Production line feeding and discharging system based on visual positioning and control method thereof

Abstract

The invention relates to a production line feeding and discharging system based on visual positioning and a control method thereof.The production line feeding and discharging system comprises a rack, a stock bin mechanism, a mechanical arm and a transfer mechanism, the rack is provided with a raw material area and a finished product area, in the stock bin mechanism, feeding supporting rods and discharging supporting rods can move up and down, and multiple feeding conveying belts and multiple discharging supporting rods are arranged at intervals; the multiple discharging conveying belts and the multiple discharging supporting rods are arranged at intervals, the length of the feeding conveying belts is larger than that of the feeding supporting rods, the length of the discharging conveying belts is larger than that of the discharging supporting rods, the upper planes of the feeding supporting rods can be lower than the upper planes of the feeding conveying belts, and the upper planes of the discharging supporting rods can be lower than the upper planes of the discharging conveying belts. One side of the feeding conveying belt is used for manual feeding, one side of the discharging conveying belt is used for manual discharging, the mechanical arm takes out or puts back workpieces in a visual positioning mode, and the transferring mechanism moves left and right to transfer material trays from a raw material area to a finished product area. By arranging the stock bin mechanism to cooperate with the manipulator and the transfer mechanism, the space utilization rate is increased.

Description

Technical Field

[0001] The present invention relates to a loading and unloading system for a production line based on visual positioning and its control method, belonging to the technical field of numerical control machining. Background Art

[0002] With the continuous development of science and technology, the processing of parts presents characteristics such as a large variety of specifications, small batch sizes, frequent production changeovers, and high requirements for aesthetic appearance. As the main equipment for part processing, full-automatic high-speed numerical control machine tools are increasingly demanded by users in terms of their versatility, processing effect, processing accuracy, processing speed, and automation level.

[0003] Currently, the machining of numerical control machine tools mainly adopts the method of positioning by cooperating a fixture for workpiece matching with a pushing cylinder. The above workpiece positioning method not only has the risk of scratching the workpiece, but also the positioning shoulder will wear and needs to be replaced regularly, and the fixture needs to be replaced accordingly when the workpiece is changed, seriously affecting the production speed and production effect, and increasing the production cost. At the same time, for the production line, the trays for workpiece transfer on the conveyor line also need to be replaced accordingly during production changeovers, further reducing the production efficiency and increasing the production cost.

[0004] In addition, for the existing production lines, the manipulators used to achieve automated machining of machine tools mainly include six-degree-of-freedom manipulators and in-machine manipulators. Among them, for six-degree-of-freedom manipulators, they generally need to be used in combination with a storage bin and a conveyor line, occupying a large area and being expensive, and the space required for the arm span is also large, which is not conducive to the production layout of the workshop. For in-machine manipulators, their activities are easily restricted by the internal space of the machine tool, often need to pause to avoid other moving parts, affecting the machining speed. And in-machine manipulators generally need to be equipped with in-machine trays for storing workpieces, which also need to be replaced during production changeovers. Moreover, for larger in-machine trays, the internal space of the machine tool also limits the number of in-machine trays that can be installed, resulting in an increase in the frequency of manual material replacement. At the same time, for in-machine manipulators and in-machine trays, they are easily affected by the internal environment pollution of the machine tool, such as being adhered with machining cutting fluid or machining waste chips, further affecting the machining effect. Summary of the Invention

[0005] The present invention provides a loading and unloading system for a production line based on visual positioning and its control method, aiming to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention proposes that by setting a compact storage bin mechanism and cooperating with a manipulator and a transfer mechanism, it is possible to achieve loading and unloading without stopping the machine, improving the space utilization rate.

[0006] One aspect of the technical solution of the present invention relates to a glass processing production line, including:

[0007] A frame, with a raw material area and a finished product area respectively arranged on the left and right sides of the frame;

[0008] Bin mechanism, the bin mechanism includes a loading conveyor belt and a loading support rod arranged in the raw material area, and a discharging conveyor belt and a discharging support rod arranged in the finished product area; the loading conveyor belt and the discharging conveyor belt are both rotatably arranged on the frame in the front and back directions, and the loading support rod and the discharging support rod are both movably arranged on the frame in the up and down directions; a plurality of the loading conveyor belts and a plurality of the loading support rods are arranged at intervals, and a plurality of the discharging conveyor belts and a plurality of the discharging support rods are arranged at intervals;

[0009] Among them, the length of the loading conveyor belt is greater than the length of the loading support rod, and the length of the discharging conveyor belt is greater than the length of the discharging support rod; when the loading support rod is in the first position, the upper plane of the loading support rod is lower than the upper plane of the loading conveyor belt; when the discharging support rod is in the second position, the upper plane of the discharging support rod is lower than the upper plane of the discharging conveyor belt; the side of the loading conveyor belt away from the loading support rod is for manual loading, and the side of the discharging conveyor belt away from the discharging support rod is for manual unloading;

[0010] Manipulator, the manipulator takes out or places back the workpiece in the raw material area by means of visual positioning;

[0011] Transfer mechanism, the transfer mechanism is movably arranged on the frame in the left and right directions and is used to transfer the tray from the raw material area to the finished product area.

[0012] Further, the manipulator is arranged above the bin mechanism, and the transfer mechanism is arranged between the manipulator and the bin mechanism.

[0013] Further, the transfer mechanism further includes a transfer guide rail, a connecting bracket and a transfer bracket. One side of the connecting bracket is slidably connected to the transfer guide rail in the left and right directions, and the other side of the connecting bracket is fixedly connected to the transfer bracket. The transfer guide rail penetrates through the raw material area and the finished product area.

[0014] Further, the transfer mechanism includes a transfer suction cup for sucking up the tray, and the transfer suction cup is arranged on the lower side of the transfer bracket.

[0015] Further, the transfer guide rail is arranged on the side of the frame away from the loading support rod and the discharging support rod. One side of the transfer guide rail is arranged above the manual loading station of the loading conveyor belt, and the other side of the transfer guide rail is arranged above the manual unloading station of the discharging conveyor belt.

[0016] Further, the manipulator is provided with multiple sets of picking components, and each set of the picking components includes a plurality of picking suction cups. The transfer bracket is arranged below the picking suction cups.

[0017] Further, the manipulator is provided with a first axis, which is horizontally arranged and can move left and right, and the end of the first axis is arranged in the machine tool for workpiece processing.

[0018] Further, the manipulator is further provided with a second axis, a third axis, a rotating axis and a picking arm. The first axis is arranged on the frame. The third axis is arranged on the side of the first axis and can move up and down. The second axis is arranged under the third axis and can move back and forth. The rotating axis is arranged under the second axis and can rotate. The picking arm is connected to the lower side of the rotating axis, and the picking arm is provided with a material taking suction cup for sucking up the workpiece.

[0019] On the other hand, the technical solution of the present invention relates to a control method for loading and unloading on a production line, which is applied to the production line loading and unloading system based on vision positioning in the above embodiment. The method according to the present invention includes the following steps:

[0020] F100. Detect whether the artificial stacking of the trays is completed on the side of the loading conveyor belt far from the loading support rod; if so, judge whether the loading support rod reaches the first position, if not, move the loading support rod to the first position; then, rotate the loading conveyor belt to move the tray to the loading support rod.

[0021] F200. Raise the tray on the top surface of the loading support rod to a preset first height through the loading support rod, and use the manipulator to take out the unprocessed workpiece in the tray on the top surface of the loading support rod by means of vision positioning for workpiece processing; after the processing is completed, use the manipulator to put the processed workpiece back into the tray on the top surface of the loading support rod by means of vision positioning.

[0022] F300. Repeat step F200 until all the workpieces in the tray on the top surface of the loading support rod are processed.

[0023] F400. Lower the tray on the top surface of the unloading support rod to a preset second height through the unloading support rod, and transfer the tray on the top surface of the loading support rod to the finished product area through the transfer mechanism and place it on the tray on the top surface of the unloading support rod.

[0024] F500. Repeat steps F200 to F400 until all the trays currently on the loading support rod are transferred to the unloading support rod.

[0025] F600. Lower the unloading support rod to the second position, and rotate the unloading conveyor belt to move the tray to the side of the unloading conveyor belt away from the unloading support rod.

[0026] Further, the transfer mechanism is provided with a transfer suction cup for sucking up the tray, and step F400 further includes the following steps:

[0027] F410. Move the transfer mechanism so that the transfer suction cup reaches above the top surface of the blanking support rod of the material tray.

[0028] F420. Raise the blanking support rod so that the transfer suction cup picks up the material tray.

[0029] The beneficial effects of the present invention are as follows.

[0030] The loading and unloading system and its control method for the production line based on vision positioning of the present invention, by setting up a compact bin mechanism, realizing loading and unloading by using vision positioning, placing the workpiece and the manipulator outside the machine tool, and realizing non-stop loading and unloading, can improve production efficiency. The bin mechanism divides the manual loading station and the raw material storage area, and divides the manual unloading station and the finished product storage station, and sets the raw material loading station above the raw material storage area and the finished product unloading station above the finished product storage station, so that the machining of the machine tool and the manual loading and unloading can be carried out synchronously, and through the left and right movement function of the transfer mechanism, the material tray can be transferred from the raw material area to the finished product area in mid-air, without interfering with the manual loading and unloading, realizing the synchronous operation of manual loading and unloading and machine tool loading and unloading, which is beneficial to realizing non-stop production line processing. At the same time, multiple material trays on the blanking support rod and the loading support rod are stacked vertically, reducing the frequency of manual loading and unloading. After the material tray is placed on the bin mechanism during manual loading, the manipulator can directly position the workpiece according to the pose feedback of the two vision positionings, pick up the workpiece on the material tray and place it on the machining station of the machine tool. Compared with the traditional positioning method of cooperating with a pushing cylinder for machining, the vision positioning method adopted can be applied to the positioning of workpieces of different sizes, and can reduce the probability of the workpiece being scratched. At the same time, the manipulator integrates the functions of precise positioning and transfer, reducing the risk of the positioning error rising and falling caused by the traditional secondary positioning, which is beneficial to ensuring high positioning accuracy under long-distance application and is beneficial to improving production efficiency. Description of the Drawings

[0031] Figure 1 is the first structural schematic diagram of the glass processing production line according to an embodiment of the present invention.

[0032] Figure 2 is the second structural schematic diagram of the glass processing production line according to an embodiment of the present invention.

[0033] Figure 3 is the structural schematic diagram of the bin mechanism and the transfer mechanism according to an embodiment of the present invention.

[0034] Figure 4 is Figure 3 the enlarged structural view of part A in

[0035] Figure 5 is the structural schematic diagram of the loading conveyor belt and the unloading conveyor belt according to an embodiment of the present invention.

[0036] Figure 6 It is a schematic structural diagram of a loading support rod and an unloading support rod according to an embodiment of the present invention.

[0037] Figure 7 It is a schematic structural diagram of a transfer mechanism according to an embodiment of the present invention.

[0038] Figure 8 It is a schematic structural diagram of a glass processing production line according to an embodiment of the present invention.

[0039] Figure 9 It is an overall structural diagram of a supporting machine tool of a glass processing production line according to an embodiment of the present invention.

[0040] Figure 10 It is an overall sectional view of a supporting machine tool of a glass processing production line according to an embodiment of the present invention.

[0041] Figure 11 It is a control flow chart of a glass processing production line according to an embodiment of the present invention.

[0042] Figure 12 It is a control flow chart of a manipulator loading and unloading system with supporting vision positioning according to an embodiment of the present invention.

[0043] Figure 13 It is a control flow chart of a loading and unloading system on a production line based on vision positioning according to an embodiment of the present invention.

[0044] Figure 14 It is a schematic structural diagram of a workpiece positioning system of an automated production line according to an embodiment of the present invention.

[0045] Figure 15 It is a basic flow chart of a workpiece positioning method of an automated production line according to an embodiment of the present invention.

[0046] Reference numerals:

[0047] 100 Frame; 110 Raw material area; 120 Finished product area; 130 Manual loading station; 140 Raw material storage area; 150 Raw material loading station; 160 Manual unloading station; 170 Finished product storage area; 180 Finished product unloading station; 190 Safety light curtain;

[0048] 200 Bin mechanism; 210 Loading conveyor belt; 220 Loading support rod; 230 Unloading conveyor belt; 240 Unloading support rod;

[0049] 300 Machine tool;

[0050] 400 Manipulator; 410 Pick-up arm; 420 First axis; 430 Second axis; 440 Third axis; 450 Rotating axis; 460 Material picking bracket; 470 Material picking suction cup; 480 Long rod;

[0051] 500 First positioning CCD device; 510 Second positioning CCD device;

[0052] 600 Transfer mechanism; 610 Transfer guide rail; 620 Connecting bracket; 630 Transfer bracket; 640 Transfer suction cup;

[0053] 700 Tray; 710 Material groove; 720 Workpiece. Detailed implementation manners

[0054] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and the drawings, so as to fully understand the purpose, solution and effects of the present invention. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. It should be noted that, unless otherwise specified, when a certain feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to another feature, or indirectly fixed or connected to another feature. In addition, the up, down, left, right, top, bottom, etc. used in the present invention are only relative to the mutual positional relationship of the components of the present invention in the drawings. In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the description of this specification are only for describing specific embodiments, and are not intended to limit the present invention. It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of this disclosure, the first element may also be referred to as the second element.

[0055] See Figures 1 to 10, the glass processing production line of the technical solution of the present invention includes a frame 100, a machine tool 300, a magazine mechanism 200, a manipulator 400, a first positioning CCD device 500, a second positioning CCD device 510, and a transfer mechanism 600. The left and right sides of the frame 100 are respectively provided with a raw material area 110 and a finished product area 120. The raw material area 110 is provided with a manual loading station 130, a raw material storage area 140, and a raw material loading station 150. The finished product area 120 is provided with a manual unloading station 160, a finished product storage area 170, and a finished product unloading station 180. The machine tool 300 is used for processing the workpiece 720, and the machine tool 300 is arranged on the side of the frame 100. The magazine mechanism 200 is used for storing the tray 700, and the magazine mechanism 200 is arranged on the frame 100. The magazine mechanism 200 is provided with a loading conveyor belt 210 for switching the position of the tray 700 between the manual loading station 130 and the raw material storage area 140, a loading support rod 220 for switching the position of the tray 700 between the raw material storage area and the raw material loading station 150, an unloading conveyor belt 230 for switching the position of the tray 700 between the finished product storage area 170 and the finished product unloading station 180, and an unloading support rod 240 for switching the position of the tray 700 between the finished product storage area 170 and the finished product unloading station 180. The manipulator 400 is used for switching the position of the workpiece 720 between the raw material loading station 150 and the machine tool 300, and the manipulator 400 is arranged on the frame 100. The manipulator 400 is provided with a picking arm 410 for picking up the workpiece 720. The first positioning CCD device 500 is used for identifying and obtaining the pose of the first workpiece 720 at the raw material loading station 150. The second positioning CCD device 510 is used for identifying and obtaining the pose of the second workpiece 720 on the manipulator 400. The transfer mechanism 600 is used for transferring the tray 700 from the raw material loading station 150 to the finished product unloading station 180, and the transfer mechanism 600 is arranged on the frame 100. Among them, the manipulator 400 picks up the workpiece 720 in the tray 700 at the raw material loading station 150 according to the pose of the first workpiece 720, and the manipulator 400 adjusts the pose of the picking arm 410 with the workpiece 720 according to the pose of the second workpiece 720. Further, the manual loading station 130 is arranged in front of the raw material storage area 140, the raw material loading station 150 is arranged above the raw material storage area 140, the manual unloading station 160 is arranged in front of the finished product storage area 170, and the finished product unloading station 180 is arranged above the finished product storage area 170, so that the overall layout of the magazine mechanism 200 is more compact, which is beneficial to making full use of the height space and reducing the floor area of the equipment.

[0056] In some specific embodiments of the present invention, a manual loading station 130, a raw material storage area 140, a manual unloading station 160 and a finished product storage station are arranged in the frame 100 of the present invention. The manual loading station 130 and the raw material storage area 140 are arranged in the raw material area 110, and the manual unloading station 160 and the finished product storage station are arranged in the finished product area 120. Figure 5 , the front end and the rear end of the feeding conveyor belt 210 are divided into a manual feeding station 130 and a raw material storage area 140, the side away from the feeding support rod 220 is the manual feeding station 130 of the feeding conveyor belt 210, and the side arranged on the feeding support rod 220 is the raw material storage area 140 of the feeding conveyor belt 210. For further information, see Figure 6 The raw material loading station 150 is arranged above the raw material storage area 140, and the loading support rod 220 raises the material tray 700 to the raw material loading station 150, waiting for the robot 400 to take the material for processing. Figure 5 , the front and rear ends of the unloading conveyor belt 230 are divided into a manual unloading station 160 and a finished product storage station, wherein the finished product storage station of the unloading conveyor belt 230 is located on one side of the unloading support rod 240, and the manual unloading station 160 of the loading conveyor belt 210 is located on the side away from the unloading support rod 240. For further information, see Figure 6 , the finished product unloading station 180 is located above the finished product storage station, and the unloading support rod 240 raises the material tray 700 to the finished product unloading station 180, waiting for the robot 400 to store the processed workpiece 720 on the material tray 700. By dividing the manual loading station 130 and the raw material storage area 140, and dividing the manual unloading station 160 and the finished product storage station, and setting the raw material loading station 150 above the raw material storage area 140 and the finished product unloading station 180 above the finished product storage station, the machine tool 300 can be processed and the manual loading and unloading can be carried out simultaneously, which is conducive to realizing the processing of the production line without stopping the machine and improving the processing efficiency.

[0057] See also Figure 9 and Figure 10 The glass processing production line of the embodiment of the present invention is provided with a manipulator 400 for picking up and placing a workpiece 720, a silo mechanism 200 for storing a material tray 700, and a plurality of machine tools 300 for processing the workpiece 720. The machine tool 300 is provided with a loading and unloading port, and the manipulator 400 is provided with a first axis 420. The first axis 420 is penetrated in the machine tool 300 through the loading and unloading port to place the workpiece 720 in the silo mechanism 200 into the machine tool 300, or to take the workpiece 720 out of the machine tool 300 and place it in the material tray 700 of the silo mechanism 200, so that the storage of the material tray 700 is set outside the machine tool 300, and the manipulator 400 enters the machine tool 300 in a non-processing state, which is beneficial to avoid the pollution of machining cutting fluid and machining waste chips, and reduce the probability of operation interference between different components.

[0058] See Figure 11 , the control method of the glass processing production line of the technical solution of the present invention is applied to the glass processing production line of the above embodiment, and the control method of the glass processing production line at least includes the following steps:

[0059] E100. Detect whether the manual loading station 130 has completed manual stacking of the tray 700. If so, after transferring the tray 700 from the manual loading station 130 to the raw material storage area 140 through the loading conveyor belt 210, transfer the topmost tray 700 in the raw material storage area 140 to the raw material loading station 150 through the loading support rod 220;

[0060] E200. After receiving the preparation processing instruction sent by the machine tool 300, identify and obtain the pose of the first workpiece 720 on the raw material loading station 150 through the first positioning CCD device 500. After adjusting the pose of the picking arm 410, pick up the unprocessed workpiece 720 in the tray 700 through the picking arm 410 and move it to the fine positioning place;

[0061] E300. Identify and obtain the pose of the second workpiece 720 on the manipulator 400 through the second positioning CCD device 510. After adjusting the pose of the picking arm 410 of the manipulator 400, place the unprocessed workpiece 720 on the machine tool 300 by moving the manipulator 400. After moving the manipulator 400 out of the machine tool 300, process the workpiece 720 through the machine tool 300;

[0062] E400. After receiving the instruction that the machine tool 300 has completed the current processing, move the manipulator 400 into the machine tool 300 and pick up the processed workpiece 720, and then place the processed workpiece 720 in the tray 700 on the raw material loading station 150 by moving the manipulator 400;

[0063] E500. Repeat steps E200 to E400 until all the workpieces 720 currently in the tray 700 on the raw material loading station 150 are processed;

[0064] E600. Judge whether the finished product unloading station 180 is empty. If not, transfer the tray 700 from the finished product unloading station 180 to the finished product storage area 170 through the unloading bracket;

[0065] E700. After transferring the tray 700 from the raw material loading station 150 to the finished product unloading station 180 through the transfer support 630, transfer the topmost tray 700 in the raw material storage area 140 to the raw material loading station 150 through the loading support rod 220;

[0066] E800. Repeat steps E200 to E700 until all the trays 700 currently on the loading support rod 220 are transferred to the unloading support rod 240;

[0067] E900 transfers the trays 700 on the blanking support rod 240 to the manual blanking station 160 in cooperation with the blanking conveyor belt 230.

[0068] Specifically, the operator transports and places the tray 700 into the manual loading station 130 of the loading conveyor belt 210, that is, on the side of the loading conveyor belt 210 away from the loading support rod 220. After the manual placement of the tray 700 is completed, the loading conveyor belt is started to move backward to drive the tray 700 to move onto the loading support rod 220, that is, the tray 700 reaches the raw material storage area 140, so that the operator can continue to place the next round of trays 700 on the manual loading station 130 of the loading conveyor belt 210. Then, the loading support rod 220 is lifted to drive the tray 700 to reach the raw material loading station 150. After the first positioning CCD device 500 identifies the pose of the first workpiece 720, the manipulator 400 takes out the unprocessed workpiece 720 at the raw material loading station 150, and then adjusts the pose of the workpiece 720 on its picking arm 410 according to the pose of the second workpiece 720 identified by the first positioning CCD device 500, and places the workpiece 720 into the machine tool 300 for processing. After the workpiece 720 is processed, the manipulator 400 takes out the processed workpiece 720 from the machine tool 300 and places it on the tray 700 at the raw material loading station 150. When all the workpieces 720 in the tray 700 at the raw material loading station 150 are completely processed, the blanking support rod 240 is lifted to vacate the finished product blanking station 180. The transfer mechanism 600 transfers the processed tray 700 from the loading support rod 220 to the blanking support rod 240, that is, the tray 700 is transferred from the raw material loading station 150 to the finished product blanking station 180. After all the trays 700 on the loading support rod 220 in this round are transferred from the raw material area 110 to the finished product area 120, the blanking support rod 240 is lowered, and in cooperation with the forward movement of the blanking conveyor belt 230 to drive the tray 700 to move to the manual blanking station 160, so that the blanking support rod 240 can rise again to receive the next round of trays 700, and at the same time the operator can transport the tray 700 at the manual blanking station 160 of the blanking conveyor belt 230. In the glass processing production line according to the embodiment of the present invention, there is no need to stop the machine for waiting during manual loading and unloading, and the processing of the machine tool 300 and the loading and unloading of the machine tool 300 can be carried out synchronously, making the production process more compact and improving the processing speed of the production line.

[0069] See Figure 1 and Figure 2, the manipulator 400 loading and unloading system with supporting vision positioning in the technical solution of the present invention is applied to a glass processing production line, and includes a frame 100, a machine tool 300, a manipulator 400, a first positioning CCD device 500 and a second positioning CCD device 510. A bin mechanism 200 for storing a tray 700 is arranged in the frame 100. The machine tool 300 is used for processing a workpiece 720, and the machine tool 300 is arranged on the side of the frame 100. The manipulator 400 is used to switch the position of the workpiece 720 between the tray 700 and the machine tool 300. The manipulator 400 is arranged in the frame 100 and above the bin mechanism 200. The manipulator 400 is provided with a pickup arm 410 for picking up the workpiece 720. The first positioning CCD device 500 is used to identify the pose of the workpiece 720 in the tray 700. The second positioning CCD device 510 is used to identify the pose of the workpiece 720 on the manipulator 400. Among them, the manipulator 400 picks up the workpiece 720 in the tray 700 according to the pose of the workpiece 720 identified by the first positioning CCD device 500, and the manipulator 400 adjusts the pose of the pickup arm 410 according to the pose of the workpiece 720 identified by the second positioning CCD device 510 to place the workpiece 720 in the machine tool 300.

[0070] The manipulator 400 loading and unloading system with supporting vision positioning in the embodiment of the present invention is applied to a glass processing production line. After the tray 700 is placed in the bin mechanism 200 by manual loading, the manipulator 400 can directly position the workpiece 720 according to the poses fed back by the two vision positionings, and then pick up the workpiece 720 on the tray 700 and place it on the processing station of the machine tool 300. Compared with the traditional positioning method of cooperating with a pushing cylinder for processing, the CCD positioning method adopted in the embodiment of the present invention can be applied to the positioning of workpieces 720 of different sizes, and can reduce the probability of the workpiece 720 being scratched. At the same time, the manipulator 400 integrates the functions of precise positioning and transfer, reducing the risk of the positioning error rising and falling caused by the traditional secondary positioning, which is beneficial to ensuring high positioning accuracy under long-distance application and improving production efficiency.

[0071] See Figure 12 , the control method for the manipulator 400 loading and unloading in the technical solution of the present invention is applied to the manipulator 400 loading and unloading system with supporting vision positioning, and the method at least includes the following steps:

[0072] A100. After receiving the ready-to-process instruction sent by the machine tool 300, identify the unprocessed workpiece 720 in the tray 700 through the first positioning CCD device 500 to obtain the first workpiece 720 pose; according to the first workpiece 720 pose, adjust the pose of the pickup arm 410, and then pick up the unprocessed workpiece 720 in the tray 700 through the pickup arm 410 and move it to the precise positioning place;

[0073] A200. Identify the unprocessed workpiece 720 on the manipulator 400 through the second positioning CCD device 510 to obtain the pose of the second workpiece 720; according to the pose of the second workpiece 720, adjust the pose of the pickup arm 410 of the manipulator 400 to adjust the pose of the workpiece 720 on the manipulator 400;

[0074] A300. Place the unprocessed workpiece 720 on the machine tool 300 by moving the manipulator 400. After moving the manipulator 400 out of the machine tool 300, process the workpiece 720 through the machine tool 300. Until receiving the instruction that the machine tool 300 has completed the current processing, move the manipulator 400 into the machine tool 300 and pick up the processed workpiece 720;

[0075] A400. When the manipulator 400 moves to the fine positioning position, after inversely adjusting the pose of the manipulator 400 according to the pose of the second workpiece 720, place the processed workpiece 720 in the tray 700 by moving the manipulator 400;

[0076] A500. Repeat steps A100 to A400 until all the workpieces 720 in the tray 700 are processed.

[0077] In some specific embodiments of the present invention, refer to Figure 8 , the first axis 420 of the manipulator 400 is horizontally arranged to achieve left - right movement, which is convenient for the picking and placing of the workpiece 720 and the spatial layout. Further, the manipulator 400 is also provided with a second axis 430 for front - rear movement and a third axis 440 for up - down movement. The third axis 440 is movably arranged on the first axis 420, and the second axis 430 is arranged at the lower end of the third axis 440. Further, the manipulator 400 is also provided with a rotating shaft 450, the rotating shaft 450 is arranged at the bottom surface of the second axis 430, and the pickup arm 410 is arranged at the lower end of the rotating shaft 450. Further, the manipulator 400 is also provided with a material - taking bracket 460 and a material - taking suction cup 470. The material - taking bracket 460 is connected to the lower side of the pickup arm 410, and the material - taking suction cup 470 is arranged at the bottom surface of the material - taking bracket 460. The picking and placing of the workpiece 720 are realized through the material - taking suction cup 470. It can be understood that the material - taking suction cup 470 can be connected to an air pipe, and the suction of the material - taking suction cup 470 is adjusted by controlling the air pressure to realize the picking and placing of workpieces 720 of different sizes. Further, the material - taking suction cup 470 can also adopt different methods such as magnetic attraction to realize the picking and placing of the workpiece 720. Further, the picking and placing of the workpiece 720 can also be realized by setting clamping jaws on the material - taking bracket 460. The manipulator 400 in the embodiment of the present invention adopts the method of combining the XYZ three - axis with the rotating shaft 450. Compared with a six - degree - of - freedom manipulator 400, it is less restricted by space, can realize flexible layout, and at the same time reduces the equipment cost. It can be understood that in the manipulator 400 in the embodiment of the present invention, the first axis 420, the second axis 430, and the third axis 440 respectively correspond to the X - axis, the Y - axis, and the Z - axis.

[0078] In some specific embodiments of the present invention, the manipulator 400 is equipped with a first positioning CCD device 500 and a second positioning CCD device 510 to perform the positioning of the automatic loading and unloading of the workpiece 720. According to the pose of the workpiece 720 in the tray 700 fed back by the first positioning CCD device 500, the manipulator 400 takes out the workpiece 720 to be processed from the tray 700, and then according to the pose of the workpiece 720 on the manipulator 400 fed back by the second positioning CCD device 510, the manipulator 400 adjusts the pose of the workpiece 720 on the material taking bracket 460, which is beneficial for the manipulator 400 to accurately place the workpiece 720 on the processing station of the machine tool 300. Thus, after the tray 700 is placed in the magazine mechanism 200 through manual loading, the manipulator 400 directly positions the workpiece 720 according to the poses fed back by the two vision positionings, and then places the workpiece 720 on the tray 700 on the processing station of the machine tool 300. Compared with the traditional positioning method of cooperating with a pushing cylinder for processing, the CCD positioning method adopted in the embodiment of the present invention can be applicable to the positioning of workpieces 720 of different sizes, and can reduce the probability of the workpiece 720 being scratched. At the same time, the first positioning CCD device 500 and the second positioning CCD device 510 can operate synchronously, which is beneficial for improving production efficiency. It should be noted that the first positioning CCD device 500 in the embodiment of the present invention adopts a rough positioning method, and the second positioning CCD device 510 in the embodiment of the present invention adopts a fine positioning method, that is, the positioning accuracy of the second positioning CCD device 510 is set to be greater than that of the first positioning CCD device 500, which is beneficial for reducing the system operation burden and further accelerating the production efficiency.

[0079] See Figures 1 to 3 , the loading and unloading system for the production line based on vision positioning of the technical solution of the present invention is applied to a glass processing production line, and it includes a frame 100, a magazine mechanism 200, a manipulator 400 and a transfer mechanism 600. The left side and the right side of the frame 100 are respectively provided with a raw material area 110 and a finished product area 120. The magazine mechanism 200 includes a loading conveyor belt 210 and a loading support rod 220 arranged in the raw material area 110, and a unloading conveyor belt 230 and a unloading support rod 240 arranged in the finished product area 120. The loading conveyor belt 210 and the unloading conveyor belt 230 are both rotatably arranged on the frame 100 in the front and back directions, and the loading support rod 220 and the unloading support rod 240 are both movably arranged on the frame 100 in the up and down directions. A plurality of loading conveyor belts 210 and a plurality of loading support rods 220 are arranged at intervals, and a plurality of unloading conveyor belts 230 and a plurality of unloading support rods 240 are arranged at intervals. See Figure 3 and Figure 4, the length of the loading conveyor belt 210 is greater than the length of the loading support rod 220, and the length of the unloading conveyor belt 230 is greater than the length of the unloading support rod 240. When the loading support rod 220 is in the first position, the upper plane of the loading support rod 220 is lower than the upper plane of the loading conveyor belt 210. When the unloading support rod 240 is in the second position, the upper plane of the unloading support rod 240 is lower than the upper plane of the unloading conveyor belt 230. The side of the loading conveyor belt 210 away from the loading support rod 220 is used for manual loading, and the side of the unloading conveyor belt 230 away from the unloading support rod 240 is used for manual unloading. The manipulator 400 takes out or puts back the workpiece 720 in the raw material area 110 by visual positioning. The transfer mechanism 600 is arranged on the frame 100 so as to be movable left and right, and is used to transfer the material tray 700 from the raw material area 110 to the finished product area 120.

[0080] In the loading and unloading system of the production line of the embodiment of the present invention, the silo mechanism 200 and the transfer mechanism 600 are both arranged on the frame 100, and the silo mechanism 200 is arranged below the transfer mechanism 600. The silo mechanism 200 is used to store the material tray 700, and is provided with a raw material area 110 and a finished product area 120. The transfer mechanism 600 is used to transfer the material tray 700 from the raw material area 110 to the finished product area 120, and can also switch the position of the material tray 700 between the raw material area 110 and the finished product area 120 to realize the automated production line flow production, so that the storage of the material tray 700 is set outside the machine tool 300, and the manipulator 400 enters the machine tool 300 in a non-processing state, which is beneficial to avoid the contamination of machining cutting fluid and machining waste chips, and reduce the probability of operation interference between different components, so as to realize efficient production line processing.

[0081] Specifically, the bin mechanism 200 includes multiple feeding conveyor belts 210, multiple discharging conveyor belts 230, multiple feeding support rods 220, and multiple discharging support rods 240. The feeding conveyor belts 210 and the discharging conveyor belts 230 have the same structure and are both arranged on the lower side of the frame 100 so as to be movable back and forth. The feeding support rods 220 and the discharging support rods 240 have the same structure and are respectively arranged on the left and right sides of the frame 100 so as to be movable up and down. The raw material area 110 and the finished product area 120 are respectively arranged on the left and right sides of the frame 100. The feeding support rods 220 and the feeding conveyor belts 210 are arranged in the raw material area 110. The multiple feeding support rods 220 and the multiple feeding conveyor belts 210 are arranged at intervals. The discharging support rods 240 and the discharging conveyor belts 230 are arranged in the finished product area 120. The multiple discharging support rods 240 and the multiple discharging conveyor belts 230 are arranged at intervals. The length of the feeding support rod 220 is less than the length of the feeding conveyor belt 210. When the feeding support rod 220 descends to the first position, the feeding support rod 220 is arranged between two feeding conveyor belts 210 and on one side of the feeding conveyor belt 210, and the upper plane of the feeding support rod 220 may not be higher than the upper plane of the feeding conveyor belt 210. The length of the discharging support rod 240 is less than the length of the feeding conveyor belt 210. When the discharging support rod 240 descends to the second position, the discharging support rod 240 is arranged between two discharging conveyor belts 230 and on one side of the discharging conveyor belt 230, and the upper plane of the discharging support rod 240 may not be higher than the upper plane of the discharging conveyor belt 230. Among them, the sum of the length of the tray 700 and the length of the feeding support rod 220 is less than the length of the feeding conveyor belt 210, so that placing the tray 700 on the front side of the feeding conveyor belt 210 will not affect the up and down movement of the feeding support rod 220. The sum of the length of the tray 700 and the length of the discharging support rod 240 is less than the length of the discharging conveyor belt 230, so that placing the tray 700 on the front side of the discharging conveyor belt 230 will not affect the up and down movement of the discharging support rod 240.

[0082] See Figure 13 , the control method of the loading and unloading system of the production line of the technical solution of the present invention is applied to the loading and unloading system of the production line of the embodiment of the present invention. The control method of the loading and unloading system of the production line at least includes the following steps:

[0083] F100. Detect whether the artificial stacking of the tray 700 is completed on the side of the feeding conveyor belt 210 away from the feeding support rod 220; if so, judge whether the feeding support rod 220 reaches the first position. If not, move the feeding support rod 220 to the first position; then, rotate the feeding conveyor belt 210 to move the tray 700 onto the feeding support rod 220;

[0084] F200. Raise the tray 700 on its top surface to a preset first height through the loading support rod 220, and use the robot 400 to pick up the unprocessed workpiece 720 in the tray 700 on the top surface of the loading support rod 220 by means of visual positioning for workpiece 720 processing; after the processing is completed, use the robot 400 to place the processed workpiece 720 back into the tray 700 on the top surface of the loading support rod 220 by means of visual positioning;

[0085] F300. Repeat step F200 until all the workpieces 720 in the tray 700 on the top surface of the loading support rod 220 are processed;

[0086] F400. Lower the tray 700 on its top surface to a preset second height through the unloading support rod 240, and transfer the tray 700 on the top surface of the loading support rod 220 to the finished product area 120 through the transfer mechanism 600 and place it on the tray 700 on the top surface of the unloading support rod 240;

[0087] F500. Repeat steps F200 to F400 until all the trays 700 currently on the loading support rod 220 are transferred to the unloading support rod 240;

[0088] F600. Lower the unloading support rod 240 to the second position, and rotate the unloading conveyor belt 230 to move the tray 700 to the side of the unloading conveyor belt 230 away from the unloading support rod 240.

[0089] Furthermore, the transfer mechanism 600 is provided with a transfer suction cup 640 for sucking up the tray 700. The control method for sucking up the tray 700 by the transfer suction cup 640 of the transfer mechanism 600 at least includes the following steps:

[0090] F410. Move the transfer mechanism 600 so that the transfer suction cup 640 reaches above the tray 700 on the top surface of the loading support rod 220;

[0091] F420. Raise the loading support rod 220 so that the transfer suction cup 640 sucks up the tray 700.

[0092] Specifically, the operator transports and places the tray 700 at the manual loading station 130 of the loading conveyor 210, that is, on the side of the loading conveyor 210 away from the loading support rod 220. After the manual placement of the tray 700 is completed, the loading support rod 220 is lowered until the upper plane of the loading support rod 220 is not higher than the upper plane of the loading conveyor 210, that is, the loading support rod 220 reaches the first position. The loading conveyor is started to move backward to drive the tray 700 to move above the loading support rod 220, so that the operator can continue to place the next tray 700 at the manual loading station 130 of the loading conveyor 210. Then, the loading support rod 220 is lifted to drive the top tray 700 to reach the first height, that is, the top tray 700 reaches the raw material loading station 150. Wait for the manipulator 400 to take out the unprocessed workpiece 720 at the raw material loading station 150 and place it in the machine tool 300 for processing. When the workpiece 720 in the machine tool 300 is processed, the manipulator 400 takes out the processed workpiece 720 from the machine tool 300 and places it on the tray 700 at the first height. When all the workpieces 720 in the tray 700 at the raw material loading station 150 are processed, the unloading support rod 240 is lifted to vacate the finished product unloading station 180, that is, the unloading support rod 240 is lowered to the second height. The transfer mechanism 600 transfers the processed top tray 700 from the loading support rod 220 to the unloading support rod 240. After all the trays 700 on the loading support rod 220 in this round are transferred from the raw material area 110 to the finished product area 120, the unloading support rod 240 is lowered until the upper plane of the unloading support rod 240 is not higher than the upper plane of the unloading conveyor 230, that is, the unloading support rod 240 reaches the second position. The upper plane of the unloading conveyor 230 abuts against the lower plane of the tray 700, and the unloading conveyor 230 moves forward to drive the tray 700 to move to the side away from the unloading support rod 240, that is, the tray 700 reaches the manual unloading station 160, so that the unloading support rod 240 can rise again to receive the next tray 700, and at the same time, the operator can transport the tray 700 at the manual unloading station 160 of the unloading conveyor 230. In the glass processing production line according to the embodiment of the present invention, there is no need to stop waiting during manual loading and unloading, and the machining of the machine tool 300 and the loading and unloading of the machine tool 300 can be carried out synchronously, making the production process more compact and improving the processing speed of the production line.

[0093] It can be understood that, referring to Figure 3, the structures of multiple loading support rods 220 and multiple unloading support rods 240 are the same, and their ends are all connected by connecting rods. The connecting rods are arranged on the lifting guide rails and move up and down through the lifting drive to realize the up and down movement of the loading support rods 220 and the unloading support rods 240. Further, the connecting rods and the lifting guide rails are arranged on one side of the machine frame 100 away from the manual loading station 130 and the manual unloading station 160. It can be understood that the structures of multiple loading conveyor belts 210 and multiple unloading conveyor belts 230 are the same, and their ends are all connected by linkage rods. The linkage rods are driven by the conveyor belts to realize the forward and backward movement.

[0094] In some specific embodiments of the present invention, refer to Figure 3 , Figure 5 and Figure 9 , machine tools 300 are arranged on both sides of the machine frame 100, an upper protection plate is arranged on the top surface of the machine frame 100, and a rear protection plate is arranged at the rear side of the machine frame 100. A front protection plate is arranged in the middle of the front side of the machine frame 100 (at the transfer mechanism 600) and an operation panel is installed. The upper part of the front protection plate is open, which is beneficial to ensuring sufficient light during CCD positioning. At the same time, the lower part of the front protection plate is open, that is, the manual loading station 130 and the manual unloading station 160 on the front side of the machine frame 100 are open, so as to facilitate manual loading and unloading. Further, two safety light curtains 190 are arranged on the machine frame 100, and the two safety light curtains 190 are respectively arranged on the left side and the right side of the machine frame 100, and are respectively arranged on the side of the manual loading station 130 and the side of the manual unloading station 160, which is beneficial to avoiding the problem that foreign objects enter the moving area during the movement of the equipment and cause danger.

[0095] Refer to Figure 2 and Figure 3 , the transfer mechanism 600 of the embodiment of the present invention is arranged in the middle of the machine frame 100 and above the bin mechanism 200. The transfer mechanism 600 includes a transfer guide rail 610, a connection bracket 620 and a transfer bracket 630 for picking and placing the tray 700. One side of the connection bracket 620 is slidably connected to the transfer guide rail 610 left and right, and the other side of the connection bracket 620 is fixedly connected to the transfer bracket 630. Refer to Figure 3 and Figure 4 , the transfer guide rail 610 penetrates through the raw material area 110 and the finished product area 120, so that the transfer bracket 630 can drive the tray 700 to switch positions between the raw material area 110 and the finished product area 120. The transfer guide rail 610 is arranged on one side of the machine frame 100 away from the loading support rod 220 and the unloading support rod 240. One side of the transfer guide rail 610 is arranged above the manual loading station 130 of the loading conveyor belt 210, and the other side of the transfer guide rail 610 is arranged above the manual unloading station 160 of the unloading conveyor belt 230. Refer to Figure 7, when the transfer bracket 630 is in the raw material area 110, that is, when the connecting bracket 620 is above the manual loading station 130, the transfer bracket 630 is arranged above the loading rod 220 and can pick up and place the tray 700 on the loading rod 220. When the transfer bracket 630 is in the finished product area 120, that is, when the connecting bracket 620 is above the manual unloading station 160, the transfer bracket 630 is arranged above the unloading rod 240 and can pick up and place the tray 700 on the unloading rod 240.

[0096] Specifically, when the loading rod 220 drives the tray A 700 to reach the raw material loading station 150, so that the upper plane of the tray A 700 reaches the set first height, the manipulator 400 takes out the workpieces 720 to be processed in the tray A 700 one by one and places them in the machine tool 300 for processing. After the workpiece 720 is processed, the manipulator 400 takes it out and places it back on the tray A 700. After all the multiple workpieces 720 in the tray A 700 are completely processed, the transfer bracket 630 and the connecting bracket 620 move along the transfer guide rail 610, so that the transfer bracket 630 reaches above the tray A 700. At the same time, after the unloading rod 240 drives the tray B 700 to move downward to the set second height, the transfer bracket 630 transfers the tray A 700 from the raw material loading station 150 to the finished product unloading station 180 and stacks it on the tray B 700, thus completing the transfer of the tray 700 from the raw material area 110 to the finished product area 120. The loading rod 220 and the unloading rod 240 with lifting functions enable the tray 700 on the top surface to reach the preset height (raw material loading station 150 and finished product unloading station 180), meeting the requirement of the transfer mechanism 600 to pick up and place the tray 700 at a fixed height. And through the left-right movement function of the transfer mechanism 600, the tray 700 can be transferred from the raw material area 110 to the finished product area 120 in mid-air, without interfering with the manual loading and unloading, realizing the synchronous progress of manual loading and unloading and the loading and unloading of the machine tool 300. At the same time, multiple trays 700 on the loading rod 220 and the unloading rod 240 are stacked vertically, reducing the frequency of manual loading and unloading.

[0097] In the embodiment of the present invention, the silo mechanism 200 cooperates with the transfer mechanism 600. By dividing the front end and the rear end of the feeding conveyor belt 210 into a manual feeding station 130 and a raw material storage area 140, and dividing the front end and the rear end of the discharging conveyor belt 230 into a manual discharging station 160 and a finished product storage station, the manual loading and unloading and the automatic loading and unloading of the machine tool 300 are separately arranged, so that the manual loading and unloading can be realized without stopping the machine. Moreover, the raw material storage area 140 is arranged above the raw material storage area 140, the finished product storage area 170 is arranged above the finished product storage station, and the transfer mechanism 600 is arranged above the manual feeding station 130 and the manual discharging station 160, making full use of the vertical space and significantly reducing the floor area of the equipment. Through the feeding conveyor belt 210 and the discharging conveyor belt 230 that can move back and forth, the feeding support rod 220 and the discharging support rod 240 that can move up and down, and the transfer support 630 that can move left and right, the position switching of the tray 700 in multiple areas is realized, making the space layout more compact.

[0098] In some specific embodiments of the present invention, referring to Figure 2 and Figure 7 , the transfer mechanism 600 further includes a transfer suction cup 640 for sucking up the tray 700, and the transfer suction cup 640 is arranged on the lower side of the transfer support 630. When the transfer support 630 reaches above the tray 700, the feeding support rod 220 rises. After the transfer suction cup 640 contacts and tightly sucks the tray 700, the tray 700 moves with the transfer support 630. Through the cooperation of the feeding support rod 220 and the discharging support rod 240 with lifting functions and the picking suction cup 470, the transfer mechanism 600 tightly sucks the tray 700, which is beneficial to simplifying the structure. Further, the transfer suction cup 640 can be connected to an air pipe, and the suction force of the transfer suction cup 640 is adjusted by controlling the air pressure to realize the transfer of trays 700 of different sizes. Further, the transfer suction cup 640 can also adopt different methods such as magnetic attraction to realize the picking and placing of the tray 700. Further, the picking and placing of the tray 700 can also be realized by arranging clamping jaws on the transfer support 630.

[0099] In some specific embodiments of the present invention, the transfer mechanism 600 of the embodiment of the present invention is arranged between the silo mechanism 200 and the manipulator 400. Referring to Figure 2 , the transfer support 630 is arranged below the picking support 460, and at the same time above the feeding support rod 220 or the discharging support rod 240, and the transfer support 630 is arranged below the picking suction cup 470, which is beneficial to avoiding collisions between the transfer mechanism 600 and the manipulator 400 and facilitating the synchronous operation of the transfer mechanism 600 and the manipulator 400. Further, referring to Figure 1 and Figure 2, the first positioning CCD device 500 is arranged on the top surface of the rack 100 and above the first axis 420 of the manipulator 400, so as to capture the image of the upper surface of the tray 700 from above to position the pose of the workpiece 720 in the tray 700. At the same time, the second positioning CCD device 510 is arranged below the transfer suction cup 640 and between the loading support rod 220 and the unloading support rod 240, and captures the images of the manipulator 400 and the workpiece 720 from below to obtain the pose of the workpiece 720 on the pick-up suction cup 470. According to the positioning characteristics of each positioning CCD device, the positions of the first positioning CCD device 500 and the second positioning CCD device 510 are reasonably set to achieve a compact layout in space, improve the space utilization rate, and facilitate avoiding collisions during the operation of multiple components, realizing the simultaneous operation of multiple components in multiple steps and improving the processing efficiency.

[0100] Here, a specific embodiment is used for illustration. On the tray 700 of the embodiment of the present invention, a plurality of material grooves 710 for placing workpieces 720 are provided. After loading the unprocessed workpieces 720 into each material groove 710, a plurality of trays 700 are stacked on the manual loading station 130 manually, and then the loading conveyor belt 210 rotates backward to transfer the tray 700 to the raw material storage area 140. After that, the loading support rod 220 moves upward to transfer the tray 700 to the raw material loading station 150. When the top tray 700 reaches the set first height, the manipulator 400 moves along the first axis 420 into the raw material area 110. The material taking bracket 460 reaches above the tray 700 on the loading support rod 220. According to the pose recognition of the workpiece 720 to be processed in the material groove 710 of the tray 700 by the first positioning CCD device 500, the manipulator 400 moves along the first axis 420, the second axis 430, the third axis 440 and the rotating axis 450, so that the material taking suction cup 470 contacts the preset position of the workpiece 720 and then sucks out the workpiece 720. The manipulator 400 drives the workpiece 720 to move to the fine positioning place. The pose of the workpiece 720 on the manipulator 400 is recognized by the second positioning CCD device 510 to control the movement of the manipulator 400 so that the pose of the workpiece 720 meets the machining pose requirements of the machine tool 300. Then, the manipulator 400 moves horizontally so that the workpiece 720 enters the machine tool 300 through the loading and unloading port and is placed at the preset machining position of the machine tool 300. After the workpiece 720 completes the machining on the machine tool 300, the manipulator 400 enters the machine tool 300 to take out the workpiece 720, and according to the visual recognition result of the aforementioned second positioning CCD device 510, the pose of the workpiece 720 on the material taking suction cup 470 is adjusted reversely, and the processed workpiece 720 is placed in the empty material groove 710 of the tray 700 on the top of the loading support rod 220. The manipulator 400 takes out the workpiece 720 in another material groove 710 of the top tray 700 again, puts it into the machine tool 300 for machining and then puts it back into the empty material groove 710 until all the workpieces 720 in all the material grooves 710 of the top tray 700 are processed. After that, the unloading support rod 240 moves upward to the set second height, and the transfer mechanism 600 moves above the tray 700 on the loading support rod 220. The top tray 700 is sucked up by the cooperation of the lifting of the loading support rod 220 and the material taking suction cup 470, and then moves to the right along the transfer guide rail 610, so that the tray 700 is transferred from the raw material area 110 to the finished product area 120 and reaches the finished product unloading station 180. The transfer mechanism 600 places the tray 700 on the tray 700 of the unloading support rod 240 to realize the stacking of the trays 700.After all the trays 700 on the loading support rod 220 of this round are transferred from the raw material area 110 to the finished product area 120, the unloading support rod 240 drives the tray 700 to move downward, so that the tray 700 abuts against the unloading conveyor belt 230. The unloading conveyor belt 230 rotates to make the tray 700 move forward to the manual unloading station 160. The operator takes out the tray 700 containing the processed workpieces 720 from the manual unloading station 160. At the same time, the unloading support rod 240 moves upward to process the next tray 700.

[0101] In some specific embodiments of the present invention, the manipulator 400 of the embodiment of the present invention is provided with multiple sets of material taking components, and each set of material taking components includes a plurality of material taking suction cups 470. In some specific embodiments, the manipulator 400 is provided with two sets of material taking components, and a plurality of material taking suction cups 470 are arranged on each set of material taking components. One set of material taking components is used to suck the unprocessed workpieces 720 in the tray 700, and the other set of material taking components is used to suck up the processed workpieces 720 in the machine tool 300. Here, a specific embodiment is used for illustration. Suppose the manipulator 400 is provided with a first material taking component and a second material taking component. The first set of material taking components sucks the workpieces 720 to be processed at the raw material loading station 150 and enters the machine tool 300. After the second set of material taking components suck up the processed workpieces 720 on the machine tool 300 through the movement of the manipulator 400, the workpieces 720 on the first material taking component are placed on the processing station of the machine tool 300 through the movement of the manipulator 400. Then the manipulator 400 moves out of the machine tool 300 and places the processed workpieces 720 on the second material taking component on the tray 700 at the raw material loading station 150, so that the manipulator 400 can directly replace the raw materials and finished products inside the machine tool 300, reduce the number of round trips between the processing station of the machine tool 300 and the raw material loading station 150, and is beneficial to improving work efficiency.

[0102] See Figure 8, the material taking bracket 460 of the embodiment of the present invention is a rectangular frame. The length direction of the frame is the same as the direction of the first axis 420 of the manipulator 400, and the width direction of the frame is the same as the direction of the second axis 430 of the manipulator 400. A plurality of mutually parallel long rods 480 are arranged inside the outer frame of the material taking bracket 460. The length direction of the long rods 480 is the same as the direction of the second axis 430 of the manipulator 400. A plurality of material taking suction cups 470 are connected to the lower side of the long rods 480. The plurality of long rods 480 are parallel to each other, and the material taking suction cups 470 at the same position on each long rod 480 are on the same straight line parallel to the first axis 420. In some specific embodiments, the material taking bracket 460 of the embodiment of the present invention is provided with four long rods 480, and four material taking suction cups 470 are arranged on each long rod 480, so as to form four rows of material taking suction cups 470, and each row of material taking suction cups 470 is arranged along the direction of the first axis 420. Further, the two rows of material taking suction cups 470 on the front side of the manipulator 400 form a set of material taking components, and the two rows of material taking suction cups 470 on the rear side of the manipulator 400 form another set of material taking components. Further, the material taking components on the front side are used to pick up the unprocessed workpieces 720, and the material taking components on the rear side are used to pick up the processed workpieces 720.

[0103] Further, the control method for loading and unloading of the manipulator 400 in the embodiment of the present invention is applied to a manipulator 400 loading and unloading system with supporting visual positioning. Among them, the manipulator 400 is provided with two sets of material taking components, and the control method for loading and unloading of the manipulator 400 at least includes the following steps:

[0104] B100. After receiving the preparation for processing instruction sent by the machine tool 300, identify the unprocessed workpiece 720 in the material tray 700 through the first positioning CCD device 500 to obtain the pose of the first workpiece 720; according to the pose of the first workpiece 720, after adjusting the pose of the picking arm 410 of the manipulator 400, suck up the unprocessed workpiece 720 in the material tray 700 through one set of material taking components and move to the fine positioning place;

[0105] B200. Identify the unprocessed workpiece 720 on the manipulator 400 through the second positioning CCD device 510 to obtain the pose of the second workpiece 720; according to the pose of the second workpiece 720, adjust the pose of the picking arm 410 of the manipulator 400 to adjust the pose of the workpiece 720 on the manipulator 400;

[0106] B300. After receiving the instruction that the previous round of processing is completed sent by the machine tool 300, move the manipulator 400 into the machine tool 300, suck up the processed workpiece 720 on the machine tool 300 through the other set of material taking components, then place the unprocessed workpiece 720 on the material taking components on the machine tool 300 by moving the manipulator 400. After moving the manipulator 400 out of the machine tool 300, process the workpiece 720 through the machine tool 300;

[0107] B400. After the manipulator 400 moves to the fine positioning position, according to the pose of the second workpiece 720, the pose of the manipulator 400 is inversely adjusted, and then the processed workpiece 720 is placed in the tray 700 by moving the manipulator 400.

[0108] B500. Repeat steps B100 to B400 until the processing of all workpieces 720 in the tray 700 is completed.

[0109] In some specific embodiments of the present invention, the manipulator 400 of the present invention is provided with two sets of material taking components. Correspondingly, the glass processing production line of the present invention is provided with two machine tools 300, and the two machine tools 300 are symmetrically arranged at the left end and the right end of the first axis 420 of the manipulator 400. Specifically, two rows of material taking suction cups 470 on the front side of the manipulator 400 form a set of material taking components, and two rows of material taking suction cups 470 on the rear side of the manipulator 400 form another set of material taking components. Among them, according to the pose of the workpiece 720 in the tray 700 fed back by the first positioning CCD device 500, after two unprocessed workpieces 720 are simultaneously taken out by a set of material taking components, according to the feedback of the second positioning CCD device 510, the manipulator 400 simultaneously adjusts the poses of the unprocessed workpieces 720 on the two suction cups. After the manipulator 400 enters one side of the machine tool 300 and sucks up the processed workpiece 720 through another set of material taking components, one of the unprocessed workpieces 720 is placed on the processing station of the current machine tool 300. Then the manipulator 400 moves out of the current machine tool 300 and moves along the first axis 420 to reach the other side of the machine tool 300, sucks up the processed workpiece 720 on the other side of the machine tool 300 through the empty suction cup on another set of material taking components, then places the unprocessed workpiece 720 on the processing station of the current machine tool 300, and then drives the two processed workpieces 720 out of the current machine tool 300, and places the two processed workpieces 720 on the tray 700 at the raw material processing place according to the foregoing visual positioning result. Thus, the manipulator 400 reduces the number of round trips between the processing station of the machine tool 300 and the raw material loading station 150, and reduces the number of visual positioning times, which is beneficial to improving work efficiency.

[0110] It can be understood that the glass production line of the present invention embodiment can be provided with multiple machine tools 300, and the first axis 420 of the manipulator 400 passes through multiple machine tools 300. Further, the number of rows of the material taking suction cups 470 of each material taking component is the same as the number of machine tools 300. Thus, according to the feedback results of the first positioning CCD device 500 once and the feedback results of the second positioning CCD device 510 once, the manipulator 400 can perform loading and unloading operations for multiple machine tools 300, and the visual positioning result of the two CCD devices can be used for the loading and unloading positioning of multiple machine tools 300.

[0111] Further, the control method for loading and unloading of the manipulator 400 according to the embodiment of the present invention is applied to a manipulator 400 loading and unloading system with supporting vision positioning. Refer to Figure 9 , there are two machine tools 300. The manipulator 400 is provided with a material taking component for sucking up two unprocessed workpieces 720 and a material taking component for sucking up two processed workpieces 720. The control method for loading and unloading of the manipulator 400 at least includes the following steps:

[0112] C100: After receiving a preparation for machining instruction sent by any one of the machine tools 300, identify the unprocessed workpieces 720 in the tray 700 through the first positioning CCD device 500 to obtain the pose of the first workpiece 720; according to the pose of the first workpiece 720, adjust the pose of the picking arm 410 of the manipulator 400, and then suck up two unprocessed workpieces 720 in the tray 700 through one set of material taking components and move to the fine positioning position;

[0113] C200: Identify the unprocessed workpieces 720 on the manipulator 400 through the second positioning CCD device 510 to obtain the pose of the second workpiece 720; according to the pose of the second workpiece 720, adjust the pose of the picking arm 410 of the manipulator 400 to adjust the pose of the workpiece 720 on the manipulator 400;

[0114] C300: After receiving the previous round of machining completion instruction sent by the above-mentioned machine tool 300, move the manipulator 400 into the above-mentioned machine tool 300, suck up the processed workpieces 720 on the above-mentioned machine tool 300 through another set of material taking components, then place the unprocessed workpieces 720 on the material taking components on the above-mentioned machine tool 300 by moving the manipulator 400. After moving the manipulator 400 out of the above-mentioned machine tool 300, machine the workpiece 720 through the above-mentioned machine tool 300;

[0115] C400: After receiving the previous round of machining completion instruction sent by another machine tool 300, move the manipulator 400 into another machine tool 300, suck up the processed workpieces 720 on another machine tool 300 through another set of material taking components, then place the unprocessed workpieces 720 on the material taking components on another machine tool 300 by moving the manipulator 400. After moving the manipulator 400 out of another machine tool 300, machine the workpiece 720 through another machine tool 300;

[0116] C500: After the manipulator 400 moves to the fine positioning position, inversely adjust the pose of the manipulator 400 according to the pose of the second workpiece 720, and then place the two processed workpieces 720 in the tray 700 by moving the manipulator 400;

[0117] C600: Repeat steps C100 to C500 until all the workpieces 720 in the tray 700 are machined.

[0118] Here, a specific embodiment is used for illustration. Assume that the manipulator 400 is provided with a first workpiece picking component and a second workpiece picking component. The workpiece picking component at the front side is used as the first workpiece picking component, and the first workpiece picking component is used to pick up the unprocessed workpiece 720. The workpiece picking component at the rear side is used as the first workpiece picking component, and the first workpiece picking component is used to pick up the processed workpiece 720. When starting the processing, after the first positioning CCD device 500 feeds back the pose of the workpiece 720 in the tray 700, the manipulator 400 moves so that the first workpiece picking component reaches above two adjacent workpieces 720 at the rear side of the tray 700. At this time, the second workpiece picking component is arranged in a dislocation manner with the tray 700. After the manipulator 400 moves down, it picks up the two workpieces 720 at the rear side through the first workpiece picking component. Then, after adjusting the pose of the workpiece 720 on the manipulator 400 according to the feedback of the second positioning CCD device 510, the manipulator 400 moves along the first axis 420 to reach the first machine tool 300 on the left. After picking up the processed workpiece 720 through the rear row workpiece picking suction cup 470 of the second workpiece picking component, the unprocessed workpiece 720 on the rear row workpiece picking suction cup 470 of the first workpiece picking component is placed on the processing station of the first machine tool 300. Then, the manipulator 400 moves out of the first machine tool 300 on the left and enters the second machine tool 300 on the right. After picking up the processed workpiece 720 of the second machine tool 300 through the front row workpiece picking suction cup 470 of the second workpiece picking component, the unprocessed workpiece 720 on the front row workpiece picking suction cup 470 of the first workpiece picking component is placed on the processing station of the second machine tool 300 on the right. The manipulator 400 moves the two processed workpieces 720 out of the second machine tool 300 on the right and reaches the fine positioning position. According to the feedback result of the aforementioned second positioning CCD positioning device, the manipulator 400 simultaneously adjusts the positions of the two processed workpieces 720 on the second workpiece picking component. When the manipulator 400 reaches above the tray 700 at the raw material loading station 150, the two workpieces 720 on the second workpiece picking component are respectively above the two material grooves 710 at the rear side of the tray 700. At the same time, the two rows of workpiece picking suction cups 470 of the first workpiece picking component are respectively above the two material grooves 710 at the front side of the tray 700. The manipulator 400 drives the workpiece picking support 460 to move down, so that the processed workpiece 720 of the second workpiece picking component is placed in the rear side material groove 710. At the same time, the workpiece picking suction cup 470 of the first workpiece picking component contacts the unprocessed workpiece 720 in the front side material groove 710. Thus, by respectively controlling the suction force of the suction cups on the second workpiece picking component and the first workpiece picking component, when the manipulator 400 drives the workpiece picking support 460 to rise, the workpiece picking suction cup 470 of the second workpiece picking component is separated from the workpiece 720, and at the same time, the workpiece picking suction cup 470 of the first workpiece picking component picks up two other unprocessed workpieces 720 to enter the next round of production line processing. It should be noted that in the embodiment of the present invention, the interval between two adjacent workpiece picking suction cups 470 on the same long rod 480 matches the interval between two adjacent material grooves 710, so as to realize that one set of workpiece picking components places the workpiece 720 while the other set of workpiece picking components picks up the workpiece 720, which is beneficial to improving the processing efficiency.

[0119] See Figure 14 , the glass processing production line of the embodiment of the present invention is provided with a visual rough positioning system, a visual fine positioning system, a manipulator 400 control console, and a CNC processing system. First, the visual rough positioning system feeds back the visual recognition result of the first positioning CCD device 500 for the workpiece 720 in the tray 700 to the manipulator 400 control console, so as to pick up the unprocessed workpiece 720 in the tray 700 after adjusting the posture of the manipulator 400. Then, the visual fine positioning system feeds back the visual recognition result of the second positioning CCD device 510 for the workpiece 720 on the manipulator 400 to the manipulator 400 control console, so as to adjust the position and posture of the workpiece 720 on the suction cup through the manipulator 400. Next, according to the workpiece 720 processing completion instruction sent by the CNC processing system, the workpiece 720 on the machining station of the machine tool 300 is replaced by moving the manipulator 400. Finally, the manipulator 400 control console performs inverse adjustment of the position and posture of the workpiece 720 according to the recognition result of the visual fine positioning system, so as to place the processed workpiece 720 into the material slot 710 of the tray 700. The workpiece 720 positioning method of the glass processing production line of the embodiment of the present invention adopts the method of using the manipulator 400 in cooperation with visual recognition for workpiece 720 positioning, and can change the calibration template through the software system to adapt to the positioning requirements of workpieces 720 with different shapes. Compared with the traditional method of replacing the fixture for the workpiece 720, it is beneficial to improve the processing efficiency, reduce the production cost, and avoid the problem of scratching the workpiece 720 caused by the cylinder pushing.

[0120] See Figure 15 , the workpiece 720 positioning method of the automated production line of the technical solution of the present invention is applied to the glass processing production line of the embodiment of the present invention. The glass processing production line is provided with a tray 700 for storing the workpiece 720, a machine tool 300 for processing the workpiece 720, a manipulator 400 for switching the position of the workpiece 720 between the tray 700 and the machine tool 300, a first positioning CCD device 500 for identifying the position and posture of the workpiece 720 in the tray 700, and a second positioning CCD device 510 for identifying the position and posture of the workpiece 720 on the manipulator 400. The manipulator 400 is provided with a pickup arm 410 for picking up the workpiece 720. The method at least includes the following steps:

[0121] D100. Identify and obtain the position and posture of the first workpiece 720 in the tray 700 through the first positioning CCD device 500, and calibrate according to the pre-imported tray 700 workpiece 720 module to generate a first deviation value;

[0122] D200. Calculate a first posture compensation according to the distance between the rotation center of the manipulator 400 and the center of the pickup arm 410. After adjusting the posture of the manipulator 400 according to the first posture compensation, pick up the unprocessed workpiece 720 in the tray 700 through the manipulator 400;

[0123] D300. When it is detected that the manipulator 400 reaches the fine positioning position, the second workpiece 720 pose on the manipulator 400 is identified and obtained through the second positioning CCD device 510, calibrated according to the pre-imported end-effector workpiece 720 template, and after generating the second deviation value, the second attitude compensation is obtained through calculation;

[0124] D400. After the attitude of the workpiece 720 on the manipulator 400 is adjusted according to the second attitude compensation, the adjusted workpiece 720 is placed on the machining station of the machine tool 300 through the manipulator 400.

[0125] Further,

[0126] D500. After receiving the instruction that the machine tool 300 has completed the current machining, the manipulator 400 is moved into the machine tool 300 to pick up the machined workpiece 720;

[0127] D600. After the manipulator 400 moves to the fine positioning position, according to the second workpiece 720 pose, the pose of the manipulator 400 is inversely adjusted, and the machined workpiece 720 is placed in the tray 700 by moving the manipulator 400;

[0128] D700. Repeat steps D100 to D600 until all the workpieces 720 in the tray 700 are machined.

[0129] In some specific embodiments of the present invention, the first positioning CCD device 500 of the embodiment of the present invention is used to identify the workpiece 720 pose on the tray 700, so as to enable the manipulator 400 to take out the workpiece 720 in the tray 700 groove 710 or put the workpiece 720 into the tray 700 groove 710. Specifically, the rough vision positioning console determines the tray 700 workpiece 720 template a by importing a standard drawing file, such as loading a CAD drawing, and subsequent recognition results of the tray 700 are calibrated according to the tray 700 workpiece 720 template a. During the vision recognition process of the first positioning CCD device 500, the rough vision positioning console obtains the first deviation value Δx of the X-axis (the first axis 420) in the coordinate system C a , the first deviation value Δy of the Y-axis (the second axis 430) a and the first deviation value Δr of the rotation axis 450R a , and then according to the distance l between the rotation center of the manipulator 400 and the center of the picking arm 410 x and l y , the first attitude compensation comp1 of the picking is calculated x , comp1 y and comp1 r . comp1 is obtained through calculation x, comp1 y and comp1 r After that, after the manipulator 400 console adjusts the posture of the manipulator 400, it picks up the workpiece 720 in the tray 700, thereby establishing the relative relationship between the visual rough positioning system and the picking of the manipulator 400.

[0130] Among them, the posture compensation 1 of the first positioning CCD device 500 is obtained by calculating through the following algorithm:

[0131]

[0132]

[0133]

[0134] In the formula, comp1 x , comp1 y and comp1 r respectively represent the first posture compensation of the X-axis, the first posture compensation of the Y-axis and the first posture compensation of the rotation axis 450, that is, comp1 x , comp1 y and comp1 r respectively represent the first posture compensation of the first axis 420, the first posture compensation of the second axis 430 and the first posture compensation of the rotation axis 450. Δx a , Δy a and Δr a respectively represent the first deviation value of the X-axis, the first deviation value of the Y-axis and the first deviation value of the rotation axis 450 in the coordinate system C, that is, Δx a , Δy a and Δr a respectively represent the first deviation value of the first axis 420, the first deviation value of the second axis 430 and the first deviation value of the rotation axis 450 in the coordinate system C. l x and l y respectively represent the X-axis distance and the Y-axis distance between the rotation center of the manipulator 400 and the center of the picking arm 410, that is, l x and l y respectively represent the distance of the first axis 420 and the distance of the second axis 430 between the rotation center of the manipulator 400 and the center of the picking arm 410.

[0135] Further, in the tray 700 of the embodiment of the present invention, the intervals between two adjacent material grooves 710 are equal and parallel to each other. Therefore, the offset angles of all the workpieces 720 in the same tray 700 are the same. After identifying any workpiece 720 in the tray 700 by the first positioning CCD device 500 and adjusting the posture of the manipulator 400 according to the generated posture compensation 1, the compensation values for the other workpieces 720 in the same tray 700 can be obtained by calculating according to the intervals between the material grooves 710. Thus, the compensation values for multiple workpieces 720 in the same tray 700 can be obtained through one CCD vision recognition, which is beneficial to improving the processing efficiency. Further, in the manipulator 400 of the embodiment of the present invention, the intervals between two adjacent material suction cups 470 taken on the same long rod 480 are set according to the distance between two adjacent material grooves 710, so that when one row of material suction cups 470 contacts the preset position of the workpiece 720 in one material groove 710, the other row of material suction cups 470 of the above-mentioned material suction cups 470 just contacts the preset position of the workpiece 720 in the adjacent other material groove 710. Thus, the manipulator 400 can pick up multiple workpieces 720 according to the result of one recognition, which is beneficial to improving the production efficiency.

[0136] In some specific embodiments of the present invention, the second positioning CCD device 510 of the embodiment of the present invention is used to adjust the position and posture of the workpiece 720 on the manipulator 400 so that the posture of the workpiece 720 on the manipulator 400 meets the posture requirements of the workpiece 720 at the machining station of the machine tool 300, replacing the traditional method of positioning the workpiece 720 by cooperating the matching fixture with the pushing cylinder. Specifically, the precise vision positioning console picks up the standard part through the picking arm 410 to define the characteristic points of the standard part, so as to determine the template b of the workpiece 720 at the arm end. Subsequently, each workpiece 720 recognition result is calibrated according to the template b of the workpiece 720 at the arm end. During the vision recognition process of the second positioning CCD device 510, after the posture of the manipulator 400 is adjusted, the precise vision positioning console recognizes according to the template b of the workpiece 720 at the arm end, and obtains the X-axis deviation value Δx b 、Y-axis deviation value Δy b and the deviation value Δr of the rotating shaft 450R b , and calculates the second posture compensation comp2 x 、comp2 y and comp2 r . The manipulator 400 console adjusts the posture of the workpiece 720 through the manipulator 400 and then places it on the machining station of the machine tool 300.

[0137] Among them, the posture compensation 2 of the second positioning CCD device 510 is obtained through the following algorithm:

[0138]

[0139] In the formula, comp2 x , comp2 y and comp2 r respectively represent the second attitude compensation of the X-axis, the second attitude compensation of the Y-axis, and the second attitude compensation of the rotation axis 450, that is, comp2 x , comp2 y and comp2 r respectively represent the second attitude compensation of the first axis 420, the second attitude compensation of the second axis 430, and the second attitude compensation of the rotation axis 450. Δx a , Δy a and Δr a respectively represent the second deviation value of the X-axis, the second deviation value of the Y-axis, and the second deviation value of the rotation axis 450 in the coordinate system C, that is, Δx a , Δy a and Δr a respectively represent the second deviation value of the first axis 420, the second deviation value of the first axis 420, and the second deviation value of the rotation axis 450 in the coordinate system C.

[0140] Furthermore, the fine vision positioning console determines whether the current second compensation value exceeds the tolerance according to the preset compensation threshold. If the compensation value exceeds the tolerance, the second positioning CCD device 510 is used to re-perform visual recognition, as well as the calculation of the second attitude compensation of the X-axis, the second attitude compensation of the Y-axis, and the second attitude compensation of the rotation axis 450, until the compensation value is within the set range, and then the relative relationship between the visual fine positioning system and the manipulator 400 is established. When the manipulator 400 adjusts the position of the workpiece 720 on the suction cup, it feeds back to the CNC machining system. After the machine tool 300 completes the machining of the workpiece 720, the manipulator 400 moves into the machine tool 300 to replace the workpiece 720.

[0141] Furthermore, to reduce the error between the visual fine positioning system and the CNC machining system, multiple fine positioning recognitions are introduced. Through the second attitude compensation comp2 x , comp2 y and comp2 r the attitude of the manipulator 400 is adjusted multiple times to make the compensation value closer to zero, thereby improving the machining accuracy. In the workpiece 720 positioning method of the automated production line according to the embodiment of the present invention, the second positioning CCD device 510 is used to identify and obtain the second attitude compensation, which at least includes the following steps:

[0142] D310. Determine whether the current second compensation value exceeds the tolerance according to the preset compensation threshold;

[0143] D320. If so, re-identify the pose of the second workpiece 720 on the manipulator 400 through the second positioning CCD device 510, re-calibrate it according to the pre-imported template of the end effector workpiece 720 to generate a new second deviation value, and calculate and obtain a new second pose compensation, and replace the current second compensation value with the new second pose compensation;

[0144] D330. If not, output the finally obtained second pose compensation.

[0145] Further, in the tray 700 and the manipulator 400 of the embodiment of the present invention, the intervals between two adjacent material grooves 710 are equal and parallel to each other. Therefore, the offset angles of all workpieces 720 in the same tray 700 are the same. Moreover, the interval between two adjacent material suction cups 470 on the same long rod 480 is set according to the distance between two adjacent material grooves 710, so that when one row of material suction cups 470 contacts the preset position of the workpiece 720 in one material groove 710, the other row of material suction cups 470 of the above-mentioned material suction cups 470 just contacts the preset position of the workpiece 720 in the adjacent other material groove 710. The manipulator 400 can pick up multiple workpieces 720 in the same tray 700 at the same time, and the offset values of different workpieces 720 picked up by the manipulator 400 at the same time are the same. Thus, after adjusting the pose of the manipulator 400 by one-time recognition of the second positioning CCD device 510, the pose compensation of multiple workpieces 720 on the manipulator 400 can be realized. When placing the workpiece 720 on the machine tool 300, only the pose of the workpiece 720 needs to be appropriately adjusted according to the distance between two adjacent long rods 480, which is beneficial to improving the processing efficiency.

[0146] It can be understood that for the case with higher processing accuracy requirements, the method of using the manipulator 400 to pick up only one workpiece 720 each time and identifying each picked-up workpiece 720 through the first positioning CCD device 500 and the second positioning CCD device 510 is beneficial to improving the processing accuracy of the workpiece 720 and meeting different processing requirements.

[0147] In some specific embodiments of the present invention, the glass processing production line of the embodiment of the present invention is provided with two machine tools 300, which are symmetrically arranged at the left end and the right end of the first axis 420 of the manipulator 400. Among them, both of the two machine tools 300 are used for processing the workpiece 720 with the same process, or the two machine tools 300 are respectively used for processing different processes of the workpiece 720, so as to realize the simultaneous processing of two workpieces 720, which is beneficial to improving the production efficiency. Further, when the two machine tools 300 are used for processing the same process, the two machine tools 300 can be set to process the workpiece 720 synchronously or asynchronously.

[0148] As described above, these are only the preferred embodiments of the present invention. The present invention is not limited to the above-described embodiments. As long as the same means are used to achieve the technical effects of the present invention, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present disclosure shall be included within the scope of protection of the present disclosure. All of them shall fall within the scope of protection of the present invention. Within the scope of protection of the present invention, various different modifications and variations may be made to its technical solutions and / or implementation manners.

Claims

1. A loading and unloading system for a production line based on visual positioning, characterized in that, Including: A frame (100), with a raw material area (110) and a finished product area (120) respectively arranged on the left and right sides of the frame (100); A silo mechanism (200), which includes a feeding conveyor belt (210) and a feeding support rod (220) arranged in the raw material area (110), and a discharging conveyor belt (230) and a discharging support rod (240) arranged in the finished product area (120); the feeding conveyor belt (210) and the discharging conveyor belt (230) are both rotatably arranged on the frame (100) in the front and back directions, and the feeding support rod (220) and the discharging support rod (240) are both movably arranged on the frame (100) in the up and down directions; multiple feeding conveyor belts (210) and multiple feeding support rods (220) are arranged at intervals, and multiple discharging conveyor belts (230) and multiple discharging support rods (240) are arranged at intervals; Among them, the length of the feeding conveyor belt (210) is greater than the length of the feeding support rod (220), and the length of the discharging conveyor belt (230) is greater than the length of the discharging support rod (240); when the feeding support rod (220) is in the first position, the upper plane of the feeding support rod (220) is lower than the upper plane of the feeding conveyor belt (210); when the discharging support rod (240) is in the second position, the upper plane of the discharging support rod (240) is lower than the upper plane of the discharging conveyor belt (230); the side of the feeding conveyor belt (210) away from the feeding support rod (220) is for manual feeding, and the side of the discharging conveyor belt (230) away from the discharging support rod (240) is for manual discharging; A manipulator (400), which takes out or places back a workpiece (720) in the raw material area (110) by means of visual positioning; A transfer mechanism (600), which is movably arranged on the frame (100) in the left and right directions and is used to transfer a tray (700) from the raw material area (110) to the finished product area (120).

2. The loading and unloading system for a production line according to claim 1, characterized in that, The manipulator (400) is arranged above the silo mechanism (200), and the transfer mechanism (600) is arranged between the manipulator (400) and the silo mechanism (200).

3. The loading and unloading system for a production line according to claim 2, characterized in that, The transfer mechanism (600) further includes a transfer guide rail (610), a connecting bracket (620) and a transfer bracket (630). One side of the connecting bracket (620) is slidably connected to the transfer guide rail (610) in the left and right directions, and the other side of the connecting bracket (620) is fixedly connected to the transfer bracket (630). The transfer guide rail (610) passes through the raw material area (110) and the finished product area (120).

4. The loading and unloading system for a production line according to claim 3, characterized in that, The transfer mechanism (600) includes a transfer suction cup (640) for sucking up the tray (700), and the transfer suction cup (640) is arranged on the lower side of the transfer bracket (630).

5. The loading and unloading system for a production line according to claim 4, characterized in that, The transfer guide rail (610) is arranged on one side of the frame (100) facing away from the loading support rod (220) and the unloading support rod (240). One side of the transfer guide rail (610) is arranged above the manual loading station (130) of the loading conveyor belt (210), and the other side of the transfer guide rail (610) is arranged above the manual unloading station (160) of the unloading conveyor belt (230).

6. The loading and unloading system for a production line according to claim 3, characterized in that, The manipulator (400) is provided with multiple sets of material taking components. Each set of the material taking components includes a plurality of material taking suction cups (470), and the transfer bracket (630) is arranged below the material taking suction cups (470).

7. The loading and unloading system for a production line according to claim 1, characterized in that, The manipulator (400) is provided with a first shaft (420). The first shaft (420) is horizontally arranged and can move left and right. The end of the first shaft (420) is inserted into the machine tool (300) for processing the workpiece (720).

8. The loading and unloading system for a production line according to claim 7, characterized in that, The manipulator (400) is provided with a first shaft (420), a second shaft (430), a third shaft (440) and a rotating shaft (450). The first shaft (420) is horizontally arranged and can move left and right. The end of the first shaft (420) is inserted into the machine tool (300). The third shaft (440) is arranged on the side of the first shaft (420) and can move up and down. The second shaft (430) is arranged on the lower side of the third shaft (440) and can move back and forth. The rotating shaft (450) is arranged on the lower side of the second shaft (430) and can rotate. The picking arm (410) is connected to the lower side of the rotating shaft (450).

9. A control method for a loading and unloading system of a production line, applied to the loading and unloading system of a production line according to any one of claims 1 to 8, the method comprising the following steps: F100. Detect whether the manual stacking of the material trays (700) is completed on the side of the loading conveyor belt (210) away from the loading support rod (220); if so, judge whether the loading support rod (220) reaches the first position. If not, move the loading support rod (220) to the first position; then, rotate the loading conveyor belt (210) to move the material tray (700) onto the loading support rod (220). F200. Raise the material tray (700) on its top surface by the loading support rod (220) to a preset first height. Use the manipulator (400) to take out the unprocessed workpiece (720) in the material tray (700) on the top surface of the loading support rod (220) by means of visual positioning for workpiece (720) processing; after the processing is completed, use the manipulator (400) to put the processed workpiece (720) back into the material tray (700) on the top surface of the loading support rod (220) by means of visual positioning. F300. Repeat step F200 until all the workpieces (720) in the material tray (700) on the top surface of the loading support rod (220) are processed. F400. Lower the tray (700) on the top surface of the blanking support rod (240) to a preset second height, transfer the tray (700) on the top surface of the loading support rod (220) to the finished product area (120) through the transfer mechanism (600), and place it on the tray (700) on the top surface of the blanking support rod (240); F500. Repeat steps F200 to F400 until all the trays (700) currently on the loading support rod (220) are transferred to the blanking support rod (240); F600. Lower the blanking support rod (240) to the second position, rotate the blanking conveyor belt (230) so that the tray (700) moves to the side of the blanking conveyor belt (230) away from the blanking support rod (240).

10. The control method for a loading and unloading system of a production line according to claim 9, characterized in that, Among them, The transfer mechanism (600) is provided with a transfer suction cup (640) for sucking up the tray, and step F400 further includes the following steps: F410. Move the transfer mechanism (600) so that the transfer suction cup (640) reaches above the tray on the top surface of the loading support rod (220); F420. Raise the loading support rod (220) so that the transfer suction cup (640) sucks up the tray.

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