CN115744001B - Circulation feeding system and control method - Google Patents

Abstract

The invention discloses a circulating feeding system and a control method, wherein the circulating feeding system comprises a plurality of circulating feeding devices, a material transferring device and a material conveying device, the plurality of circulating feeding devices are positioned at the periphery of the material transferring device, and the material transferring device is used for transferring materials on the circulating feeding devices to the material conveying device; the circulation feed equipment comprises a first frame, an automatic feeding device, an automatic receiving device and a tray conveying mechanism, wherein the automatic feeding device, the automatic receiving device and the tray conveying mechanism are all installed on the first frame, and the tray conveying mechanism is used for transferring a tray on the automatic feeding device to the automatic receiving device for recycling. By arranging a plurality of circulating feeding equipment beside the material transfer device, when one circulating feeding equipment feeds the material transfer device, other circulating feeding equipment prepares materials, so that the material transfer device can be supplied with materials continuously for 24 hours, unmanned production is realized, and the utilization rate of the equipment is improved.

Description

Circulation feeding system and control method

Technical Field

The invention relates to the technical field of automatic equipment, in particular to a circulating feeding system and a control method

Background

Along with the proposal of the industrial 4.0 concept, the equipment transformation and upgrading of each manufacturing industry are accelerated, the field of in-plant logistics distribution is an important component part in the transformation and upgrading, and an AGV (generally also called an AGV trolley, which refers to a device provided with automatic guidance such as electromagnetism or optics) realizes large-scale application in a factory, whether the AGV plays an increasingly important role as important equipment for unmanned warehouse distribution or sorting operation in the express industry, and the matching equipment for in-plant logistics distribution of various AGVs also plays an increasingly important role, so that the automation degree of mechanical equipment is improved.

However, for the boxing and packaging of bulbs, many enterprises still adopt a manual method to load products into paper boxes at present, but when the products are produced in batches or in large quantities, the labor cost is high, and the packaging efficiency is low. Therefore, circulation feeding system has appeared on the market, wherein, when using circulation feeding system to the cartoning of ball bubble lamp, in order to do benefit to the bulb cartoning, need put the loading position of cartoning machine with ball bubble lamp according to prescribed gesture, because ball bubble lamp transportation in-process can not the disorder vanning, can not scratch damage ball bubble surface and can not adopt the vibrations dish to supply ball bubble lamp for cartoning machine, the requirement is high to ball bubble lamp surface quality, consequently, the packing of bulb generally adopts the mode of manual feeding, degree of automation is low.

The bulb automatic feeding device in the prior art comprises a feeding mechanism, a conveying mechanism and a frame, wherein the feeding mechanism and the conveying mechanism are both arranged on the frame, the feeding mechanism is vertical to the conveying mechanism, a sliding plate is arranged between the feeding mechanism and the conveying mechanism, and the sliding plate is obliquely arranged. The automatic feeding device mode has the following problems:

1. The bulbs need to be sent to the feeding mechanism at a manual timing, and the bulb assembly production line cannot be automatically docked, so that the automation degree is low, the efficiency is low, and unmanned production cannot be realized;

2. The bulbs are sent to the feeding mechanism in a scattered way, and in the process of reaching the feeding position of the boxing machine, the bulbs are impacted and rubbed on the surface of the bulbs at a plurality of positions, so that the surface of the bulbs can be damaged, and the yield and the surface quality of products are affected.

Disclosure of Invention

In order to overcome the defects and shortcomings in the prior art, the invention aims to provide a circulating feeding system and a control method, so as to solve the problem of low feeding efficiency of an automatic feeding device in the prior art.

The aim of the invention is achieved by the following technical scheme:

The invention provides a circulating feeding system which comprises a plurality of circulating feeding devices, a material transferring device and a material conveying device, wherein the circulating feeding devices are positioned at the periphery of the material transferring device, and the material transferring device is used for transferring materials on the circulating feeding devices to the material conveying device;

the circulation feed equipment comprises a first frame, an automatic feeding device, an automatic receiving device and a tray carrying mechanism, wherein the automatic feeding device, the automatic receiving device and the tray carrying mechanism are all installed on the first frame, and the tray carrying mechanism is used for transferring a tray on the automatic feeding device to the automatic receiving device for recycling.

Further, the automatic feeding device comprises a material pushing mechanism, a material caching mechanism and a material positioning mechanism, wherein a butt joint bin is arranged on the first frame and is communicated with a butt joint inlet and outlet, the material pushing mechanism, the material caching mechanism and the material positioning mechanism are all arranged on the first frame, the material pushing mechanism and the material caching mechanism are located at the edge of the butt joint bin, the material positioning mechanism is located above the material caching mechanism and is used for positioning materials, the material caching mechanism is arranged on one side, away from the butt joint inlet and outlet, of the butt joint bin, the material pushing mechanism is arranged between the material caching mechanism and the butt joint inlet and outlet, and the material pushing mechanism is used for pushing the materials onto the material caching mechanism.

Further, the material pushing mechanism comprises a push rod, a first push rod driving mechanism and a second push rod driving mechanism, wherein the push rod is connected with the first push rod driving mechanism, the first push rod driving mechanism is connected with the second push rod driving mechanism, the second push rod driving mechanism is connected with the first frame, the first push rod driving mechanism is used for driving the push rod to move in the left-right direction, and the second push rod driving mechanism is used for driving the first push rod driving mechanism and the push rod to move in the front-back direction.

Further, the material buffer memory mechanism includes buffer memory platform and platform actuating mechanism, buffer memory platform with platform actuating mechanism connects, platform actuating mechanism with first frame is connected, platform actuating mechanism is used for the drive buffer memory platform reciprocates.

Further, the automatic material taking device further comprises a material positioning mechanism for positioning materials, and the material positioning mechanism is located above the material caching mechanism.

Further, the material positioning mechanism comprises a first limit guide plate, a first push plate driving mechanism, a second limit guide plate, a second push plate and a second push plate driving mechanism, wherein the first limit guide plate and the first push plate are oppositely arranged and used for positioning materials in the left-right direction, the second limit guide plate and the second push plate are oppositely arranged and used for positioning the materials in the front-back direction, the first limit guide plate, the first push plate driving mechanism, the second limit guide plate and the second push plate driving mechanism are all connected with the first rack, the first push plate driving mechanism is connected with the first push plate and used for driving the first push plate to move in the left-right direction, and the second push plate driving mechanism is connected with the second push plate and used for driving the second push plate to move in the front-back direction.

Further, the second limiting guide plate is provided with a claw, a claw driving mechanism and a through hole matched with the claw, the claw and the claw driving mechanism are arranged on one side, away from the second push plate, of the second limiting guide plate, and the claw driving mechanism is connected with the claw and used for driving the claw to stretch in the through hole; one side of the second push plate, which faces the second limit guide plate, is provided with a first clamping strip, and the first clamping strip and the clamping jaw are located at the same height.

Further, the automatic material receiving device comprises a tray caching mechanism and a tray carrying mechanism, wherein the tray caching mechanism is arranged on the first frame, the tray caching mechanism is arranged on one side, close to the docking inlet and the docking outlet, of the docking bin, and the tray carrying mechanism is arranged above the first frame and used for carrying a tray on the material caching mechanism to the tray caching mechanism.

Further, the tray buffer storage mechanism comprises a first limit baffle, a second limit baffle, a first guide supporting plate, a second guide supporting plate, a first supporting plate driving mechanism and a second supporting plate driving mechanism, wherein the first limit baffle and the second limit baffle are oppositely arranged and used for limiting the tray in the front-back direction, the first guide supporting plate and the second guide supporting plate are oppositely arranged and used for limiting the tray in the left-right direction, the first limit baffle, the second limit baffle, the first supporting plate driving mechanism and the second supporting plate driving mechanism are connected with the first rack, the first supporting plate driving mechanism is connected with the first guide supporting plate and used for driving the first guide supporting plate to move in the up-down direction, and the second supporting plate driving mechanism is connected with the second guide supporting plate and used for driving the second guide supporting plate to move in the up-down direction.

Further, the tray carrying mechanism comprises an adsorption mechanism, a connecting frame and a carrying driving mechanism, wherein the adsorption mechanism is connected with the carrying driving mechanism through the connecting frame, and the carrying driving mechanism is connected with the first rack and is used for driving the connecting frame and the adsorption mechanism to move in the front-back direction.

Further, the adsorption mechanism comprises a plurality of suckers and a sucker mounting frame, wherein the suckers are mounted on the sucker mounting frame, and the sucker mounting frame is connected with the connecting frame.

Further, the material transfer device comprises a second rack and a grabbing mechanical arm arranged on the second rack, wherein the grabbing mechanical arm is used for transferring materials on the circulating feeding equipment to the material transfer device;

The material conveying device comprises a third rack and a conveying chain arranged on the third rack, and the conveying chain is used for conveying the materials.

Further, the circulation feeding system further comprises a feeding posture adjusting device arranged on the material conveying device, the feeding posture adjusting device comprises a feeding base and a fool-proof mechanism arranged on the feeding base, a chute which is obliquely arranged and matched with the material in size is arranged on the feeding base, the fool-proof mechanism is arranged above the chute, and the chute and the fool-proof mechanism are jointly used for adjusting the feeding posture of the material.

Further, prevent slow-witted mechanism includes blocking portion and supporting part, blocking portion with supporting part is connected, supporting part with the material loading base is connected, blocking portion be used for with the material interferes and adjusts the material loading gesture of material.

Further, the fool-proof mechanism comprises a baffle plate, the baffle plate is arranged at the tail end of the chute and is connected with the blocking part, and one end, away from the blocking part, of the baffle plate is tilted towards one side, away from the chute.

Further, the automatic feeding posture adjusting device comprises a stopping mechanism, and the stopping mechanism is connected with the feeding base and used for intermittently blocking the material from sliding in the chute.

Further, keep off and stop the mechanism and include keeping off and stop the board and be used for the drive keep off and stop the flexible baffle actuating mechanism of board, baffle actuating mechanism install in the material loading base is kept away from one side of spout, keep off stop one end of board with baffle actuating mechanism connects, and the other end passes the material loading base is inserted in the spout.

Further, the automatic feeding posture adjusting device comprises a boosting mechanism, and the boosting mechanism is connected with the feeding base and used for driving the materials to slide in the sliding groove.

Further, the boosting mechanism is an air blowing device, and the air blowing device is arranged at the starting end of the chute.

Further, the automatic feeding posture adjusting device comprises a detecting mechanism, and the detecting mechanism is used for detecting whether the material slides out of the tail end of the chute.

Further, the cross section of the chute in the direction perpendicular to the length direction of the chute is in an inverted triangle or an inverted trapezoid.

The application also provides a control method for the cyclic feeding, which is used for controlling the cyclic feeding system, and comprises the following steps:

The AGV conveys materials to a circulating feeding device, and the circulating feeding device is controlled to take down the materials on the AGV and transfer the materials to an automatic feeding device of the circulating feeding device;

controlling a material transfer device to transfer the material on the automatic feeding device to a material conveying device for conveying;

after each layer of material is taken out by the material transferring device, controlling a tray carrying mechanism to transfer a tray used for containing the material on the automatic feeding device to an automatic receiving device;

When the tray on the automatic receiving device reaches a preset amount, the automatic receiving device is controlled to place the tray on the AGV for recycling.

The invention has the beneficial effects that: by arranging the plurality of circulating feeding equipment beside the material transfer device, when one circulating feeding equipment feeds the material transfer device, other circulating feeding equipment prepares materials, and the plurality of circulating feeding equipment can exchange materials for the material transfer device, so that the material transfer device can be supplied with the materials for 24 hours without interruption, the material transfer device can grasp the materials for 24 hours without interruption and transfer the materials to the material transfer device, unmanned production is realized, and the utilization rate of the equipment is improved. And the circulation feeding system can be abutted to any bulb production assembly line, flexible material taking from the production line is realized, flexible material feeding is realized for the boxing machine, and especially, when the efficiency of the boxing machine is higher than that of the bulb assembly line at the front section, or when any bulb assembly line at the front section fails to stop or the productivity is reduced, the bulb assembly line is abutted through flexible scheduling, the production of the device is not influenced, and the boxing machine improves the equipment utilization rate, so that the overall production efficiency is improved.

Drawings

FIG. 1 is a schematic diagram of a front perspective view of a cyclic loading system of the present invention in operation;

FIG. 2 is a schematic rear perspective view of the cyclic loading system of the present invention in operation;

FIG. 3 is a schematic perspective view of the circulation feed device of the present invention in operation;

FIG. 4 is a schematic rear perspective view of the circulation feed device of the present invention in operation;

FIG. 5 is a schematic front perspective view of a circulation feed device of the present invention;

FIG. 6 is a schematic rear perspective view of the circulation feed device of the present invention;

FIG. 7 is a schematic view of a split structure of a circulation feeding apparatus of the present invention;

FIG. 8 is a schematic front perspective view of a frame of the present invention;

FIG. 9 is a schematic front perspective view of a material pushing mechanism according to the present invention;

FIG. 10 is a schematic diagram of a front perspective view of a material buffering mechanism according to the present invention;

FIG. 11 is a schematic front perspective view of a material positioning mechanism according to the present invention;

FIG. 12 is a schematic rear perspective view of a material positioning mechanism according to the present invention;

FIG. 13 is a schematic front perspective view of a tray buffer mechanism according to the present invention;

FIG. 14 is a schematic top plan view of a tray buffer mechanism of the present invention;

FIG. 15 is a schematic top view of the tray handling mechanism of the present invention;

FIG. 16 is a schematic front perspective view of the feeding attitude adjusting device of the present invention;

FIG. 17 is a schematic top perspective view of the feeding attitude adjusting device of the present invention;

FIG. 18 is a schematic view showing a bottom perspective of the feeding attitude adjusting device of the present invention;

FIG. 19 is a schematic side view of a material loading posture adjustment device of the present invention;

FIG. 20 is a schematic front perspective view of the present invention showing the feeding attitude adjusting device with the fool-proof mechanism removed;

Fig. 21 is a schematic top perspective view of the feeding attitude adjusting device of the present invention with the fool-proof mechanism removed.

In the figure: the circulating feeding equipment 100, the first rack 10, the butt joint bin 101, the butt joint inlet and outlet 102, the material pushing mechanism 20, the push rod 21, the first push rod driving mechanism 22 and the second push rod driving mechanism 23; a material buffer mechanism 30, a buffer platform 31 and a platform driving mechanism 32; the material positioning mechanism 40, the first limit guide plate 41, the first push plate 42, the second clamping bar 421, the first push plate driving mechanism 43, the second limit guide plate 44, the claw 441, the claw driving mechanism 442, the through hole 443, the second push plate 45, the first clamping bar 451 and the second push plate driving mechanism 46; the tray buffer mechanism 50, the first limit baffle 51, the second limit baffle 52, the first guide supporting plate 53, the first guide plate 531, the second guide supporting plate 54, the second guide plate 541, the first supporting plate driving mechanism 55 and the second supporting plate driving mechanism 56; the tray conveying mechanism 60, the adsorption mechanism 61, the suction cup 611, the suction cup mounting bracket 612, the connecting frame 62 and the conveying driving mechanism 63; AGV in-place detection mechanism 1, material in-place detection mechanism 2, and material height detection mechanism 3; a left-right direction F1, a front-rear direction F2, and an up-down direction F3.

The feeding posture adjusting device 200, the feeding base 210, the sliding chute 211, the fool-proof mechanism 220, the blocking part 221, the supporting part 222, the baffle 223, the stop mechanism 230, the stop plate 231, the baffle driving mechanism 232, the connecting plate 233, the boosting mechanism 240, the detecting mechanism 250 and the mounting bracket 251.

A material transfer device 300, a second frame 310, and a gripping robot 320.

A material conveying device 400, a third rack 410 and a conveying chain 420.

A boxing device 500, a fourth rack 510 and a boxing mechanism 520.

Tray 610, material 620.

AGV700。

Detailed Description

In order to further describe the technical means and effects adopted by the invention to achieve the preset aim, the following detailed description is given of the specific implementation, structure, characteristics and effects of the circulation feeding system and the control method according to the invention by combining the accompanying drawings and the preferred embodiment:

FIG. 1 is a schematic perspective view of the circulation feeding system in the present invention. Fig. 2 is a schematic rear perspective view of the circulation feeding system in the present invention in operation. Fig. 3 is a schematic perspective view of the circulation feeding device in operation. Fig. 4 is a schematic rear perspective view of the circulation feeding device in operation. Fig. 5 is a schematic front perspective view of the circulation feeding apparatus of the present invention. Fig. 6 is a schematic rear perspective view of the circulation feeding apparatus of the present invention. FIG. 7 is a schematic diagram of a split structure of a circulation feeding apparatus in the present invention. Fig. 8 is a schematic front perspective view of a frame in the present invention. Fig. 9 is a schematic front perspective view of a material pushing mechanism according to the present invention. Fig. 10 is a schematic front perspective view of a material buffer mechanism according to the present invention. Fig. 11 is a schematic front perspective view of a material positioning mechanism in the present invention. Fig. 12 is a schematic rear perspective view of a material positioning mechanism according to the present invention. Fig. 13 is a schematic front perspective view of a tray buffer mechanism according to the present invention. Fig. 14 is a schematic top plan view of the tray buffer mechanism of the present invention. Fig. 15 is a schematic plan view of the tray conveying mechanism according to the present invention. Fig. 16 is a schematic front perspective view of the feeding posture adjusting device of the present invention. Fig. 17 is a schematic top perspective view of the feeding posture adjusting device of the present invention. Fig. 18 is a schematic bottom perspective view of the feeding posture adjusting device of the present invention. Fig. 19 is a schematic side view of a posture adjustment device for feeding materials in the present invention. Fig. 20 is a schematic front perspective view of the feeding posture adjusting device of the present invention with the fool-proof mechanism removed. Fig. 21 is a schematic top perspective view of the feeding attitude adjusting device of the present invention with the fool-proof mechanism removed.

As shown in fig. 1 to 7, the present invention provides a circulation feeding system, which includes a plurality of circulation feeding devices 100, a material transferring device 300 and a material conveying device 400, wherein the plurality of circulation feeding devices 100 are located at the periphery of the material transferring device 300, and the material transferring device 300 is used for transferring a material 620 on the circulation feeding devices 100 to the material conveying device 400. The circulation feeding apparatus 100 is used for providing the material 620 and recycling the tray 610 containing the material 620, thereby realizing the circulation action of feeding and recycling the tray 610. The material 620 is, for example, a bulb, and the tray 610 is a foam jig for placing the bulb. Of course, in other embodiments, the material 620 may be an LED lamp, a bulb, a tube, a bottle, or the like.

In this embodiment, the number of the circulation feeding devices 100 is two, and the circulation feeding devices 100 are respectively located at two sides of the material transferring device 300, so that when one circulation feeding device 100 feeds the material transferring device 300, the other circulation feeding device 100 prepares materials, and the two circulation feeding devices 100 can exchange materials 620 provided for the material transferring device 300, so that the materials 620 can be continuously provided for the material transferring device 300 for 24 hours, the material transferring device 300 can continuously grasp the materials 620 for 24 hours and transfer the materials to the material transferring device 400, thereby realizing unmanned production and improving the utilization rate of the device. Of course, if the material preparation time of the circulation feed device 100 is too long, three, four or more circulation feed devices 100 may be provided to ensure that the material 620 is supplied to the material transfer apparatus 300 for 24 hours without interruption.

The circulating feeding system can be used for butting any bulb production assembly line, flexible material taking from the production line is realized, flexible material feeding is realized for the boxing machine, and particularly, when the efficiency of the boxing machine is higher than that of the bulb assembly line at the front section, or when any bulb assembly line at the front section fails to stop or the productivity is reduced, the production of the device is not influenced by flexible scheduling butting, so that the boxing machine improves the equipment utilization rate, and the overall production efficiency is improved.

As shown in fig. 2 to 7, the circulation feeding apparatus 100 includes a first frame 10, an automatic feeding device, an automatic receiving device, and a tray handling mechanism 60, where the automatic feeding device, the automatic receiving device, and the tray handling mechanism 60 are all installed on the first frame 10, the automatic feeding device is used for providing a tray 610 and placing a material 620 on the tray 610, the automatic receiving device is used for receiving the tray 610, and the tray handling mechanism 60 is used for transferring the tray 610 on the automatic feeding device to the automatic receiving device for recycling.

Further, the automatic feeding device comprises a material pushing mechanism 20, a material buffering mechanism 30 and a material positioning mechanism 40, wherein the first frame 10 is provided with a docking bin 101 and a docking inlet and outlet 102 communicated with the docking bin 101, the material pushing mechanism 20, the material buffering mechanism 30 and the material positioning mechanism 40 are all arranged on the first frame 10, the material pushing mechanism 20 and the material buffering mechanism 30 are located at the edge of the docking bin 101, the material positioning mechanism 40 is located above the material buffering mechanism 30 and used for positioning a material 620, the material buffering mechanism 30 is arranged on one side, away from the docking inlet and outlet 102, of the docking bin 101, the material pushing mechanism 20 is arranged between the material buffering mechanism 30 and the docking inlet and outlet 102, and the material pushing mechanism 20 is used for pushing the material 620 onto the material buffering mechanism 30. Through set up material push mechanism 20 and material buffer memory mechanism 30 in first frame 10, after AGV700 gets into the butt joint storehouse, can be through the direct propelling movement of material 620 on the AGV700 to material buffer memory mechanism 30 on by material push mechanism 20 to make AGV700 need not take mechanisms such as jack-up, cylinder, belt, manipulator certainly, the overall structure of AGV700 is simple, reduces the energy consumption of AGV700, improves the utilization ratio of AGV700, practices thrift manufacturing cost.

As shown in fig. 9, the material pushing mechanism 20 includes a push rod 21, a first push rod driving mechanism 22, and a second push rod driving mechanism 23, the push rod 21 is connected to the first push rod driving mechanism 22, the first push rod driving mechanism 22 is connected to the second push rod driving mechanism 23, the second push rod driving mechanism 23 is connected to the first frame 10, the first push rod driving mechanism 22 is configured to drive the push rod 21 to move in the left-right direction F1, and the second push rod driving mechanism 23 is configured to drive the first push rod driving mechanism 22 and the push rod 21 to move in the front-rear direction F2. Wherein, material pushing mechanism 20 locates the left and right sides of butt joint storehouse 101, when propelling movement material 620, can make material 620 atress more stable, avoids material 620 to overturn from AGV 700. Of course, in other embodiments, other arrangements of the material pushing mechanism 20 are possible, as long as the material 620 on the AGV700 is pushed onto the material buffer mechanism 30.

Further, the push rod 21 is of a strip-shaped structure and extends along the up-down direction F3, the cross section of the push rod 21 is of an L-shaped structure, and the push rod can wrap a material carrier (namely a tray 610) to play a role in positioning, so that the material 620 is stressed more stably when the material 620 is pushed. Preferably, the first push rod driving mechanism 22 and the second push rod driving mechanism 23 are both slide cylinders so as to be driven by an air pump. Of course, the first push rod driving mechanism 22 and the second push rod driving mechanism 23 may be sliding actuators such as a sliding cylinder and a nut screw.

As shown in fig. 10, the material buffer mechanism 30 includes a buffer platform 31 and a platform driving mechanism 32, the buffer platform 31 is connected to the platform driving mechanism 32, the platform driving mechanism 32 is connected to the first frame 10, and the platform driving mechanism 32 is used for driving the buffer platform 31 to move in the up-down direction F3. The buffer deck 31 interfaces with the deck of the AGV700 and is used to store material 620. The platform driving mechanism 32 is a lifting mechanism, and is used for driving the buffer platform 31 to lift or descend, i.e. driving the buffer platform 31 to move in the up-down direction F3. To adjust the docking position of the buffer stage 31, and to send the material 620 to the working height after the material is taken. The platform driving mechanism 32 may be a sliding cylinder, a nut screw, or the like.

Further, a power mechanism, such as a synchronous belt, a roller, etc., may be disposed on the buffer platform 31, and when the tray 610 for placing the material 620 is larger, the driving action of the second push rod driving mechanism 23 is only used to make it difficult to send the material 620 to the designated position of the buffer platform 31, so that the power mechanism may be disposed.

As shown in fig. 11 and 12, the material positioning mechanism 40 includes a first limit guide plate 41, a first push plate 42, a first push plate driving mechanism 43, a second limit guide plate 44 (fig. 8), a second push plate 45, and a second push plate driving mechanism 46, the first limit guide plate 41 and the first push plate 42 are disposed opposite to each other and are used for positioning the material 620 in the left-right direction, the second limit guide plate 44 and the second push plate 45 are disposed opposite to each other and are used for positioning the material 620 in the front-rear direction, the first limit guide plate 41, the first push plate driving mechanism 43, the second limit guide plate 44, and the second push plate driving mechanism 46 are all connected to the first frame 10, the first push plate driving mechanism 43 is connected to the first push plate 42 and is used for driving the first push plate 42 to move in the left-right direction F1, and the second push plate driving mechanism 46 is connected to the second push plate 45 and is used for driving the second push plate 45 to move in the front-rear direction F2. Wherein, the first limit guide plate 41 and the second limit guide plate 44 are fixed differently, and the first push plate 42 and the second push plate 45 move, so as to move the material 620 to a predetermined position, and avoid a larger offset of the placing position of the material 620. Of course, in other embodiments, the driving mechanism may be provided to drive the first limit guide plate 41 and the second limit guide plate 44 to move, so that the position adjustment range of the material 620 is larger, and the applicability is higher. After the platform driving mechanism 32 sends the material 620 to the working height, the material positioning mechanism 40 is used for positioning, so that the influence on the subsequent automatic flow caused by the large offset of the placing position of the material 620 is avoided.

Preferably, the second limit guide 44 directly uses the back plate of the first frame 10, so that the structure of the automatic material taking device is more compact and the manufacturing cost is reduced. Of course, in other embodiments, a plate may be additionally used as the second limit guide plate 44.

Further, the lower ends of the first limiting guide plate 41, the first push plate 42 and the second push plate 45 are respectively provided with a guiding inclined plane, the guiding inclined plane inclines towards the outer side of the material positioning mechanism 40, and when the platform driving mechanism 32 drives the material 620 to rise, the first limiting guide plate 41, the first push plate 42 and the second push plate 45 can play a certain guiding role for the material 620.

Further, the second limit guide plate 44 is provided with a claw 441, a claw driving mechanism 442 and a through hole 443 matching with the claw 441, the claw 441 and the claw driving mechanism 442 are disposed on one side of the second limit guide plate 44 away from the second push plate 45, and the claw driving mechanism 442 is connected with the claw 441 and is used for driving the claw 441 to retract in the through hole 443. The second push plate 45 is provided with a first clamping strip 451 at one side facing the second limit guide plate 44, and the first clamping strip 451 and the claw 441 are located at the same height. After the material 620 rises to a preset height, the tray 610 is positioned in the left-right direction F1 and the front-rear direction F2 by the first limit guide plate 41, the first push plate 42, the second limit guide plate 44 and the second push plate 45, and the tray 610 is limited to move upwards by the claw 441 and the first clamping strip 451, so that the tray 610 is prevented from being grabbed along with the material 620 when the material 620 is grabbed.

Further, a second clamping bar 421 is disposed on a side of the first push plate 42 facing the first limit guiding plate 41, and the second clamping bar 421, the first clamping bar 451 and the claw 441 are located at the same height. The tray 610 is restricted from moving upward by the first clamping bar 451, the claw 441, and the second clamping bar 421 together.

The first push plate driving mechanism 43, the second push plate driving mechanism 46, and the jaw driving mechanism 442 may be sliding actuators such as sliding cylinders, or nut screws.

As shown in fig. 4, 6 and 8, the automatic material taking device further includes an AGV in-place detecting mechanism 1, a material in-place detecting mechanism 2 and a material height detecting mechanism 3, where the AGV in-place detecting mechanism 1 is used for detecting whether the AGV700 moves to a preset position of the docking bin 101, the material in-place detecting mechanism 2 is used for detecting whether the material 620 is pushed to the material buffer mechanism 30, and the material height detecting mechanism 3 is used for detecting whether the material 620 moves to a preset height. Wherein, AGV detection mechanism in place 1, material detection mechanism in place 2 and material height detection mechanism 3 can be infrared sensor. The AGV in-place detection mechanism 1 is positioned at the left side or the right side of the butt joint bin 101 and is connected with the first rack 10; the material feeding position detecting mechanism 2 is arranged on the second limit guide plate 44, namely the back plate of the first frame 10; the material height detection mechanism 3 is arranged on the first limit guide plate 41.

As shown in fig. 3 to 7, the automatic material receiving device includes a tray buffer mechanism 50 and a tray carrying mechanism 60 mounted on the first frame 10, the tray buffer mechanism 50 is disposed on one side of the docking bin 101 near the docking inlet/outlet 102, and the tray carrying mechanism 60 is disposed above the first frame 10 and is used for carrying the tray on the material buffer mechanism 30 to the tray buffer mechanism 50. Through the cooperation of material buffer memory mechanism 30, tray buffer memory mechanism 50 and tray transport mechanism 60 for circulation feed equipment not only can take off the material 620 above the platform of AGV700, simultaneously, still possess the effect of automatic feeding tray 610 or material 620 to the platform of AGV700, the uninterrupted work of circulation can be circulated to feed equipment's feed and pick up tray 610, realizes 24 hours uninterrupted feed, improves production efficiency, realizes unmanned, reduction in production cost.

As shown in fig. 13 and 14, the tray buffer mechanism 50 includes a first stopper plate 51, a second stopper plate 52, a first guide blade 53, a second guide blade 54, a first blade driving mechanism 55, and a second blade driving mechanism 56, the first stopper plate 51 and the second stopper plate 52 being disposed opposite to each other and configured to stopper the tray in the front-rear direction, the first guide blade 53 and the second guide blade 54 being disposed opposite to each other and configured to stopper the tray in the left-right direction, the first stopper plate 51, the second stopper plate 52, the first blade driving mechanism 55, and the second blade driving mechanism 56 being connected to the first frame 10, the first blade driving mechanism 55 being connected to the first guide blade 53 and configured to drive the first guide blade 53 to move in the up-down direction, and the second blade driving mechanism 56 being connected to the second guide blade 54 and configured to drive the second guide blade 54 to move in the up-down direction F3. The pallet 610 is placed on the first guide pallet 53 and the second guide pallet 54 and the pallet 610 is driven downward by the first pallet drive mechanism 55 and the second pallet drive mechanism 56 to place the pallet 610 on the AGV 700.

The first pallet driving mechanism 55 and the second pallet driving mechanism 56 may each adopt a sliding driver such as a sliding cylinder, a sliding cylinder or a nut screw.

Further, the first guide plate 531 is disposed on the first guide supporting plate 53, the second guide plate 541 is disposed on the second guide supporting plate 54, and the first guide plate 531 and the second guide plate 541 can guide the tray 610, so that the tray 610 can be easily placed on the tray buffer mechanism 50 when the tray handling mechanism 60 is handling the tray 610, and the position of the tray 610 can be automatically adjusted, so that the trays 610 are stacked neatly, and the tray is conveniently and smoothly fed to the platform of the AGV 700.

As shown in fig. 15, the tray conveyance mechanism 60 includes a suction mechanism 61, a link 62, and a conveyance driving mechanism 63, the suction mechanism 61 is connected to the conveyance driving mechanism 63 through the link 62, and the conveyance driving mechanism 63 is connected to the first frame 10 and is configured to drive the link 62 and the suction mechanism 61 to move in the front-rear direction.

The suction mechanism 61 includes a plurality of suction cups 611 and a suction cup mounting frame 612, wherein the suction cups 611 are mounted on the suction cup mounting frame 612, and the suction cup mounting frame 612 is connected with the connecting frame 62. The connecting frame 62 is of an L-shaped structure, the connecting frame 62 is provided with an air distribution mechanism, and the plurality of suckers 611 are communicated with the air distribution mechanism through air pipes. The transport driving mechanism 63 may be a sliding actuator such as a sliding cylinder, or a nut screw.

Further, the connecting frame 62 may also be provided with a telescopic mechanism, the adsorption mechanism 61 is connected with the connecting frame 62 through the telescopic mechanism, and the telescopic mechanism is used for adjusting the lifting of the adsorption mechanism 61, so that the adsorption mechanism 61 can better adsorb the tray 610. Of course, the height of the tray 610 can also be adjusted by the platform driving mechanism 32, so that the adsorption mechanism 61 can better adsorb the tray 610 and avoid the interference of the positioning mechanism 40 during the operation of carrying the tray 610.

As shown in fig. 1 and 2, the material transfer apparatus 300 includes a second frame 310 and a gripping robot 320 mounted on the second frame 310, the gripping robot 320 being configured to transfer the material 620 on the circulation feed device 100 to the material transfer apparatus 400. The gripping robot 320 is a four-axis robot, and can rotate and lift, so that the gripping robot can rotate above the multiple circulation feeding devices 100 and grip the material 620. The second frame 310 is located between the two first frames 10, and the two first frames 10 and the second frame 310 may be connected as a whole, or may be separated separately for easy transportation and assembly.

It can be appreciated that the grabbing mechanical arm 320 is further provided with a suction nozzle, a sensor and a spacing adjustment mechanism, the suction nozzle is used for sucking the material 620 on the tray 610, the sensor is used for detecting whether the material 620 is sucked or not on the suction cup, the spacing adjustment mechanism is used for adjusting the spacing of the suction cup, namely, the spacing of the material 620 is adjusted, so that the material 620 is ensured not to rub or collide with each other in the conveying process, damage to the surface of the material 620 is prevented, and the product quality and the yield are improved.

Further, the material conveying apparatus 400 includes a third frame 410 and a conveying chain 420 mounted on the third frame 410, and the conveying chain 420 is used for conveying the material 620. The third frame 410 is integrally connected to the second frame 310 at one side of the second frame 310, and of course, the third frame 410 and the second frame 310 may be separately separated for easy transportation and assembly.

As shown in fig. 1 and 2, in this embodiment, the circulating feeding system further includes a feeding posture adjusting device 200 mounted on the material conveying device 400, the feeding posture adjusting device 200 includes a feeding base 210 and a fool-proof mechanism 220 mounted on the feeding base 210, the feeding base 210 is provided with a chute 211 that is obliquely arranged and has a size matched with that of the material 620, the fool-proof mechanism 220 is located above the chute 211, and the chute 211 and the fool-proof mechanism 220 are used together for adjusting the feeding posture of the material 620. The cross section of the sliding chute 211 in the longitudinal direction of the vertical sliding chute 211 is inverted triangle or inverted trapezoid, which can avoid the left-right offset of the material 620 during sliding, ensure that the material 620 is automatically adjusted to the central position of the sliding chute 211 when being put into the sliding chute 211, and ensure that the tail end of the sliding chute 211 is aligned with the feeding position of the material conveying device 400, thereby ensuring that the material 620 slides smoothly to the feeding position of the conveying chain 420 of the material conveying device 400.

By arranging the fool-proof mechanism 220 above the sliding chute 211, under the cooperation of the sliding chute 211 and the fool-proof mechanism 220, the automatic adjustment of the material 620 from a vertical state to a lying posture is realized, so that the feeding posture requirement of a circulating feeding system on the material 620 is met, the automatic stable feeding is realized, and the automatic feeding mechanism has the advantages of simplicity, small occupied space, no damage to the surface, lower cost and good stability; therefore, the vibration disc can be used for automatically adjusting the posture of the material 620 instead, and the surface of the material 620 is prevented from being scratched and damaged.

As shown in fig. 16 to 21, the fool-proof mechanism 220 includes a blocking portion 221 and a supporting portion 222, the blocking portion 221 is connected with the supporting portion 222, the supporting portion 222 is connected with the feeding base 210, the blocking portion 221 is used for interfering with the material 620 and adjusting the feeding posture of the material 620, so that the material 620 falls down to the chute 211 and then is automatically adjusted to a central position, a cross-over or head-to-tail exchange is prevented in the process of feeding the material 620 to the chute 211, and preparation is made for the material 620 to smoothly slide down to the feeding position of the conveying chain 420 of the material conveying device 400. The length direction of the blocking portion 221 is perpendicular to the length direction of the sliding slot 211, and the blocking portion 221 may have a plate-like structure or a bar-like structure. In practical application, the distance between the blocking portion 221 and the chute 211 needs to be set according to the size of the material 620, so that the blocking portion 221 interferes with the material 620 and can fall into the chute 211 after adjusting the feeding posture of the material 620.

Further, the fool-proof mechanism 220 includes a baffle 223, the baffle 223 is disposed at the end of the chute 211 and is connected to the blocking portion 221, and one end of the baffle 223 away from the blocking portion 221 is tilted toward the side away from the chute 211. After the feeding posture adjusting device 200 is mounted on the material conveying device 400 (fig. 1 and 2), the baffle 223 is located above the conveying chain 420 of the material conveying device 400, and the baffle 223 can play a certain role in shielding the conveying chain 420, so that the material 620 is prevented from being damaged due to the fact that other objects fall on the conveying chain 420; meanwhile, the baffle 223 prevents the material 620 from reversing from head to tail in the process of falling into the chute, and prevents the material 620 from being blown and tilted by the boosting mechanism 240, rushing out of the chute 211, reversing from head to tail, interfering with other mechanisms to cause faults such as bulb damage, equipment damage and the like in the process of moving the chute 211, so as to ensure the stability of feeding.

The feeding posture adjusting device 200 comprises a stopping mechanism 230, and the stopping mechanism 230 is connected with the feeding base 210 and is used for intermittently blocking the material 620 from sliding in the chute 211. When the material 620 falls into the channel of the chute 211, the material is blocked by the stop mechanism 230 and stops on the channel half slope of the chute 211; when the material 620 is required to slide down, the stop mechanism 230 is controlled to open so that the material 620 slides onto the conveyor chain 420. During feeding, the stopping mechanism 230 is used for controlling the interval between the materials 620 on the conveying chain 420, namely controlling the feeding beat, so as to meet the feeding interval requirement of the circulating feeding system on the materials 620, and prevent the materials 620 from falling down due to the fact that the feeding slot position of the conveying chain 420 is not emptied, and the materials 620 overlap.

Further, the stopping mechanism 230 includes a stopping plate 231 and a baffle driving mechanism 232 for driving the stopping plate 231 to stretch out and draw back, the baffle driving mechanism 232 is mounted on one side of the feeding base 210 away from the sliding slot 211, one end of the stopping plate 231 is connected with the baffle driving mechanism 232, and the other end passes through the feeding base 210 and is inserted into the sliding slot 211. Wherein, the feeding base 210 is provided with a through hole matched with the stop plate 231, so that the stop plate 231 passes through the feeding base 210 and is inserted into the chute 211. The baffle driving mechanism 232 may be a telescopic cylinder, a telescopic cylinder or a nut screw structure.

In this embodiment, the number of the sliding grooves 211 and the stopping plates 231 is the same and is plural, and each stopping plate 231 corresponds to one sliding groove 211. The stopping mechanism 230 further comprises a connecting plate 233, the stopping plates 231 are connected with the connecting plate 233, and the connecting plate 233 is connected with the baffle driving mechanism 232, so that the stopping plates 231 can stretch and retract in the sliding groove 211 through one baffle driving mechanism 232, the structure is simplified, and the cost is reduced.

In this embodiment, the feeding posture adjustment device 200 includes a boosting mechanism 240, and the boosting mechanism 240 is connected to the feeding base 210 and is used for driving the material 620 to slide in the chute 211. When the stop mechanism 230 is opened, the material 620 slides down against gravity at a relatively low speed, and by arranging the boosting mechanism 240, the material 620 is driven to slide down in the chute 211 under the combined action of the gravity and the boosting mechanism 240, so that the response speed of feeding can be increased, the feeding speed of the material 620 can be automatically controlled, and the automatic feeding speed of the boxing machine can be controlled within 1.5S/PCS.

Further, the boosting mechanism 240 is an air blowing device, and the air blowing device is installed at the starting end of the chute 211. Through knob and air cock shape control gas size and blowing effect, boost material 620 landing is in place, prevents that material 620 from blocking in the position that spout 211 bottom and transmission chain 420 (fig. 1 and 2) are connected, and is the material 620 that drives in spout 211 in contactless ground, avoids material 620 surface to scrape the flower.

Further, the teflon tape with a certain thickness is stuck on the surface of the sliding groove 211, which has the effects of elastically buffering the material 620 and reducing the friction on the surface of the material 620, so as to better protect the surface of the material 620.

In this embodiment, the feeding posture adjustment device 200 includes a detection mechanism 250, where the detection mechanism 250 is used to detect whether the material 620 slides out of the end of the chute 211. The detection mechanism 250 may be an infrared sensor. The detection mechanism 250 is provided with a mounting bracket 251, the detection mechanism 250 is mounted on the mounting bracket 251, and the mounting bracket 251 is mounted on the third frame 410.

As shown in fig. 1 and 2, the circulating loading system further includes a boxing apparatus 500 and the circulating loading system as described above, where the boxing apparatus 500 is located at the end of the material conveying device 400 and is used for packaging and boxing the material 620. The boxing apparatus 500 comprises a fourth frame 510 and a boxing mechanism 520 mounted on the fourth frame 510, and after the material 620 is conveyed to the boxing apparatus 500 by the conveying chain 420, the boxing mechanism 520 on the fourth frame 510 performs boxing and packaging on the material 620. The fourth frame 510 and the third frame 410 may be integrally connected, but may be separately separated for easy transportation and assembly.

The application also provides a control method for the cyclic feeding, which is used for controlling the cyclic feeding system, and comprises the following steps:

As illustrated in fig. 1-4, the AGV700 transports material 620 to the circulating feeder apparatus 100 and controls the circulating feeder apparatus 100 to remove and transfer the material 620 from the AGV700 to the automatic feeder apparatus of the circulating feeder apparatus 100. Specifically, the material 620 is pushed onto the buffer deck 31 by the material pushing mechanism 20 together with the tray 610 containing the material 620.

The material transfer device 300 is controlled to transfer the material 620 on the automatic feeding device 100 to the material transfer device 400 for transfer. Specifically, the material 620 on the buffer platform 31 is grabbed to the feeding posture adjustment device 200 above the conveying chain 420 by the grabbing mechanical arm 320, and then is placed and conveyed on the conveying chain 420 by the feeding posture adjustment device 200.

Each time the material transfer apparatus 300 finishes taking a layer of material 620, the tray handling mechanism 60 is controlled to transfer the tray 610 for holding the material 620 on the automatic feeding apparatus to the automatic receiving apparatus. Specifically, after the material 620 on each layer of trays 610 is transferred, the trays 610 on the buffer platform 31 are transferred to the tray buffer mechanism 50 by the tray handling mechanism 60 for buffering.

When the tray 610 on the automatic receiving device reaches a preset amount, the automatic receiving device is controlled to place the tray 610 on the AGV700 for recycling. Specifically, when the buffered pallet 610 on the pallet buffer mechanism 50 reaches a predetermined amount, the first guide pallet 53 and the first guide plate 531 are respectively driven to descend by the first pallet driving mechanism 55 and the second pallet driving mechanism 56, so that the pallet 610 is placed on the AGV700 for recovery.

During actual operation, the AGV700 automatically conveys the material 620 to the unloading position (the docking bin 101), the controller of the AGV700 sends an in-place signal to the MES, the MES acquires sensor information of the AGV in-place detection mechanism 1, after confirming that the AGV700 is in place, the MES sends an allowable unloading instruction to the AGV700, and after the AGV700 receives the allowable unloading instruction, a stop lever (not shown) on the AGV700 is retracted. After the retracting action is completed, the controller of the AGV700 sends a completion signal to the MES, meanwhile, the MES sends a material taking requirement signal to the controller of the material caching mechanism 30, after the controller receives the material taking requirement signal of the MES, the platform driving mechanism 32 of the material caching mechanism 30 is controlled to descend to a material receiving position, namely, the plane of the caching platform 31 is slightly lower than the loading plane of the AGV700, and after the position reaches a designated position, the controller of the material caching mechanism 30 sends the completion signal to the MES. Of course, the material buffer mechanism 30 may also be set by an automatic program, and after the material 620 and the tray 610 on the buffer platform 31 are removed, the material buffer mechanism automatically reaches the position where the AGV700 receives the material, and the material receiving preparation action is performed in advance. After receiving the MES signal, directly feeding back the signal ready for receiving the material, shortening the butt joint time and improving the overall operation efficiency.

Then, the MES sends a discharge instruction to the controller of the material pushing mechanism 20, the controller of the material pushing mechanism 20 receives the discharge instruction and then controls the first push rod driving mechanism 22 of the material pushing mechanism 20 to horizontally extend, the sensor detects that the push rod 21 moves in place and then sends a signal to the controller, the controller receives the signal of the push rod 21 in place and then controls the second push rod driving mechanism 23 to act, the second push rod driving mechanism 23 drives the push rod 21 to move so as to push the material from the plane of the AGV700 to the buffer platform 31 of the material buffer mechanism 30, and the sensor detects that the second push rod driving mechanism 23 moves in place and then sends a signal to the controller, and meanwhile, the material in place detecting mechanism 2 detects the material 620 and then sends a signal to the controller. After the controller receives the two in-place signals, the material pushing mechanism 20 is controlled to reset, and the material caching mechanism 30 lifts the material 620 to the working position through the platform driving mechanism 32.

Then, the grabbing mechanical arm 320 on the material transferring device 300 grabs the material 620 on the buffer platform 31 and moves the material 620 to the upper part of the feeding posture adjusting device 200, the controller controls the grabbing mechanical arm 320 to descend the material 620 from the safe position to the surface of the sliding chute 211, and when the material 620 is slightly inclined to the surface of the sliding chute 211, the controller controls the grabbing mechanism to release the material 620 to the channel of the sliding chute 211, and the material 620 is automatically adjusted to be in an inclined posture from a vertical posture under the combined action of the inclined channel of the sliding chute 211 and the fool-proof mechanism 220, so that the bulb is automatically kept at the central position of the sliding chute 211; after the material 620 falls into the channel of the chute 211, the material is blocked by the stop plate of the stop mechanism 230 and stops on the half slope of the channel of the chute 211; when the controller controls the stop plate 231 of the stop mechanism 230 to descend to be flush with the channel surface of the sliding chute 211 and opens the electromagnetic valve of the boosting mechanism 240 to blow, the material 620 quickly slides to the feeding level of the conveying chain 420 through the channel of the sliding chute 211 under the combined action of gravity and air thrust; when the detecting mechanism 250 detects the material 620, it indicates that the automatic adjustment of the feeding posture of the material 620 is completed, and one automatic feeding action is completed, and all the mechanisms are reset and enter the next circulation action.

After the grabbing of the material 620 on the tray 610 of one layer is completed, the tray carrying mechanism 60 adsorbs and carries the tray 610 to the discharging position of the tray caching mechanism 50, meanwhile, the platform driving mechanism 32 lifts a material taking height to grab the material 620 of the next layer, and the cycle is performed until all the grabbing of the material 620 on the caching platform 31 is completed, and the tray 610 is completely sent to the discharging position of the tray caching mechanism 50. And then sends a discharging completion signal to the MES, and after receiving the completion signal, the MES sends a completion instruction to the AGV700 to inform the AGV700 to move to the lower part of the tray buffer mechanism 50, and the discharging position of the tray 610 and the feeding position of the material 620 can be overlapped through position adjustment, namely, the discharging and the feeding are completed at the same position, so that the action is simplified, the time is saved, and the stability and the operation efficiency are improved. The MES sends instructions to the first pallet drive mechanism 55 and the second pallet drive mechanism 56 to drive the first guide pallet 53 and the second guide pallet 54 to descend below the deck of the AGV700, and the pallet 610 is delivered to the deck of the AGV700, completing one automatic feed and automatic jig reflow.

When one of the circulation feed devices 100 finishes feeding the material transfer device 300, the material transfer device 300 is exchanged to the other circulation feed device 100 to grasp the material 620, and the two circulation feed devices 100 can exchange to provide the material 620 for the material transfer device 300, so that the material 620 can be provided for the material transfer device 300 continuously for 24 hours, the material transfer device 300 can grasp the material 620 continuously for 24 hours and transfer the material 620 to the material transfer device 400, thereby realizing unmanned production and improving the equipment operation rate.

In this document, terms such as up, down, left, right, front, rear, etc. are defined by the positions of the structures in the drawings and the positions of the structures with respect to each other, for the sake of clarity and convenience in expressing the technical solution. It should be understood that the use of such orientation terms should not limit the scope of the claimed application. It should also be understood that the terms "first" and "second," etc., as used herein, are used merely for distinguishing between names and not for limiting the number and order.

The present invention is not limited to the preferred embodiments, and the present invention is described above in any way, but is not limited to the preferred embodiments, and any person skilled in the art will appreciate that the present invention is not limited to the embodiments described above, when the technical content disclosed above can be utilized to make a little change or modification, the technical content disclosed above is equivalent to the equivalent embodiment of the equivalent change, but any simple modification, equivalent change and modification made to the above embodiment according to the technical substance of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims (7)

1. The circulating feeding system is characterized by comprising a plurality of circulating feeding devices, a material transferring device and a material conveying device, wherein the circulating feeding devices are positioned at the periphery of the material transferring device, and the material transferring device is used for transferring materials on the circulating feeding devices to the material conveying device;

the circulating feeding equipment comprises a first frame, an automatic feeding device, an automatic receiving device and a tray carrying mechanism, wherein the automatic feeding device, the automatic receiving device and the tray carrying mechanism are all arranged on the first frame;

The automatic feeding device comprises a material pushing mechanism, a material caching mechanism and a material positioning mechanism, wherein a first frame is provided with a butt joint bin and a butt joint inlet and outlet communicated with the butt joint bin, the material pushing mechanism, the material caching mechanism and the material positioning mechanism are all arranged on the first frame, the material pushing mechanism and the material caching mechanism are positioned at the edge of the butt joint bin, the material positioning mechanism is positioned above the material caching mechanism and is used for positioning materials, the material caching mechanism is arranged at one side, away from the butt joint inlet and outlet, of the butt joint bin, the material pushing mechanism is arranged between the material caching mechanism and the butt joint inlet and outlet, and the material pushing mechanism is used for pushing the materials onto the material caching mechanism;

the material pushing mechanism comprises a push rod, a first push rod driving mechanism and a second push rod driving mechanism, wherein the push rod is connected with the first push rod driving mechanism, the first push rod driving mechanism is connected with the second push rod driving mechanism, the second push rod driving mechanism is connected with the first rack, the first push rod driving mechanism is used for driving the push rod to move in the left-right direction, and the second push rod driving mechanism is used for driving the first push rod driving mechanism and the push rod to move in the front-back direction;

The material caching mechanism comprises a caching platform and a platform driving mechanism, the caching platform is connected with the platform driving mechanism, the platform driving mechanism is connected with the first rack, and the platform driving mechanism is used for driving the caching platform to move in the up-down direction;

The automatic receiving device comprises a tray buffer mechanism arranged on the first frame, the tray buffer mechanism is arranged on one side of the butt joint bin, which is close to the butt joint inlet and outlet, and the tray carrying mechanism is used for carrying a tray on the material buffer mechanism to the tray buffer mechanism for recycling.

2. The circulation feeding system according to claim 1, wherein the material positioning mechanism includes a first limit guide plate, a first push plate driving mechanism, a second limit guide plate, a second push plate, and a second push plate driving mechanism, the first limit guide plate and the first push plate are disposed opposite to each other and are used for positioning the material in a left-right direction, the second limit guide plate and the second push plate are disposed opposite to each other and are used for positioning the material in a front-rear direction, the first limit guide plate, the first push plate driving mechanism, the second limit guide plate, and the second push plate driving mechanism are all connected to the first frame, the first push plate driving mechanism is connected to the first push plate and is used for driving the first push plate to move in the left-right direction, and the second push plate driving mechanism is connected to the second push plate and is used for driving the second push plate to move in the front-rear direction.

3. The circulating feeding system of claim 1, wherein the tray buffer mechanism comprises a first limit baffle, a second limit baffle, a first guide pallet, a second guide pallet, a first pallet driving mechanism and a second pallet driving mechanism, the first limit baffle and the second limit baffle are oppositely arranged and used for limiting the tray in the front-back direction, the first guide pallet and the second guide pallet are oppositely arranged and used for limiting the tray in the left-right direction, the first limit baffle, the second limit baffle, the first pallet driving mechanism and the second pallet driving mechanism are all connected with the first rack, the first pallet driving mechanism is connected with the first guide pallet and used for driving the first guide pallet to move in the up-down direction, and the second pallet driving mechanism is connected with the second guide pallet and used for driving the second guide pallet to move in the up-down direction.

4. The cyclical loading system of claim 1, wherein the pallet handling mechanism comprises an adsorption mechanism, a connecting frame, and a handling drive mechanism, the adsorption mechanism being connected to the handling drive mechanism by the connecting frame, the handling drive mechanism being connected to the first frame and being configured to drive the connecting frame and the adsorption mechanism to move in a front-to-back direction.

5. The cyclical loading system of any one of claims 1 to 4, wherein the material transfer device comprises a second frame and a gripper arm mounted on the second frame, the gripper arm being configured to transfer material on the cyclical feed device onto the material transfer device;

The material conveying device comprises a third rack and a conveying chain arranged on the third rack, and the conveying chain is used for conveying the materials.

6. The cyclic loading system of any one of claims 1-4, further comprising a loading posture adjustment device mounted on the material conveying device, wherein the loading posture adjustment device comprises a loading base and a fool-proof mechanism mounted on the loading base, a chute which is obliquely arranged and has a size matched with that of the material is arranged on the loading base, the fool-proof mechanism is located above the chute, and the chute and the fool-proof mechanism are used for adjusting the loading posture of the material together.

7. A control method for cyclic feeding, wherein the control method is used for controlling the cyclic feeding system according to any one of claims 1 to 6, and the control method comprises:

The AGV conveys materials to a circulating feeding device, and the circulating feeding device is controlled to take down the materials on the AGV and transfer the materials to an automatic feeding device of the circulating feeding device;

controlling a material transfer device to transfer the material on the automatic feeding device to a material conveying device for conveying;

after each layer of material is taken out by the material transferring device, controlling a tray carrying mechanism to transfer a tray used for containing the material on the automatic feeding device to an automatic receiving device;

When the tray on the automatic receiving device reaches a preset amount, the automatic receiving device is controlled to place the tray on the AGV for recycling.