A product loading vehicle system and control method

Abstract

The present invention relates to the field of automation technology, and particularly to a product loading vehicle system and a control method. The product loading vehicle system includes a workbench; a first streamline, which is arranged on the workbench and is used for positioning the vehicle and can transfer the vehicle loaded with products to the next workstation; a second streamline, which is arranged on the workbench and is used for exporting defective products; a detection device, which is used for detecting products, the vehicle seat and the cover plate of the vehicle; a storage device, which is arranged on the workbench and is used for storing vehicle seats and cover plates; a robotic arm device, which is arranged on the workbench and is used for shifting products, vehicle seats and cover plates. The present invention can improve the automation level of product loading into the vehicle, reduce the use of labor, and reduce the labor intensity.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and particularly to a product loading carrier system and a control method therefor. Background Art

[0002] With the development of science and technology, the electronics industry has made great progress. In the electronics industry, in order to improve the detection and turnover efficiency of products, automated assembly line operations are usually adopted. Currently, in the field of automated production in the electronics industry, a processing method of placing a product into a carrier and then flowing it to the next work station is usually encountered. Among them, the carrier consists of a carrier base and a cover plate, the cover plate is covered on the carrier base, and qualified products are placed in the carrier base. In this process, in order to ensure the processing quality of subsequent processes, before placing the product into the carrier, it is necessary to separately detect the quality of the product, the carrier base of the carrier, and the cover plate. Only when the product, the carrier base of the carrier, and the cover plate are all qualified can the qualified product be loaded into the qualified carrier base, and then the cover plate is covered on the carrier base and flows to the next work station.

[0003] However, since it is impossible to ensure that the quality of the product and the carrier is uniformly good in production, there will be various working conditions in which both the product and the carrier are good products / or both are defective products / or one is a good product and the other is a defective product during feeding. As a result, the control logic of the equipment for loading the product into the carrier is relatively complex, resulting in a large amount of manual intervention, a decrease in the automation level, and a relatively high labor intensity.

[0004] Therefore, a product loading carrier system and a control method are needed to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a product loading carrier system and a control method therefor, which can improve the automation level of loading the product into the carrier, reduce the use of labor, and reduce the labor intensity.

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

[0007] A product loading carrier system, comprising:

[0008] A workbench;

[0009] A first streamline, which is arranged on the workbench, used for positioning the carrier and capable of transporting the carrier loaded with the product to the next work station;

[0010] A second streamline, which is arranged on the workbench, used for exporting defective products;

[0011] A detection device, which is used for detecting the product, the carrier base of the carrier, and the cover plate;

[0012] A storage device, which is arranged on the workbench and used to store the carrier seat and the cover plate;

[0013] A robotic arm device, which is arranged on the workbench and used to shift products, carrier seats, and cover plates;

[0014] The robotic arm device is configured to: transfer the carrier seat and / or the cover plate between the first streamline and the storage device according to the detection results until a qualified carrier composed of both the carrier seat and the cover plate being qualified products is formed, and also place the qualified product into the qualified carrier.

[0015] Further, a positioning mechanism is arranged on the first streamline, and the positioning mechanism is used to position the carrier.

[0016] Further, the second streamline includes an empty tray streamline, a lifting streamline, and a carrier tray streamline arranged in sequence. The robotic arm device can place defective products on the trays of the empty tray streamline, and the lifting streamline is used to transfer the trays carrying products from the empty tray streamline to the carrier tray streamline.

[0017] Further, the robotic arm device includes a first robotic arm and a second robotic arm. Both the first robotic arm and the second robotic arm are arranged on the workbench. The first robotic arm is used to shift the carrier seat and the cover plate, and the second robotic arm is used to shift the product.

[0018] Further, the detection device includes a first detection component and a second detection component. The first detection component is arranged on the workbench and used to detect the cover plate. The second detection component is arranged on the second robotic arm and used to detect the carrier seat and the product.

[0019] Further, both the first detection component and the second detection component include an industrial camera and a laser module cooperating with the industrial camera.

[0020] Further, the storage device includes a first buffer bin and a second buffer bin. The first buffer bin and the second buffer bin are arranged on the workbench. The first buffer bin is used to store the good products of the carrier seat and the cover plate, and the second buffer bin is used to store the defective products of the carrier seat and the cover plate.

[0021] Further, there are two groups of the first buffer bin and the second buffer bin respectively. One of the two groups of the first buffer bins is used to place the good products of the cover plate, and the other group is used to place the good products of the carrier seat; one of the two groups of the second buffer bins is used to place the defective products of the cover plate, and the other group is used to place the defective products of the carrier seat.

[0022] A control method for controlling the loading of the above-mentioned product into a vehicle system, comprising the following steps:

[0023] S1. The robotic arm device picks up the product from the previous workstation and performs inspections through an inspection device. The robotic arm device places the vehicle on the first production line for positioning, and inspects the vehicle seat and cover plate of the vehicle through the inspection device respectively.

[0024] S2. Judge the quality of the product and the vehicle:

[0025] A) If both the product and the vehicle seat are qualified products, the robotic arm device places the product into the vehicle seat, and selectively covers the qualified cover plate or the qualified cover plate replaced from the storage device onto the vehicle seat according to the quality of the cover plate.

[0026] B) If the vehicle seat is a defective product, regardless of whether the cover plate is a qualified product, the robotic arm device places both the vehicle seat and the cover plate into the storage device; then returns to step S1 until qualified vehicle seats and cover plates are obtained; subsequently, the robotic arm device places the product into the qualified vehicle seat and covers the qualified cover plate onto the qualified vehicle seat; S3. The first production line transports the vehicle to the next workstation.

[0027] Advantages of the present invention:

[0028] A product loading vehicle system provided by the present invention is provided with a first production line, a second production line, a storage device and a robotic arm device on the workbench. The monitoring device can inspect the product, the vehicle seat and the cover plate. Qualified products and vehicles are assembled on the first production line through the robotic arm device and transported to the next workstation. Unqualified products are placed on the second production line and transported out through the robotic arm device. Defective vehicle seats and / or cover plates are placed in the storage device, and qualified vehicle seats and / or cover plates are taken out from the storage device and placed on the first production line to form a completely qualified vehicle. Through the above settings, the automation level of product loading into the vehicle can be improved, the use of manual labor can be reduced, and the labor intensity can be reduced.

[0029] A control method provided by the present invention for controlling the product loading vehicle system as described above can improve the automation level of product loading into the vehicle, reduce the use of manual labor, and reduce the labor intensity. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the content of the embodiments of the present invention and these drawings without creative efforts.

[0031] Figure 1 is a top view of a product loading vehicle system of the present invention;

[0032] Figure 2 is a top view of another structure of a product loading vehicle system of the present invention.

[0033] In the figure:

[0034] 1. Workbench; 2. First flow line; 21. Positioning mechanism; 3. Second flow line; 31. Empty tray flow line; 32. Carrier tray flow line; 4. Storage device; 41. First buffer bin; 42. Second buffer bin; 5. Robot device; 51. First robot arm; 52. Second robot arm. Detailed implementation manners

[0035] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. Generally, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0038] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0039] In the description of the present invention, it should also be noted that, unless otherwise clearly specified and defined, the terms "arrangement" and "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0041] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0042] Embodiment 1

[0043] Currently, in the field of automated production in the electronics industry, there is usually a processing method of placing a product into a carrier and then flowing it to the next workstation. Among them, the carrier is composed of a carrier base and a cover plate. The cover plate is covered on the carrier base, and qualified products are placed into the carrier base. During this process, to ensure the processing quality of subsequent processes, before placing the product into the carrier, it is necessary to separately detect the quality of the product, the carrier base of the carrier, and the cover plate. Only when the product, the carrier base of the carrier, and the cover plate are all qualified can the qualified product be loaded into the qualified carrier base, and then the cover plate is covered on the carrier base and flows to the next workstation.

[0044] Since it is impossible to ensure that the quality of the product and the carrier is uniformly good in production, there will be various working conditions when loading materials, such as both the product and the carrier being good products / or both being defective products / or one being a good product and the other being a defective product. As a result, the control logic for the equipment to load the product into the carrier is relatively complex, which leads to the need for a large amount of manual intervention, a decrease in the automation level, and a relatively large labor intensity.

[0045] To solve the above problems, improve the automation level of loading the product into the carrier, reduce the use of labor, and reduce the labor intensity, as Figure 1 - Figure 2As shown, the present invention provides a product loading vehicle system. This product loading vehicle system includes a workbench 1, a first streamline 2, a second streamline 3, a detection device, a storage device 4, and a robotic arm device 5.

[0046] Among them, the first streamline 2 is arranged on the workbench 1 and is used to position the vehicle and can transport the vehicle loaded with the product to the next workstation; the second streamline 3 is arranged on the workbench 1 and is used to export defective products; the detection device is used to detect the product, the vehicle seat of the vehicle, and the cover product; the storage device 4 is arranged on the workbench 1 and is used to store the vehicle seat and the cover; the robotic arm device 5 is arranged on the workbench 1 and is used to shift the product, the vehicle seat, and the cover; the robotic arm device 5 is configured to: transfer the vehicle seat and / or the cover between the first streamline 2 and the storage device 4 according to the detection result until a vehicle with both the vehicle seat and the cover being qualified products is formed, and also put the qualified product into the qualified vehicle.

[0047] Specifically, the first streamline 2 and the second streamline 3 can adopt a conveyor belt structure or a roller structure, which is specifically selected according to the transported product and will not be limited too much here. The first streamline 2 connects the front and rear workstations and is used to transport the qualified vehicle loaded with the qualified product to the next workstation. The unqualified products are output through the second streamline 3, and the unqualified vehicle seats and / or covers are temporarily stored in the storage device 4 and taken out manually later; and the qualified vehicle seats and / or covers are taken out from the storage device 4 and paired with the original qualified vehicle seats or covers to form a qualified vehicle.

[0048] Furthermore, a positioning mechanism 21 is arranged on the first streamline 2, and the positioning mechanism 21 is used to position the vehicle. Arranging the positioning mechanism 21 on the first streamline 2 is a common technical means on an automated assembly line. In this embodiment, a combination of a cylinder and a positioning block can be adopted. In other embodiments, a combination of a hydraulic cylinder and a positioning block, or a combination of a motor and a positioning block can also be adopted, and will not be limited too much here as long as it can play a positioning role.

[0049] Further, the second streamline 3 includes an empty tray streamline 31, a lifting streamline, and a loaded tray streamline 32 arranged in sequence. The robotic arm device 5 can place defective products on the trays of the empty tray streamline 31, and the lifting streamline is used to transfer the trays carrying products from the empty tray streamline 31 to the loaded tray streamline 32. To further improve the automation level, the empty tray streamline 31, the lifting streamline, and the loaded tray streamline 32 can all adopt belt conveyor lines. A palletizing and depalletizing mechanism for splitting empty pallet stacks one by one is provided on the empty tray streamline 31, which can provide empty trays according to actual needs to ensure that defective products can be placed one by one on the corresponding empty trays. A palletizing mechanism for palletizing the trays carrying defective products one by one is provided on the loaded tray streamline 32, which can stack the trays carrying unqualified products, facilitating the storage of defective products, saving occupied space, and facilitating later processing by staff. In this embodiment, the tray is a Tray tray. The palletizing and depalletizing mechanisms are both existing mature technologies, and their working principles will not be elaborated here.

[0050] Further, the robotic arm device 5 includes a first robotic arm 51 and a second robotic arm 52. Both the first robotic arm 51 and the second robotic arm 52 are arranged on the workbench 1. The first robotic arm 51 is used to shift the carrier seat and the cover plate, and the second robotic arm 52 is used to shift the products. By setting the first robotic arm 51 and the second robotic arm 52, and the first robotic arm 51 and the second robotic arm 52 cooperate with each other, the working speed can be increased, and while ensuring the working efficiency, the economy can be taken into account.

[0051] Further, the detection device includes a first detection component and a second detection component. The first detection component is arranged on the workbench 1 and is used to detect the cover plate. The second detection component is arranged on the second robotic arm 52 and is used to detect the carrier seat and the products. By setting two sets of detection components, the detection speed can be increased, and the detection efficiency can be ensured. Moreover, by using the detection components for detection and adopting a unified standard, the detection quality can be ensured.

[0052] Further, in this embodiment, both the first detection component and the second detection component include an industrial camera and a laser module cooperating with the industrial camera. By the mutual cooperation of the industrial camera and the laser module, the detection quality can be ensured.

[0053] Further, the storage device 4 includes a first buffer bin 41 and a second buffer bin 42. The first buffer bin 41 and the second buffer bin 42 are arranged at intervals on the workbench 1. The first buffer bin 41 is used to store the qualified products of the carrier seat and the cover plate, and the second buffer bin 42 is used to store the defective products of the carrier seat and the cover plate. By storing the qualified and defective products of the carrier separately, it is convenient for management in the later stage and also convenient for the robotic arm device 5 to store and retrieve.

[0054] Store the qualified vehicle seats and the qualified cover plates in the same buffer bin. Design the first buffer bin 41 into at least a two - layer drawer - type structure. Multiple same - type materials can be stacked in each drawer, and the opening and closing movements of at least two layers of drawers are independent of each other and are individually driven by cylinders. To facilitate the precise picking and placing of materials by the first robotic arm 51, a barcode scanner for identifying materials is set on each drawer to bind the drawer with the material type. This also indicates that the material types placed in each drawer are based on the material type first placed.

[0055] To facilitate the picking and placing of materials by the second robotic arm 52 and the operator, each drawer is designed to be a structure that can move in two directions. For example, define the conveying direction of the first flow line 2 as the first direction. Each drawer can reciprocate along the first direction. When the first robotic arm 51 picks and places materials, the drawer moves in the positive direction of the first direction, and when the operator needs to pick and place materials, the drawer moves in the reverse direction of the first direction. For vehicles with dust - proof requirements, the structure of the first buffer bin 41 is specially designed to meet the dust - proof requirements.

[0056] Furthermore, two groups of the first buffer bin 41 and the second buffer bin 42 are provided. One of the two groups of the first buffer bin 41 is used to place the qualified cover plates, and the other group is used to place the qualified vehicle seats; one of the two groups of the second buffer bin 42 is used to place the unqualified cover plates, and the other group is used to place the unqualified vehicle seats. Through the above settings, it is more convenient to manage the qualified and unqualified vehicles.

[0057] Furthermore, in this embodiment, a control system is formed by using a PLC and a host computer. The control system is communicatively connected to the first flow line 2, the second flow line 3, the storage device 4, the detection device, and the robotic arm device 5. By using the communication control and management of the control system, while realizing automatic control, it is convenient to coordinate the work of each device. In this embodiment, the communication method can preferably be the TCP / IP protocol, but is not limited to this method.

[0058] Embodiment 2

[0059] This embodiment provides a control method for controlling the loading of the above - mentioned products into the vehicle system, including the following steps:

[0060] S1. The robotic arm device 5 picks up the product from the previous workstation and conducts detection through the detection device. The robotic arm device 5 places the vehicle on the first flow line 2 for positioning, and separately conducts detection on the vehicle seat and the cover plate of the vehicle through the detection device.

[0061] S2. Judge the quality of the product and the vehicle:

[0062] A) If both the product and the carrier base are qualified products, the robotic arm device 5 places the product into the carrier base and selectively covers the qualified product cover plate or the qualified product cover plate replaced from the storage device 4 onto the carrier base according to the quality of the cover plate;

[0063] B) If the carrier base is a defective product, regardless of whether the cover plate is a qualified product, the robotic arm device 5 places both the carrier base and the cover plate into the storage device 4; then returns to step S1 until qualified carrier bases and cover plates are obtained; subsequently, the robotic arm device 5 places the product into the qualified carrier base and covers the qualified cover plate onto the qualified carrier base;

[0064] S3. The first streamline 2 transports the carrier to the next workstation.

[0065] Specifically, the detailed control process in combination with the control system is as follows:

[0066] After the PLC receives the product in-place signal sent from the previous workstation, the PLC sends a material-taking instruction to the second robotic arm 52. The second robotic arm 52 picks up the product from the previous workstation according to the material-taking instruction. During the picking process, the second detection component takes pictures of the product and transmits the obtained product pictures to the host computer; the host computer analyzes the product contour information on the product pictures to determine whether the product is a qualified product and feeds back the judgment result to the PLC; the PLC controls the operation of the second robotic arm 52 according to the product judgment result. Specifically: if the product is a qualified product, the second robotic arm 52 moves the product to the loading station of the first streamline 2; if the product is a defective product, the second robotic arm 52 moves the product to the empty tray on the second streamline 3.

[0067] While the PLC controls the second robotic arm 52 to pick up the product, the PLC also controls the first robotic arm 51 to pick up the carrier. Specifically:

[0068] (There is a carrier return line running through multiple workstations in the entire production line) When the carrier is transported to the designated position via the carrier return line, the PLC first sends a carrier-taking instruction to the first robotic arm 51. The first robotic arm 51 takes the carrier according to the instruction and places the carrier on the first streamline 2; then, the PLC controls the first streamline 2 to transport the carrier to the loading station, and the carrier is accurately positioned by the positioning mechanism 21; subsequently, the PLC sends a cover plate-taking instruction to the first robotic arm 51 again. The first robotic arm 51 takes the cover plate according to the instruction and moves the cover plate to the detection position.

[0069] After the second robotic arm 52 moves the product to the loading station of the first streamline 2, the second detection component takes pictures of the carrier base and transmits the obtained carrier base pictures to the host computer; the host computer analyzes the carrier base pictures to determine whether the carrier base is a qualified product and feeds back the judgment result to the PLC;

[0070] Similarly, after the first robotic arm 51 moves the cover plate to the detection position, the first detection component will take pictures of the cover plate for detection and transmit the obtained cover plate pictures to the host computer; the host computer analyzes the cover plate pictures to determine whether the cover plate is a good product and feeds back the judgment result to the PLC.

[0071] The PLC controls the second robotic arm 52 and the first robotic arm 51 to work accordingly based on the detection and judgment results of the carrier seat and the cover plate. The specific control logic may include:

[0072] 1. If the carrier seat is a good product and the cover plate is a defective product:

[0073] The PLC first controls the first robotic arm 51 to put the defective cover plate into the second buffer bin 42, and then controls the first robotic arm 51 to take a good cover plate from the first buffer bin 41; moreover, when the first robotic arm 51 gets the good cover plate, at the same time, the PLC will control the second robotic arm 52 to put the product into the good carrier seat, and control the first robotic arm 51 to place the good cover plate on the good carrier seat.

[0074] Note: Ⅰ) Before putting the defective cover plate into the second buffer bin 42, the sensor on the second buffer bin 42 will feed back the storage status of the second buffer bin 42 to the PLC. If the second buffer bin 42 is empty or half-full, the PLC directly controls the first robotic arm 51 to put the defective cover plate into the second buffer bin 42. If the second buffer bin 42 is full, the PLC will first control the alarm on the first buffer bin 41 to alarm, prompting the operator to empty the second buffer bin 42 before putting the defective cover plate into the second buffer bin 42.

[0075] Ⅱ) Before taking the good cover plate from the first buffer bin 41, the sensor on the first buffer bin 41 will also feed back the storage status of the first buffer bin 41 to the PLC. If there is material in the first buffer bin 41, the PLC directly controls the first robotic arm 51 to take the good cover plate from the first buffer bin 41; if the first buffer bin 41 is empty, the PLC will first control the alarm on the first buffer bin 41 to alarm, prompting the operator to replenish the spare material before taking the good cover plate from the first buffer bin 41; in addition, if there is no spare material for the good cover plate, the production will not be able to proceed normally. At that time, the PLC will control the first robotic arm 51 to deposit the good carrier seat into the first buffer bin 41. Of course, before depositing, the storage status of the first buffer bin 41 will also be fed back and processed through the sensor, and the specific processing logic is the same as the "depositing logic of the defective cover plate" mentioned above.

[0076] 2. If both the carrier seat and the cover plate are defective products:

[0077] The PLC controls the first robotic arm 51 to sequentially place the defective carrier bases and cover plates into the second buffer bin 42. Of course, before storing the defective products, the storage status of the second buffer bin 42 is fed back and processed through sensors, and the specific processing logic is the same as the "logic for storing defective cover plates" mentioned above.

[0078] After the defective carrier bases and cover plates are stored, the PLC controls the first robotic arm 51 to pick up a carrier from the carrier return line again, that is, to start a new round.

[0079] 3. If both the carrier base and the cover plate are non-defective:

[0080] The PLC first controls the second robotic arm 52 to place the product into the non-defective carrier base, then controls the first robotic arm 51 to place the non-defective cover plate on the non-defective carrier base, and then starts the first production line 2 to transport the carrier to the next workstation.

[0081] 4. If the carrier base is defective and the cover plate is non-defective:

[0082] The PLC first controls the first robotic arm 51 to place the non-defective cover plate into the first buffer bin 41, and then controls the first robotic arm 51 to place the defective carrier base into the second buffer bin 42; of course, before storing the non-defective / defective products, the storage status of the first buffer bin 41 and the second buffer bin 42 is fed back and processed through sensors, and the specific processing logic is the same as the "logic for storing defective cover plates" mentioned above.

[0083] After the defective carrier base and the non-defective cover plate are stored, the PLC controls the first robotic arm 51 to pick up a carrier from the carrier return line again, that is, to start a new round of inspection of the carrier.

[0084] Supplement: If there is a situation where the product and the carrier arrive at different rhythms during production, the processing logic of the PLC is as follows: 1. If the product arrives and the carrier does not arrive:

[0085] The PLC first controls the first robotic arm 51 to pick up a non-defective carrier base from the first buffer bin 41 and place it at the loading station of the first production line 2, then the PLC controls the second robotic arm 52 to place the product into the non-defective carrier base, and then the PLC controls the first robotic arm 51 to pick up a non-defective cover plate from the first buffer bin 41 and place it on the non-defective carrier base.

[0086] 2. If the product does not arrive and the carrier arrives:

[0087] The PLC first controls the second robotic arm 52 to move the cover plate to the first detection component for detection, then controls the second detection component on the second robotic arm 52 to detect the carrier base, and then the PLC stores the carrier and the cover plate in the corresponding buffer bins according to the detection results.

[0088] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A product loading vehicle system, characterized in that, Comprising: Workbench (1); First streamline (2), which is arranged on the workbench (1) and is used for positioning the carrier and can transfer the carrier loaded with products to the next workstation; Second streamline (3), which is arranged on the workbench (1) and is used for exporting defective products; Detection device, which is used for detecting products, the carrier seat of the carrier and the cover plate; Storage device (4), which is arranged on the workbench (1) and is used for storing carrier seats and cover plates; Robotic arm device (5), which is arranged on the workbench (1) and is used for shifting products, carrier seats and cover plates; The robotic arm device (5) is configured to: transfer the carrier seat and / or the cover plate between the first streamline (2) and the storage device (4) according to the detection results until the qualified carrier with both the carrier seat and the cover plate being qualified products is formed, and also put the qualified products into the qualified carrier; The robotic arm device (5) includes a first robotic arm (51) and a second robotic arm (52). Both the first robotic arm (51) and the second robotic arm (52) are arranged on the workbench (1). The first robotic arm (51) is used for shifting the carrier seat and the cover plate, and the second robotic arm (52) is used for shifting products; The detection device includes a first detection component and a second detection component. The first detection component is arranged on the workbench (1) and is used for detecting the cover plate. The second detection component is arranged on the second robotic arm (52) and is used for detecting the carrier seat and products; 2. A product loading vehicle system according to claim 1, characterized in that, A positioning mechanism (21) is arranged on the first streamline (2), and the positioning mechanism (21) is used for positioning the carrier; 3. A product loading vehicle system according to claim 1, characterized in that, The second streamline (3) includes an empty tray streamline (31), a lifting streamline and a carrier tray streamline (32) arranged in sequence. The robotic arm device (5) can place defective products on the tray of the empty tray streamline (31), and the lifting streamline is used for transferring the tray carrying products from the empty tray streamline (31) to the carrier tray streamline (32); 4. A product loading vehicle system according to claim 1, characterized in that, Both the first detection component and the second detection component include an industrial camera and a laser module cooperating with the industrial camera; 5. A product loading vehicle system according to claim 1, characterized in that, The storage device (4) includes a first buffer bin (41) and a second buffer bin (42). The first buffer bin (41) and the second buffer bin (42) are arranged on the workbench (1). The first buffer bin (41) is used for storing the qualified products of carrier seats and cover plates, and the second buffer bin (42) is used for storing the defective products of carrier seats and cover plates; 6. A product loading vehicle system according to claim 5, wherein, There are two groups of both the first buffer bin (41) and the second buffer bin (42). One of the two groups of the first buffer bin (41) is used for placing the qualified cover plates, and the other group is used for placing the qualified carrier seats; one of the two groups of the second buffer bin (42) is used for placing the defective cover plates, and the other group is used for placing the defective carrier seats.

7. A control method, characterized in that, For controlling the loading of the product as described in any one of claims 1-6 into the carrier system, the following steps are included: S1. The robotic arm device (5) picks up the product from the previous workstation and performs inspections through the inspection device. The robotic arm device (5) places the carrier on the first streamline (2) for positioning, and inspects the carrier base and the cover plate of the carrier respectively through the inspection device; S2. Judge the quality of the product and the carrier: A) If both the product and the carrier base are qualified products, the robotic arm device (5) places the product into the carrier base, and selectively covers the qualified cover plate or the qualified cover plate replaced from the storage device (4) onto the carrier base according to the quality of the cover plate; B) If the carrier base is unqualified, regardless of whether the cover plate is qualified or not, the robotic arm device (5) places both the carrier base and the cover plate into the storage device (4); then return to step S1 until qualified carrier bases and cover plates are obtained; subsequently, the robotic arm device (5) places the product into the qualified carrier base and covers the qualified cover plate onto the qualified carrier base; S3. The first streamline (2) transports the carrier to the next workstation.

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