling robot 8 releasing the material and the material loading robot 9 picking up the material. In this embodiment, the translation drive component 47 uses a rodless cylinder. If higher precision is required, an electric cylinder can also be used, and adjustments can be made as required.

[0040] Furthermore, such as Figure 4-5 As shown, the handling robot 8 and the loading robot 9 are mounted on the same gantry frame 14, making the overall structure more compact. Both include an X-axis linear module 81, a Y-axis linear module 82 mounted on the drive end of the X-axis servo module, two Z-axis linear modules 83 mounted vertically on the drive end of the Y-axis linear module 82, a suction cup frame 84 mounted horizontally on the drive end of the Z-axis linear module 83, and a first vacuum suction cup mounted vertically on the suction cup frame 84 for picking up the material to be processed.

[0041] During operation: Driven by the X-axis linear module 81, Y-axis linear module 82, and Z-axis linear module 83, the first vacuum suction cup 85 picks up the material to be processed and then places it on the calibration mechanism 4 or processing equipment; there are two Z-axis linear modules 83, which can pick up two materials to be processed at the same time and can work independently. Even if the two materials to be processed are not at the same height, they can still be picked up, ensuring feeding efficiency; in this embodiment, the X-axis linear module 81 and Y-axis linear module 82 are servo linear modules, the Z-axis linear module 83 is a cylinder, and the position of the first vacuum suction cup 85 on the suction cup frame 84 is adjustable.

[0042] Furthermore, such as Figure 1 As shown, the X-axis linear module 81 of the loading robot 9 extends out of the machine base 1 and can be connected with the processing equipment to facilitate the picking up of the material to be processed from the calibration mechanism 4 and placing it on the processing equipment.

[0043] Furthermore, such as Figure 5As shown, the handling robot 8 also includes a rotary drive 86 vertically mounted at the drive end of the Z-axis linear module 83 for driving the suction cup frame 84 to rotate. It can adjust the angle of the material to be processed to meet the processing requirements of different products. In this embodiment, the rotary drive 86 uses a motor.

[0044] Furthermore, the handling robot 8 and the loading robot 9 are also equipped with vision components (not shown in the figure) at the drive end of the Z-axis linear module 83, which facilitates the handling robot 8 and the loading robot 9 to accurately grasp the materials to be processed in the material tray.

[0045] Furthermore, such as Figure 6 As shown, the conveying mechanism 6 includes two conveying guide rails 61 arranged on the upper platform 12 and located on the front and rear sides of the receiving port 13 respectively, a conveying platform 62 slidably arranged on the two conveying guide rails, and a conveying drive assembly 63 arranged on the upper platform 12 for driving the conveying platform 62 to move back and forth between the receiving port 13 and the empty pallet stacking mechanism 5; the conveying platform 62 is provided with first guide positioning plates 64 on its four sides respectively;

[0046] During operation: The conveying drive assembly 63 drives the conveying platform 62 to move back and forth between the receiving port 13 and the empty tray stacking mechanism 5. The first guide positioning piece 64 around the conveying platform 62 can perform preliminary positioning of the tray. In this embodiment, the conveying drive assembly 63 is driven by a belt.

[0047] Furthermore, such as Figure 6 As shown, each of the dismantling mechanisms 7 includes a lifting cylinder 71 vertically mounted on the upper platform 12 and located outside the conveying guide rail 61, an opening and closing cylinder 72 horizontally mounted on the driving end of the lifting cylinder 71, a dismantling frame 73 mounted on the driving end of the opening and closing cylinder 72, and two second vacuum suction cups 74 vertically mounted on the dismantling frame 73.

[0048] When the lifting mechanism 3 drives the uppermost tray to the receiving port 13, the opening and closing cylinders 72 of the two sets of dismantling mechanisms 7 simultaneously drive the dismantling frame 73 to move closer together, so that the four second vacuum suction cups 74 are located inside the receiving port 13. Then, the lifting cylinders 71 of the two sets of dismantling mechanisms 7 simultaneously drive the opening and closing cylinders 72 to lower the dismantling frame 73, using the second vacuum suction cups 74 to hold the tray. Then, the lifting cylinders 71 of the two sets of dismantling mechanisms 7 simultaneously drive the held tray to rise, and then the conveying drive assembly 63 drives the transport. Platform 62 is located between receiving port 13 and material tray (the first guide positioning plate 64 on the transport platform 62 is slightly lower than the material tray being sucked up). Then, the four second vacuum suction cups 74 simultaneously release the material tray, causing the material tray to fall onto the transport platform 62 and be positioned between the four first guide positioning plates 64. Initial positioning is achieved through the four first guide positioning plates 64. Finally, the opening and closing cylinders 72 of the two sets of dismantling mechanisms 7 simultaneously drive the dismantling frame 73 away and return to the initial position, making it easier for the transport robot 8 to pick up the material tray.

[0049] Furthermore, such as Figure 7 As shown, the empty disk stacking mechanism 5 includes a stacking rack 51 with an opening at the left end, a stacking area 52 located in the middle of the stacking rack 51, four second guide positioning plates 53 respectively located on the left and right sides of the stacking area 52, four storage racks 54 respectively located on the front and rear sides of the stacking area 52, a support plate 55 rotatably mounted on the storage rack 54, and torsion springs and limiting parts (not labeled in the figure) respectively located at the connection between the support plate 55 and the storage rack 54; the torsion springs are used to flip the support plate 55 from a vertical state to a horizontal state; the limiting parts are used to limit the support plate 55 in the horizontal state so that the support plate 55 can no longer be flipped downwards;

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

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

[0052] When all the materials to be processed in the tray are removed, the conveying drive assembly 63 drives the transport platform 62 through the opening into the stacking area 52. Then, the lifting assembly 56 passes through the clearance opening 65 in the middle of the transport platform 62 and lifts the empty tray upward. Since the support plate 55 is rotatably mounted on the storage rack 54, the support plate 55 overcomes the spring force of the torsion spring during the upward movement of the empty tray and flips from a horizontal state to a vertical state. When the tray is higher than the support plate 55, the support plate 55 flips from a vertical state to a horizontal state under the action of the torsion spring and is limited by the limiting part. Then, the lifting assembly 56 descends back to the initial position, and the tray falls on the four support plates 55, realizing the stacking and storage of the tray. During the upward movement of the empty tray, the four two-guide positioning plates can make the empty tray stack more neatly. The lifting assembly 56 is existing technology and will not be described in detail.

[0053] Furthermore, such as 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 stopper 23 is provided between the feeding area 21 and the discharging area 22; and third guide positioning plates 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. If there is still material on the lifting mechanism 3, the stopper 23 will block it. When all the trays on the lifting mechanism 3 are removed, the double-row belt conveyor will transport the stacked trays to the discharge area 22 to supply material to the lifting mechanism 3. The third guide positioning plates 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] Furthermore, such as Figure 9 As shown, the lifting mechanism 3 includes a lifting seat 31 mounted on the lower platform 11, two vertically mounted lifting guide rails 32 on the lifting seat 31, a lifting frame 33 slidably mounted on the two lifting guide rails 32, and a lifting drive assembly 34 mounted on the lifting seat 31 for driving the lifting frame 33 to rise and fall; the lifting frame 33 is located vertically in the discharge area 22 of the double-row belt conveyor; the lifting frame 33 is provided with two clearance grooves 35 to avoid the double-row belt conveyor, and a fourth guide positioning piece 36 is provided on each side of the groove;

[0056] After all the trays on the initial position or the lifting mechanism 3 have been removed, the lifting drive assembly 34 will drive the lifting frame 33 to be slightly lower than the double-row belt conveyor. At this time, the double-row belt conveyor is located in two clearance grooves 35, which facilitates the double-row belt conveyor to transport the stacked trays to the discharge area 22 and onto the lifting frame 33. Then, the lifting drive assembly 34 will drive the lifting frame 33 to rise until the uppermost tray reaches the receiving port 13 before stopping. In this embodiment, the lifting drive assembly 34 adopts a screw thread structure and is driven by a motor.

[0057] Furthermore, such as 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 a trumpet-shaped bevel 10, which serves as a guide to allow the material tray to enter smoothly.

[0058] The above are merely specific application examples of this utility model and do not constitute any limitation on the scope of protection of this utility model. All technical solutions formed by equivalent transformations or equivalent substitutions fall within the scope of protection of this utility model.

Claims

1. A tray-type automatic feeding device based on AGV, characterized in that: It includes a C-shaped machine base, a lower platform located below the machine base, an upper platform located above the machine base, a receiving port located in the middle of the upper platform, a receiving conveyor line located on the lower platform for docking with AGV vehicles, a lifting mechanism vertically located at the discharge end of the receiving conveyor line for conveying stacked trays from the receiving conveyor line to the receiving port, a correction mechanism and an empty tray stacking mechanism located on the left and right sides of the receiving port, a conveying mechanism located on the upper platform that can move back and forth between the receiving port and the empty tray stacking mechanism, a dismantling mechanism located on the upper platform and located on the front and rear sides of the receiving port for placing the top tray on the conveying mechanism, a handling robot located on the upper platform for picking up the material to be processed from the top tray of the receiving port and placing it on the correction mechanism, and a loading robot located on the upper platform for picking up the material to be processed from the correction mechanism and placing it on the processing equipment.

2. The AGV-based tray-type automatic feeding device according to claim 1, characterized in that: The calibration mechanism includes a calibration platform, at least one calibration area set on the calibration platform for placing the material to be processed, calibration blocks respectively set on both sides of the calibration area for calibrating the material to be processed in the XY directions, and calibration drive components respectively set at the bottom of the calibration platform for driving the two calibration blocks; the calibration area has a vacuum adsorption function.

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

4. The AGV-based tray-type automatic feeding device according to any one of claims 1-3, characterized in that: The handling robot and the loading robot are mounted on the same gantry frame. Each includes an X-axis linear module, a Y-axis linear module mounted on the drive end of the X-axis servo module, at least one Z-axis linear module mounted vertically on the drive end of the Y-axis linear module, a suction cup frame mounted horizontally on the drive end of the Z-axis linear module, and at least one first vacuum suction cup mounted vertically on the suction cup frame for picking up the material to be processed. The X-axis linear module of the loading robot extends outside the machine base and can be connected to the processing equipment for online operation, picking up the material to be processed from the calibration mechanism and placing it on the processing equipment.

5. The AGV-based tray-type automatic feeding device according to claim 4, characterized in that: The handling robot also includes a rotary drive component vertically mounted at the Z-axis linear module drive end for driving the suction cup frame to rotate.

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

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

8. The AGV-based tray-type automatic feeding device according to claim 6, characterized in that: The empty disk stacking mechanism includes a stacking rack with one end open, a stacking area disposed in the middle of the stacking rack, at least four second guide positioning plates disposed on both sides of the stacking area, at least four storage racks disposed on the other two sides of the stacking area, a support plate rotatably disposed on the storage rack, and torsion springs and limiting parts disposed at the connection between the support plate and the storage rack; the torsion springs are used to flip the support plate from a vertical state to a horizontal state; the limiting parts are used to limit the horizontal support plate so that the support plate can no longer be flipped downwards; The transport platform can pass through the opening and enter the stacking area under the drive of the transport drive component; the transport platform is provided with a clearance opening in the middle. The upper platform is equipped with a lifting component in the stacking area, which allows the overhead pallets of the transport platform to be placed on four support plates for stacking and storage through the clearance opening.

9. The AGV-based tray-type automatic feeding 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 includes at least a feeding area and a discharging area; a stopper is provided between the feeding area and the discharging area; and a third guide positioning plate is provided on both sides of the feeding area.

10. The AGV-based tray-type automatic feeding device according to claim 9, characterized in that: The lifting mechanism includes a lifting seat on the lower platform, two vertically mounted lifting guide rails on the lifting seat, a lifting frame slidably mounted on the two lifting guide rails, and a lifting drive assembly mounted on the lifting seat for driving the lifting frame to rise and fall; the lifting frame is located vertically in the discharge area of ​​the double-row belt conveyor; the lifting frame is provided with two clearance grooves to avoid the double-row belt conveyor, and a fourth guide positioning piece is provided on each side of the groove.

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