Glass processing production line and control method thereof

Abstract

The present invention relates to a glass processing production line and a control method thereof, comprising a frame, a machine tool, a silo mechanism, a manipulator, a first positioning CCD device, a second positioning CCD device and a transfer mechanism, wherein the silo mechanism is provided with a loading conveyor belt for switching a material tray between a manual loading station and a raw material storage area, a loading support rod for switching a material tray between a raw material storage area and a raw material loading station, a unloading conveyor belt for switching a material tray between a finished product storage area and a finished product unloading station, and an unloading support rod for switching a material tray between a finished product storage area and a finished product unloading station, the manipulator switches a workpiece between a raw material loading station and a machine tool, the first positioning CCD device obtains a first workpiece posture, the second positioning CCD device obtains a second workpiece posture, and the transfer mechanism transfers the material tray from the raw material loading station to the finished product unloading station. The present invention adopts visual positioning to realize loading and unloading, and places the workpiece and the manipulator outside the machine tool, which can improve production efficiency.

Description

Technical Field

[0001] The invention relates to a glass processing production line and a control method thereof, and belongs to the technical field of numerical control processing. Background Art

[0002] With the continuous development of science and technology, the processing of parts and components has shown characteristics such as many specifications, small batches, frequent production changes and high requirements for appearance aesthetics. As the main equipment for parts processing, users of fully automatic high-speed CNC machine tools have increasingly higher requirements for their versatility, processing effects, processing accuracy, processing speed and automation level.

[0003] At present, CNC machine tool processing mainly adopts the method of positioning the workpiece with a fixture and a push cylinder. The above workpiece positioning method not only has the risk of scratching the workpiece, but also the positioning shoulder will wear and need to be replaced regularly, and the fixture needs to be replaced when the workpiece is changed, which seriously affects the production speed and production effect and increases the production cost. At the same time, for the processing production line, the material tray used for the circulation of workpieces on the conveyor line also needs to be replaced when changing production, which further reduces the production efficiency and increases the production cost.

[0004] In addition, for the existing processing production lines, the manipulators used to realize automated processing of machine tools are mainly six-degree-of-freedom manipulators and machine tool built-in manipulators. Among them, for the six-degree-of-freedom manipulator, it generally needs to be used with a silo and a conveyor line, which occupies a large area and is expensive, and the space required for the arm span is large, which is not conducive to the production layout of the workshop. For the machine tool built-in manipulator, its activity is easily limited by the internal space of the machine tool, and it often needs to pause to avoid other moving parts, which affects the processing speed. In addition, the built-in manipulator generally needs to be equipped with a built-in tray for storing workpieces. It also needs to replace the built-in tray when changing production. For the built-in tray with larger size, the internal space of the machine tool also limits the number of built-in trays, resulting in an increase in the frequency of manual material changes. At the same time, for the built-in manipulator and the built-in tray, it is easy to be polluted by the internal environment of the machine tool, such as being adhered to the processing cutting fluid or processing waste, which further affects the processing effect. Summary of the invention

[0005] The present invention provides a glass processing production line and a control method thereof, aiming to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a glass processing production line and a control method thereof, which realizes loading and unloading of materials by setting a compact silo mechanism, adopting visual positioning to realize loading and unloading of materials, placing the workpiece and the manipulator outside the machine tool, realizing loading and unloading of materials without stopping the machine, and improving production efficiency.

[0006] The technical solution of the present invention relates to a glass processing production line on one hand, comprising: a frame, a raw material area and a finished product area are respectively arranged on the left and right sides of the frame; the raw material area is provided with a manual loading station, a raw material storage area and a raw material loading station; the finished product area is provided with a manual unloading station, a finished product storage area and a finished product unloading station; a machine tool for workpiece processing, the machine tool is arranged on the side of the frame; a silo mechanism for storing material trays, the silo mechanism is arranged on the frame, the silo mechanism is provided with a loading conveyor belt for switching the material tray between the manual loading station and the raw material storage area, a loading support rod for switching the material tray between the raw material storage area and the raw material loading station, and an unloading conveyor belt for switching the material tray between the finished product storage area and the finished product unloading station. and a material unloading support rod for switching the position of the material tray between the finished product storage area and the finished product unloading station; a manipulator for switching the position of the workpiece between the raw material loading station and the machine tool, the manipulator being arranged on the frame; the manipulator being provided with a picking arm for picking up the workpiece; a first positioning CCD device for identifying and obtaining a first workpiece posture at the raw material loading station; a second positioning CCD device for identifying and obtaining a second workpiece posture on the manipulator; a transfer mechanism for transferring the material tray from the raw material loading station to the finished product unloading station; the transfer mechanism being arranged on the frame; wherein the manipulator picks up the workpiece in the material tray at the raw material loading station according to the first workpiece posture, and the manipulator adjusts the posture of the picking arm with the workpiece according to the second workpiece posture.

[0007] Another aspect of the technical solution of the present invention relates to a control method for a glass processing production line, which is applied to the glass processing production line of the above-mentioned embodiment. The method according to the present invention comprises the following steps: E100, detecting whether the manual loading station has completed manual stacking of material trays. If so, after transferring the material trays from the manual loading station to the raw material storage area through the loading conveyor belt, the material trays on the top surface of the raw material storage area are transferred to the raw material loading station through the loading support rod; E200, after receiving the preparation processing instruction sent by the machine tool, the first workpiece posture on the raw material loading station is identified and obtained through the first positioning CCD device, and after adjusting the posture of the pickup arm, the unprocessed workpiece in the material tray is picked up by the pickup arm and moved to the precise positioning position; E300, identifying and obtaining the second workpiece posture on the manipulator through the second positioning CCD device, and after adjusting the posture of the pickup arm of the manipulator, the unprocessed workpiece is placed on the machine tool by moving the manipulator, and after the manipulator is moved out of the machine tool, the unprocessed workpiece is placed on the machine tool by the machine tool. Process the workpiece; E400, after receiving the instruction of the machine tool to complete the current processing, move the manipulator into the machine tool and pick up the processed workpiece, and then place the processed workpiece in the tray of the raw material loading station by moving the manipulator; E500, repeat steps E200 to E400 until all the workpieces currently in the tray of the raw material loading station are processed; E600, determine whether the finished product unloading station is empty, if not, transfer the tray from the finished product unloading station to the unloading station by the unloading bracket The finished product storage area; E700, after transferring the material tray from the raw material loading station to the finished product unloading station through the transfer bracket, transfer the material tray on the top surface in the raw material storage area to the raw material loading station through the loading support rod; E800, repeat steps E200 to E700 until all the material trays currently on the loading support rod are transferred to the unloading support rod; E900, through the cooperation of the unloading support rod and the unloading conveyor belt, all the material trays on the unloading support rod are transferred to the manual unloading station.

[0008] The beneficial effects of the present invention are as follows. The glass processing production line and control method of the present invention realize loading and unloading by setting a compact silo mechanism, using visual positioning to realize loading and unloading, placing the workpiece and the manipulator outside the machine tool, realizing loading and unloading without stopping, and improving production efficiency. The silo 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 upper part of the raw material storage area as the raw material loading station and the upper part of the finished product storage station as the finished product unloading station, so that machine tool processing and manual loading and unloading can be carried out simultaneously, 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 manual loading and unloading, so that manual loading and unloading and machine tool loading and unloading can be carried out simultaneously, which is conducive to realizing processing of the production line without stopping, and at the same time, multiple material trays on the loading support rod and the unloading support rod are stacked in the vertical direction, reducing the frequency of manual loading and unloading. After placing the material tray on the hopper mechanism through manual loading, the robot can directly position the workpiece according to the posture feedback from the two visual positioning, then pick up the workpiece on the tray and place it on the machine tool processing station. Compared with the traditional positioning method of pushing the cylinder to cooperate with processing, the adopted visual positioning method can be applied to the positioning of workpieces of different sizes and can reduce the chance of the workpiece being scratched. At the same time, the robot integrates the integrated functions of precision positioning and transfer, which reduces the risk of positioning error caused by traditional secondary positioning, which is conducive to ensuring high positioning accuracy in long-distance applications and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 1 is a first structural schematic diagram of a glass processing production line according to an embodiment of the present invention.

[0010] Figure 2 1 is a second structural schematic diagram of a glass processing production line according to an embodiment of the present invention.

[0011] Figure 3 It is a schematic structural diagram of a silo mechanism and a transfer mechanism according to an embodiment of the present invention.

[0012] Figure 4 yes Figure 3 A magnified view of the structure at center.

[0013] Figure 5 2 is a schematic diagram of the structure of a loading conveyor belt and a unloading conveyor belt according to an embodiment of the present invention.

[0014] Figure 6 It is a schematic structural diagram of a loading support rod and a unloading support rod according to an embodiment of the present invention.

[0015] Figure 7 Schematic diagram of the structure of a transfer mechanism according to an embodiment of the present invention.

[0016] Figure 8Schematic diagram of the structure of a glass processing production line according to an embodiment of the present invention.

[0017] Fig. 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.

[0018] Fig.10 It is an overall cross-sectional view of a supporting machine tool of a glass processing production line according to an embodiment of the present invention.

[0019] Fig.11 is a control flow chart of a glass processing production line according to an embodiment of the present invention.

[0020] Fig.12 It is a control flow chart of a manipulator loading and unloading system with supporting visual positioning according to an embodiment of the present invention.

[0021] Fig.13 It is a control flow chart of a production line loading and unloading system based on visual positioning according to an embodiment of the present invention.

[0022] Fig.14 Schematic diagram of the structure of a workpiece positioning system for an automated production line according to an embodiment of the present invention.

[0023] Fig.15 It is a basic flow chart of a workpiece positioning method for an automated production line according to an embodiment of the present invention.

[0024] Reference numerals:

[0025] 100 racks; 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 grating;

[0026] 200 silo mechanism; 210 feeding conveyor belt; 220 feeding support rod; 230 unloading conveyor belt; 240 unloading support rod;

[0027] 300 machine tools;

[0028] 400 manipulator; 410 picking arm; 420 first axis; 430 second axis; 440 third axis; 450 rotating axis; 460 picking bracket; 470 picking suction cup; 480 long rod;

[0029] 500: a first positioning CCD device; 510: a second positioning CCD device;

[0030] 600 transfer mechanism; 610 transfer rail; 620 connecting bracket; 630 transfer bracket; 640 transfer suction cup;

[0031] 700 tray; 710 trough; 720 workpiece. DETAILED DESCRIPTION

[0032] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. It should be noted that, if there is no special description, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to another feature, or it can be indirectly fixed or connected to another feature. In addition, the descriptions of upper, lower, left, right, top, bottom, etc. used in the present invention are only relative to the relative 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 those generally understood by technicians in this technical field. The terms used in this specification are only for describing specific embodiments, not for limiting the present invention. It should be understood that although the terms first, second, third, etc. may be used in the present 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 the present disclosure, the first element may also be referred to as the second element.

[0033] See also Figures 1 to 10The glass processing production line of the technical solution of the present invention includes a frame 100, a machine tool 300, a silo 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 a workpiece 720, and the machine tool 300 is arranged on the side of the frame 100. The silo mechanism 200 is used to store the material tray 700. The silo mechanism 200 is arranged on the frame 100. The silo mechanism 200 is provided with a loading conveyor belt 210 for switching the material tray 700 between the manual loading station 130 and the raw material storage area 140, a loading support rod 220 for switching the material tray 700 between the raw material storage area and the raw material loading station 150, a unloading conveyor belt 230 for switching the material 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 material tray 700 between the finished product storage area 170 and the finished product unloading station 180. The manipulator 400 is used to switch the workpiece 720 between the raw material loading station 150 and the machine tool 300. 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 to identify and obtain the posture of the first workpiece 720 of the raw material loading station 150. The second positioning CCD device 510 is used to identify and obtain the posture of the second workpiece 720 on the manipulator 400. The transfer mechanism 600 is used to transfer the material tray 700 from the raw material loading station 150 to the finished product unloading station 180, and the transfer mechanism 600 is set on the frame 100. Among them, the manipulator 400 picks up the workpiece 720 in the material tray 700 of the raw material loading station 150 according to the posture of the first workpiece 720, and the manipulator 400 adjusts the posture of the picking arm 410 with the workpiece 720 according to the posture of the second workpiece 720. Furthermore, the manual loading station 130 is arranged at the front side of the raw material storage area 140, the raw material loading station 150 is arranged at the upper side of the raw material storage area 140, the manual unloading station 160 is arranged at the front side of the finished product storage area 170, and the finished product unloading station 180 is arranged at the upper side of the finished product storage area 170, thereby making the overall layout of the silo mechanism 200 more compact, which is conducive to making full use of the height space and reducing the equipment footprint.

[0034] 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.

[0035] See also Fig. 9 and Fig.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.

[0036] See also Fig.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 includes at least the following steps:

[0037] E100, check whether the manual loading station 130 has completed manual stacking of the trays 700. If so, after transferring the trays 700 from the manual loading station 130 to the raw material storage area 140 via the loading conveyor belt 210, transfer the trays 700 at the top surface of the raw material storage area 140 to the raw material loading station 150 via the loading support rod 220;

[0038] E200, after receiving the preparation processing instruction sent by the machine tool 300, the first positioning CCD device 500 identifies and obtains the posture of the first workpiece 720 on the raw material loading station 150, and after adjusting the posture of the pickup arm 410, the pickup arm 410 picks up the unprocessed workpiece 720 in the tray 700 and moves it to the precise positioning position;

[0039] E300, the second positioning CCD device 510 is used to identify and obtain the posture of the second workpiece 720 on the manipulator 400, and after adjusting the posture of the pickup arm 410 of the manipulator 400, the unprocessed workpiece 720 is placed on the machine tool 300 by moving the manipulator 400, and after the manipulator 400 is moved out of the machine tool 300, the workpiece 720 is processed by the machine tool 300;

[0040] E400, after receiving the instruction of the machine tool 300 to complete the current processing, the mobile manipulator 400 enters the machine tool 300 and picks up the processed workpiece 720, and then places the processed workpiece 720 in the material tray 700 of the raw material loading station 150 through the mobile manipulator 400;

[0041] E500, repeating steps E200 to E400 until all workpieces 720 currently in the tray 700 of the raw material loading station 150 are processed;

[0042] E600, determine whether the finished product unloading station 180 is empty, if not, transfer the material tray 700 from the finished product unloading station 180 to the finished product storage area 170 through the unloading bracket;

[0043] E700, after transferring the material tray 700 from the raw material loading station 150 to the finished product unloading station 180 through the transfer bracket 630, the material tray 700 on the top surface of the raw material storage area 140 is transferred to the raw material loading station 150 through the loading support rod 220;

[0044] E800, repeating steps E200 to E700 until all the trays 700 currently on the loading support rod 220 are transferred to the unloading support rod 240;

[0045] E900. Through the cooperation of the unloading support rod 240 and the unloading conveyor belt 230, the material trays 700 on the unloading support rod 240 are transferred to the manual unloading station 160.

[0046] Specifically, the operator carries and places the material tray 700 in 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 material tray 700 is completed, the loading conveyor is started to move backward to drive the material tray 700 to move onto the loading support rod 220, that is, the material tray 700 reaches the raw material storage area 140, so that the operator can continue to place the next round of material trays 700 on the manual loading station 130 of the loading conveyor 210. Then, the loading support rod 220 is moved upward to drive the material tray 700 to the raw material loading station 150. After the first positioning CCD device 500 identifies the position of the first workpiece 720, the robot 400 takes out the unprocessed workpiece 720 from the raw material loading station 150, and then according to the position of the second workpiece 720 identified by the first positioning CCD device 500, the robot 400 adjusts the position of the workpiece 720 on its picking arm 410, and then places the workpiece 720 in the machine tool 300 for processing. After the workpiece 720 is processed, the robot 400 takes out the processed workpiece 720 from the machine tool 300 and places it on the material tray 700 of the raw material loading station 150. When all the workpieces 720 in the tray 700 at the raw material loading station 150 have been processed, the unloading support rod 240 moves up to make the finished product unloading station 180 vacant, and the transfer mechanism 600 transfers the processed tray 700 from the loading support rod 220 to the unloading support rod 240, that is, the tray 700 is transferred from the raw material loading station 150 to the finished product unloading station 180. After all the trays 700 on this round of loading support rods 220 are transferred from the raw material area 110 to the finished product area 120, the unloading support rod 240 moves down, and cooperates with the unloading conveyor belt 230 to move forward to drive the tray 700 to move to the manual unloading station 160, so that the unloading support rod 240 can rise again to receive the next round of trays 700, and at the same time, the operator can move the tray 700 on the unloading conveyor belt 230 and the manual unloading station 160. The glass processing production line of the embodiment of the present invention does not need to stop and wait when manually loading and unloading materials, and can simultaneously perform machine tool 300 processing and machine tool 300 loading and unloading, making the production process more compact and improving the processing speed of the production line.

[0047] See also Figure 1 and Figure 2The manipulator 400 loading and unloading system with visual positioning of the technical solution of the present invention is applied to a glass processing production line, which 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 silo mechanism 200 for storing a tray 700 is provided 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 silo mechanism 200. The manipulator 400 is provided with a picking arm 410 for picking up the workpiece 720. The first positioning CCD device 500 is used to identify the position and posture of the workpiece 720 in the tray 700. The second positioning CCD device 510 is used to identify the position and posture 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 position of the workpiece 720 recognized by the first positioning CCD device 500, and the manipulator 400 adjusts the position of the picking arm 410 according to the position of the workpiece 720 recognized by the second positioning CCD device 510 to place the workpiece 720 in the machine tool 300.

[0048] The robot 400 loading and unloading system with supporting visual positioning of the embodiment of the present invention is applied to a glass processing production line. After the material tray 700 is placed on the hopper mechanism 200 by manual loading, the robot 400 can directly position the workpiece 720 according to the posture feedback from the two visual positioning, and then pick up the workpiece 720 on the material tray 700 and place it on the processing station of the machine tool 300. Compared with the traditional positioning method of pushing the cylinder to cooperate with processing, the CCD positioning method adopted in the embodiment of the present invention can be used for positioning workpieces 720 of different sizes, and can reduce the probability of the workpiece 720 being scratched. At the same time, the robot 400 integrates the functions of precise positioning and transfer, reduces the risk of positioning error increase or decrease caused by traditional secondary positioning, is beneficial to ensure high positioning accuracy in long-distance applications, and is beneficial to improving production efficiency.

[0049] See also Fig.12 The control method for loading and unloading the manipulator 400 of the technical solution of the present invention is applied to the manipulator 400 loading and unloading system with supporting visual positioning, and the method at least includes the following steps:

[0050] A100, after receiving the preparation processing instruction sent by the machine tool 300, the unprocessed workpiece 720 in the tray 700 is identified by the first positioning CCD device 500 to obtain the posture of the first workpiece 720; after adjusting the posture of the pick-up arm 410 according to the posture of the first workpiece 720, the unprocessed workpiece 720 in the tray 700 is picked up by the pick-up arm 410 and moved to the precise positioning position;

[0051] A200, identifying the unprocessed workpiece 720 on the manipulator 400 through the second positioning CCD device 510 to obtain the posture of the second workpiece 720; adjusting the posture of the pickup arm 410 of the manipulator 400 according to the posture of the second workpiece 720 to adjust the posture of the workpiece 720 on the manipulator 400;

[0052] A300, placing the unprocessed workpiece 720 on the machine tool 300 by the mobile manipulator 400, and after moving the manipulator 400 out of the machine tool 300, processing the workpiece 720 by the machine tool 300, until receiving the instruction of the machine tool 300 to complete the current processing, the mobile manipulator 400 enters the machine tool 300 and picks up the processed workpiece 720;

[0053] A400, after the manipulator 400 moves to the precise positioning position, the position of the manipulator 400 is reversely adjusted according to the position of the second workpiece 720, and the processed workpiece 720 is placed in the tray 700 by moving the manipulator 400;

[0054] A500 . Repeat steps A100 to A400 until all workpieces 720 in the tray 700 are processed.

[0055] In some specific embodiments of the present invention, see Figure 8 , the first axis 420 of the manipulator 400 is arranged horizontally to realize left-right movement, which can facilitate the picking and placing of the workpiece 720 and the spatial layout. Further, the manipulator 400 is also provided with a second axis 430 that moves forward and backward and a third axis 440 that moves up and down, the third axis 440 is arranged on the first axis 420 so as to be movable up and down, 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 axis 450, the rotating axis 450 is arranged on the bottom surface of the second axis 430, and the picking arm 410 is arranged at the lower end of the rotating axis 450. Further, the manipulator 400 is also provided with a material picking bracket 460 and a material picking suction cup 470, the material picking bracket 460 is connected to the lower side of the picking arm 410, the material picking suction cup 470 is arranged on the bottom surface of the material picking bracket 460, and the workpiece 720 is picked and placed by the material picking suction cup 470. It is understandable that the material picking suction cup 470 can be connected to the air pipe, and the suction force of the material picking suction cup 470 can be adjusted by controlling the air pressure to achieve the picking and placing of workpieces 720 of different sizes. Furthermore, the material picking suction cup 470 can also adopt different methods such as magnetic suction to achieve the picking and placing of the workpiece 720. Furthermore, the picking and placing of the workpiece 720 can also be achieved by setting a clamp on the material picking bracket 460. The manipulator 400 of the embodiment of the present invention adopts the method of XYZ three-axis matching the rotating axis 450. Compared with the six-degree-of-freedom manipulator 400, it is less restricted by space, can achieve flexible layout, and reduce equipment costs. It is understandable that in the manipulator 400 of the embodiment of the present invention, the first axis 420, the second axis 430 and the third axis 440 correspond to the X axis, the Y axis and the Z axis respectively.

[0056] 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 position the workpiece 720 for automatic loading and unloading. According to the position 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 position of the workpiece 720 on the manipulator 400 fed back by the second positioning CCD device 510, the manipulator 400 adjusts the position of the workpiece 720 on the material picking bracket 460, which is conducive to the manipulator 400 accurately placing the workpiece 720 on the processing station of the machine tool 300, so that the tray 700 is placed on the silo mechanism 20 by manual loading. 0, the manipulator 400 directly positions the workpiece 720 according to the posture feedback of the two visual positioning, 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 pushing the cylinder to cooperate with the 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 first positioning CCD device 500 and the second positioning CCD device 510 can operate synchronously, which is beneficial to improving production efficiency. It should be noted that the first positioning CCD device 500 of the embodiment of the present invention adopts a coarse positioning method, and the second positioning CCD device 510 of 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 to reducing the system operation burden and further accelerating production efficiency.

[0057] See also Figures 1 to 3 The production line loading and unloading system of the technical solution of the present invention is applied to a glass processing production line, which includes a frame 100, a silo mechanism 200, a manipulator 400 and a transfer mechanism 600. A raw material area 110 and a finished product area 120 are respectively arranged on the left and right sides of the frame 100. The silo 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 can be arranged on the frame 100 to rotate forward and backward, and the loading support rod 220 and the unloading support rod 240 can be arranged on the frame 100 to move up and down. 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.

[0058] 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.

[0059] Specifically, the silo mechanism 200 includes a plurality of loading conveyor belts 210, a plurality of unloading conveyor belts 230, a plurality of loading support rods 220, and a plurality of unloading support rods 240. The loading conveyor belts 210 and the unloading conveyor belts 230 have the same structure and can be movably arranged at the lower side of the frame 100. The loading support rods 220 and the unloading support rods 240 have the same structure and can be movably arranged at the left and right sides of the frame 100. The raw material area 110 and the finished product area 120 are respectively arranged at the left and right sides of the frame 100, the loading support rods 220 and the loading conveyor belt 210 are arranged in the raw material area 110, the plurality of loading support rods 220 and the plurality of loading conveyor belts 210 are arranged at intervals, the unloading support rods 240 and the unloading conveyor belt 230 are arranged in the finished product area 120, and the plurality of unloading support rods 240 and the plurality of unloading conveyor belts 230 are arranged at intervals. The length of the loading support rod 220 is less than the length of the loading conveyor belt 210. When the loading support rod 220 is lowered to the first position, the loading support rod 220 is disposed between the two loading conveyor belts 210 and disposed on one side of the loading conveyor belt 210, and the upper plane of the loading support rod 220 may not be higher than the upper plane of the loading conveyor belt 210. The length of the unloading support rod 240 is less than the length of the loading conveyor belt 210. When the unloading support rod 240 is lowered to the second position, the unloading support rod 240 is disposed between the two unloading conveyor belts 230 and disposed on one side of the unloading conveyor belt 230, and the upper plane of the unloading support rod 240 may not be higher than the upper plane of the unloading conveyor belt 230. Among them, the sum of the length of the material tray 700 and the length of the loading support rod 220 is smaller than the length of the loading conveyor belt 210, so that placing the material tray 700 on the front side of the loading conveyor belt 210 will not affect the up and down movement of the loading support rod 220, and the sum of the length of the material tray 700 and the length of the unloading support rod 240 is smaller than the length of the unloading conveyor belt 230, so that placing the material tray 700 on the front side of the unloading conveyor belt 230 will not affect the up and down movement of the unloading support rod 240.

[0060] See also Fig.13 The control method of the production line loading and unloading system of the technical solution of the present invention is applied to the production line loading and unloading system of the embodiment of the present invention, and the control method of the production line loading and unloading system includes at least the following steps:

[0061] F100, detect whether the manual 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, determine 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;

[0062] F200, the material tray 700 on the top surface is raised to a preset first height by the loading support rod 220, and the unprocessed workpiece 720 in the material tray 700 on the top of the loading support rod 220 is taken out by the manipulator 400 by visual positioning to process the workpiece 720; after the processing is completed, the processed workpiece 720 is put back into the material tray 700 on the top of the loading support rod 220 by the manipulator 400 by visual positioning;

[0063] F300, repeat step F200 until all workpieces 720 in the material tray 700 are processed by the loading support rod 220;

[0064] F400, lower the material tray 700 on the top surface to a preset second height through the unloading support rod 240, transfer the material 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 material tray 700 on the top surface of the unloading support rod 240;

[0065] F500, repeating steps F200 to F400 until all the trays 700 currently on the loading support rod 220 are transferred to the unloading support rod 240;

[0066] F600, lower the unloading support rod 240 to the second position, and rotate the unloading conveyor belt 230 to move the material tray 700 to the side of the unloading conveyor belt 230 away from the unloading support rod 240.

[0067] Furthermore, the transfer mechanism 600 is provided with a transfer suction cup 640 for sucking up the material tray 700, and the control method of sucking up the material tray 700 by the transfer suction cup 640 of the transfer mechanism 600 includes at least the following steps:

[0068] F410, moving the transfer mechanism 600 so that the transfer suction cup 640 reaches above the top material tray 700 of the loading support rod 220;

[0069] F420, raise the loading support rod 220 to allow the transfer suction cup 640 to suck up the material tray 700.

[0070] Specifically, the operator carries the material tray 700 and places it in the manual loading station 130 of the loading conveyor belt 210, that is, places it on the side of the loading conveyor belt 210 away from the loading support rod 220. When the manual placement of the material 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 belt 210, that is, the loading support rod 220 reaches the first position, and the loading transmission is started to move backward to drive the material tray 700 to move to the top of the loading support rod 220, so that the operator can continue to place the next round of material trays 700 on the manual loading station 130 of the loading conveyor belt 210, and then move the loading support rod 220 upward to drive the top material tray 700 to reach the first height, that is, the top material tray 700 reaches the raw material loading station 150, and wait for the robot 400 to take out the unprocessed workpiece 720 from 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 moves up to make the finished product unloading station 180 vacant, that is, the unloading support rod 240 moves down to the second height, and the transfer mechanism 600 transfers the processed top material tray 700 from the loading support rod 220 to the unloading support rod 240. After all the trays 700 on this round of loading support rods 220 are transferred from the raw material area 110 to the finished product area 120, the unloading support rods 240 move down until the upper plane of the unloading support rods 240 is not higher than the upper plane of the unloading conveyor belt 230, that is, the unloading support rods 240 reach the second position, the upper plane of the unloading conveyor belt 230 abuts against the lower plane of the trays 700, and the unloading conveyor belt 230 moves forward to drive the trays 700 to move to the side away from the unloading support rods 240, that is, the trays 700 reach the manual unloading station 160, so that the unloading support rods 240 can rise again to receive the next round of trays 700, and the operator can move the trays 700 on the manual unloading station 160 of the unloading conveyor belt 230. The glass processing production line of the embodiment of the present invention does not need to stop and wait during manual unloading and loading, and can simultaneously perform machine tool 300 processing and machine tool 300 loading and unloading, making the production process more compact and improving the processing speed of the production line.

[0071] Understandably, see Figure 3, the multiple loading support rods 220 and the multiple unloading support rods 240 have the same structure, and their ends are connected by connecting rods, which are arranged on the lifting guide rails, and the loading support rods 220 and the unloading support rods 240 are moved up and down by lifting drive. Further, the connecting rods and the lifting guide rails are arranged on the side of the frame 100 away from the manual loading station 130 and the manual unloading station 160. It can be understood that the multiple loading conveyor belts 210 and the multiple unloading conveyor belts 230 have the same structure, and their ends are connected by linkage rods, and the linkage rods are driven by the conveyor belts to achieve forward and backward movement.

[0072] In some specific embodiments of the present invention, see Figure 3 , Figure 5 and Fig. 9 , machine tools 300 are arranged on both sides of the frame 100, an upper protective plate is arranged on the top surface of the frame 100, and a rear protective plate is arranged on the rear side of the frame 100. A front protective plate and an operation panel are arranged in the middle of the front side of the frame 100 (at the transfer mechanism 600), and the upper part of the front protective plate is open, which is conducive to ensuring sufficient light when the CCD is positioned. At the same time, the lower part of the front protective plate is open, that is, the manual loading station 130 and the manual unloading station 160 on the front side of the frame 100 are open, so as to facilitate manual loading and unloading. Further, two safety gratings 190 are arranged on the frame 100, and the two safety gratings 190 are respectively arranged on the left and right sides of the frame 100, and are respectively arranged on the side of the manual loading station 130 and the side of the manual unloading station 160, so as to help avoid the problem of foreign objects entering the movement area and causing danger when the equipment moves.

[0073] See also Figure 2 and Figure 3 The transfer mechanism 600 of the embodiment of the present invention is arranged in the middle of the frame 100 and above the silo mechanism 200. The transfer mechanism 600 includes a transfer rail 610, a connecting bracket 620 and a transfer bracket 630 for taking and placing the material tray 700. One side of the connecting bracket 620 is slidably connected to the transfer rail 610, and the other side of the connecting bracket 620 is fixedly connected to the transfer bracket 630. Figure 3 and Figure 4 The transfer rail 610 is arranged in the raw material area 110 and the finished product area 120, so that the transfer bracket 630 can drive the material tray 700 to switch between the raw material area 110 and the finished product area 120. The transfer rail 610 is arranged on the side of the frame 100 away from the loading support rod 220 and the unloading support rod 240. One side of the transfer rail 610 is arranged above the manual loading station 130 of the loading conveyor belt 210, and the other side of the transfer rail 610 is arranged above the manual unloading station 160 of the unloading conveyor belt 230. Figure 7When the transfer bracket 630 is in the raw material area 110, that is, the connecting bracket 620 is above the manual loading station 130, the transfer bracket 630 is arranged above the loading support rod 220, and the material tray 700 on the loading support rod 220 can be taken out and placed; when the transfer bracket 630 is in the finished product area 120, that is, the connecting bracket 620 is above the manual unloading station 160, the transfer bracket 630 is arranged above the unloading support rod 240, and the material tray 700 on the unloading support rod 240 can be taken out and placed.

[0074] Specifically, when the loading support rod 220 drives the A material tray 700 to reach the raw material loading station 150, so that the upper plane of the A material tray 700 reaches the set first height, the robot 400 takes out the workpieces 720 to be processed in the A material tray 700 one by one and puts them into the machine tool 300 for processing. After the workpiece 720 is processed, the robot 400 takes it out and puts it back on the A material tray 700. After all the workpieces 720 in the A material tray 700 are 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 A material tray 700. At the same time, the unloading support rod 240 drives the B material tray 700 to move downward to the set second height, and the transfer bracket 630 transfers the A material tray 700 from the raw material loading station 150 to the finished product unloading station 180, and stacks it on the B material tray 700, thereby completing the transfer of the material tray 700 from the raw material area 110 to the finished product area 120. By means of the loading support rod 220 and the unloading support rod 240 with lifting function, the material tray 700 on the top surface reaches the preset height (raw material loading station 150 and finished product unloading station 180), meeting the needs of the transfer mechanism 600 to take and place the material tray 700 at a fixed height, and by means of the left and right movement function of the transfer mechanism 600, the material tray 700 can be transferred from the raw material area 110 to the finished product area 120 in mid-air without interfering with manual loading and unloading, thereby realizing the synchronization of manual loading and unloading with the machine tool 300, and at the same time realizing that multiple material trays 700 on the loading support rod 220 and the unloading support rod 240 are stacked in the vertical direction, thereby reducing the frequency of manual loading and unloading.

[0075] The silo mechanism 200 of the embodiment of the present invention cooperates with the transfer mechanism 600. By dividing the front and rear ends of the loading conveyor belt 210 into a manual loading station 130 and a raw material storage area 140, and dividing the front and rear ends of the unloading conveyor belt 230 into a manual unloading station 160 and a finished product storage station, manual loading and unloading and automatic loading and unloading of the machine tool 300 are set separately, so that manual loading and unloading without stopping the machine can be realized, and the raw material storage area 140 is set above the raw material storage area 140, and the finished product storage area 170 is set above the finished product storage station. The transfer mechanism 600 is set above the manual loading station 130 and the manual unloading station 160, so as to make full use of the vertical space and significantly reduce the equipment footprint. Through the loading conveyor belt 210 and the unloading conveyor belt 230 that can move forward and backward, the loading support rod 220 and the unloading support rod 240 that can move up and down, and the transfer bracket 630 that can move left and right, the position switching of the material tray 700 in multiple areas is realized, making the spatial layout more compact.

[0076] In some specific embodiments of the present invention, see Figure 2 and Figure 7 The transfer mechanism 600 also includes a transfer suction cup 640 for sucking up the material tray 700, and the transfer suction cup 640 is arranged on the lower side of the transfer bracket 630. When the transfer bracket 630 reaches above the material tray 700, the loading support rod 220 rises, so that the transfer suction cup 640 contacts and sucks the material tray 700 tightly, and the material tray 700 moves with the transfer bracket 630. The loading support rod 220 and the unloading support rod 240 with lifting functions cooperate with the material suction cup 470 to realize the transfer mechanism 600 sucking the material tray 700, which is conducive to simplifying the structure. Further, the transfer suction cup 640 can be connected to the air pipe, and the suction force of the transfer suction cup 640 is adjusted by controlling the air pressure to realize the transfer of material trays 700 of different sizes. Further, the transfer suction cup 640 can also use different methods such as magnetic suction to realize the placement of the material tray 700. Further, the placement of the material tray 700 can also be realized by setting a clamp on the transfer bracket 630.

[0077] 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, see Figure 2 The transfer bracket 630 is arranged below the material picking bracket 460 and above the loading support rod 220 or the unloading support rod 240, and the transfer bracket 630 is arranged below the material picking suction cup 470, so as to avoid collision between the transfer mechanism 600 and the manipulator 400, and to realize synchronous operation of the transfer mechanism 600 and the manipulator 400. Further, see Figure 1 and Figure 2The first positioning CCD device 500 is arranged on the top surface of the frame 100 and above the first axis 420 of the manipulator 400, so as to capture the image of the upper surface of the material tray 700 from above to locate the position of the workpiece 720 in the material 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 to capture the image of the manipulator 400 and the workpiece 720 from below to obtain the position of the workpiece 720 on the picking 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 arrangement of space, improve space utilization, and help avoid collisions between multiple components, realize simultaneous operation of multiple components and multiple steps, and improve processing efficiency.

[0078] A specific embodiment is used here to illustrate. In the embodiment of the present invention, a plurality of material troughs 710 for placing workpieces 720 are provided on the material tray 700 for placing the workpieces 720. After the unprocessed workpieces 720 are loaded into each material trough 710, the plurality of material trays 700 are manually stacked on the manual loading station 130, and then the material trays 700 are transferred to the raw material storage area 140 by the loading conveyor belt 210 rotating backwards. After that, the material trays 700 are transferred to the raw material loading station 150 by moving the loading support rod 220 upwards, so that the material tray 700 on the top surface is at a set first height, the manipulator 400 moves along the first axis 420 into the raw material area 110, and the material picking bracket 460 reaches above the material tray 700 of the loading support rod 220, and the posture of the workpiece 720 to be processed in the material trough 710 of the material tray 700 is identified according to the first positioning CCD device 500, and the manipulator 400 moves along the first axis 420, the second axis 430, the third axis 440 and The rotating shaft 450 moves so that the material picking 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 precise positioning position, and the second positioning CCD device 510 identifies the posture of the workpiece 720 on the manipulator 400 to control the movement of the manipulator 400 so that the posture of the workpiece 720 meets the processing posture requirement 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 ports and is placed at the preset processing position of the machine tool 300. After the workpiece 720 is processed by 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 posture of the workpiece 720 on the material picking suction cup 470 is reversely adjusted to place the processed workpiece 720 in the empty material slot 710 of the material tray 700 on the top of the loading support rod 220. The robot 400 again takes out the workpiece 720 in another trough 710 of the top material tray 700, puts it into the machine tool 300 for processing, and then puts it back into the empty trough 710, until the workpiece 720 in all the troughs 710 in the top material tray 700 has been processed. After the unloading support rod 240 moves up to the set second height, the transfer mechanism 600 moves to the top of the tray 700 of the loading support rod 220, and the top material tray 700 is sucked up by the lifting and lowering of the loading support rod 220 and the material picking 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, and the transfer mechanism 600 places the tray 700 on the tray 700 of the unloading support rod 240 to achieve stacking of the trays 700.When all the material trays 700 of this round of loading support rods 220 are moved from the raw material area 110 to the finished product area 120, the unloading support rods 240 drive the material trays 700 to move downward, so that the material trays 700 abut against the unloading conveyor belt 230. The unloading conveyor belt 230 rotates to move the material trays 700 forward to the manual unloading station 160. The operator takes the material tray 700 with the processed workpiece 720 from the manual unloading station 160, and at the same time the unloading support rods 240 move upward for the next round of processing of the material trays 700.

[0079] 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 picking components, each set of material picking components includes multiple material picking suction cups 470. In some specific embodiments, the manipulator 400 is provided with two sets of material picking components, each set of material picking components is provided with multiple material picking suction cups 470, one set of material picking components is used to suck up the unprocessed workpiece 720 in the material tray 700, and the other set of material picking components is used to suck up the processed workpiece 720 in the machine tool 300. A specific embodiment is used here to illustrate. It is assumed that the manipulator 400 is provided with a first material picking component and a second material picking component. The first group of material picking components sucks the workpiece 720 to be processed from the raw material loading station 150 and enters the machine tool 300. After the manipulator 400 moves to allow the second group of material picking components to suck up the processed workpiece 720 on the machine tool 300, the manipulator 400 moves to place the workpiece 720 on the first material picking component on the processing station of the machine tool 300. Then, the manipulator 400 moves out of the machine tool 300, and places the processed workpiece 720 on the second material picking component on the material tray 700 of the raw material loading station 150. In this way, the manipulator 400 can directly replace the raw materials and finished products inside the machine tool 300, thereby reducing the number of round trips between the processing station of the machine tool 300 and the raw material loading station 150, which is conducive to improving work efficiency.

[0080] See also Figure 8The material picking 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 long rods 480 parallel to each other are arranged in the outer frame of the material picking 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, and a plurality of material picking 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 picking 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 picking bracket 460 of the embodiment of the present invention is provided with four long rods 480, and each long rod 480 is provided with four material picking suction cups 470, thereby forming four rows of material picking suction cups 470, and each row of material picking suction cups 470 is arranged along the direction of the first axis 420. Furthermore, the two rows of material picking suction cups 470 on the front side of the manipulator 400 form a group of material picking components, and the two rows of material picking suction cups 470 on the rear side of the manipulator 400 form another group of material picking components. Further, the material picking components on the front side are used to suck up the unprocessed workpiece 720, and the material picking components on the rear side are used to suck up the processed workpiece 720.

[0081] Furthermore, the control method for loading and unloading materials of the manipulator 400 of the embodiment of the present invention is applied to a manipulator 400 loading and unloading system with supporting visual positioning, wherein the manipulator 400 is provided with two sets of material taking components, and the control method for loading and unloading materials of the manipulator 400 at least comprises the following steps:

[0082] B100, after receiving the preparation processing instruction sent by the machine tool 300, the unprocessed workpiece 720 in the material tray 700 is identified by the first positioning CCD device 500 to obtain the posture of the first workpiece 720; after adjusting the posture of the pickup arm 410 of the manipulator 400 according to the posture of the first workpiece 720, the unprocessed workpiece 720 in the material tray 700 is sucked up by one group of the picking components and moved to the precise positioning position;

[0083] B200, identifying the unprocessed workpiece 720 on the manipulator 400 through the second positioning CCD device 510 to obtain the posture of the second workpiece 720; adjusting the posture of the pickup arm 410 of the manipulator 400 according to the posture of the second workpiece 720 to adjust the posture of the workpiece 720 on the manipulator 400;

[0084] B300, after receiving the instruction of the last round of processing completion sent by the machine tool 300, the mobile manipulator 400 enters the machine tool 300, and after sucking up the processed workpiece 720 on the machine tool 300 through another set of material picking components, the unprocessed workpiece 720 on the material picking component is placed on the machine tool 300 through the mobile manipulator 400, and after the manipulator 400 is moved out of the machine tool 300, the workpiece 720 is processed by the machine tool 300;

[0085] B400, after the manipulator 400 moves to the precise positioning position, the position of the manipulator 400 is reversely adjusted according to the position of the second workpiece 720, and the processed workpiece 720 is placed in the tray 700 by moving the manipulator 400;

[0086] B500 . Repeat steps B100 to B400 until all workpieces 720 in the tray 700 are processed.

[0087] In some specific embodiments of the present invention, the manipulator 400 of the embodiment of the present invention is provided with two groups of material picking components. Correspondingly, the glass processing production line of the embodiment of the present invention is provided with two machine tools 300, and the two machine tools 300 are symmetrically arranged at the left and right ends of the first axis 420 of the manipulator 400. Specifically, the two rows of material picking suction cups 470 on the front side of the manipulator 400 form one group of material picking components, and the two rows of material picking suction cups 470 on the back side of the manipulator 400 form another group of material picking components, wherein according to the posture of the workpiece 720 in the material tray 700 fed back by the first positioning CCD device 500, after two unprocessed workpieces 720 are taken out at the same time by a group of material picking components, according to the feedback of the second positioning CCD device 510, the manipulator 400 simultaneously adjusts the posture of the unprocessed workpieces 720 on the two suction cups, and the manipulator 400 enters one side of the machine tool 300 and sucks up the processed workpiece 720 through the other group of material picking components, and then places one of the unprocessed workpieces 720 on the processing of the current machine tool 300. The robot 400 moves out of the current machine tool 300 and moves along the first axis 420 to reach the machine tool 300 on the other side, and picks up the processed workpiece 720 on the machine tool 300 on the other side through the empty suction cups on another set of material picking components, and 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 material tray 700 at the raw material processing location according to the aforementioned visual positioning results, so that the robot 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, which is conducive to improving work efficiency.

[0088] It can be understood that the glass production line of the embodiment of the present invention can be provided with multiple machine tools 300, and the first axis 420 of the manipulator 400 is arranged through the multiple machine tools 300. Furthermore, the number of rows of the material picking suction cups 470 of each material picking assembly is the same as the number of machine tools 300, so that according to the feedback result of the first positioning CCD device 500 and the feedback result of the second positioning CCD device 510, the manipulator 400 can be used to process and load and unload 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.

[0089] Further, the control method of loading and unloading the manipulator 400 of the embodiment of the present invention is applied to the loading and unloading system of the manipulator 400 with supporting visual positioning, see Fig. 9 The machine tool 300 is provided with two, 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, and the control method of loading and unloading the manipulator 400 includes at least the following steps:

[0090] C100, after receiving the preparation processing instruction sent by any machine tool 300, the unprocessed workpiece 720 in the material tray 700 is identified by the first positioning CCD device 500 to obtain the posture of the first workpiece 720; after adjusting the posture of the picking arm 410 of the manipulator 400 according to the posture of the first workpiece 720, two unprocessed workpieces 720 in the material tray 700 are sucked up by one set of material picking components and moved to the precise positioning position;

[0091] C200, identifying the unprocessed workpiece 720 on the manipulator 400 through the second positioning CCD device 510 to obtain the posture of the second workpiece 720; adjusting the posture of the pickup arm 410 of the manipulator 400 according to the posture of the second workpiece 720 to adjust the posture of the workpiece 720 on the manipulator 400;

[0092] C300, after receiving the instruction of the last round of processing completion sent by the above-mentioned machine tool 300, the mobile manipulator 400 enters the above-mentioned machine tool 300, and after sucking up the processed workpiece 720 on the above-mentioned machine tool 300 through another set of material-picking components, the unprocessed workpiece 720 on the material-picking components is placed on the above-mentioned machine tool 300 by the mobile manipulator 400, and after the manipulator 400 is moved out of the above-mentioned machine tool 300, the workpiece 720 is processed by the above-mentioned machine tool 300;

[0093] C400, after receiving the last round of processing completion instruction sent by another machine tool 300, the mobile manipulator 400 enters into the other machine tool 300, and after sucking up the processed workpiece 720 on the other machine tool 300 through another set of material picking components, the mobile manipulator 400 is used to place the unprocessed workpiece 720 on the material picking component on the other machine tool 300, and after moving the manipulator 400 out of the other machine tool 300, the workpiece 720 is processed by the other machine tool 300;

[0094] C500, after the manipulator 400 moves to the precise positioning position, the position of the manipulator 400 is reversely adjusted according to the position of the second workpiece 720, and the two processed workpieces 720 are placed in the tray 700 by moving the manipulator 400;

[0095] C600 , repeat steps C100 to C500 until all workpieces 720 in the tray 700 are processed.

[0096] Here, a specific embodiment is used for illustration, assuming that the manipulator 400 is provided with a first material picking component and a second material picking component, the material picking component at the front side is used as the first material picking component, and the first material picking component is used to suck up the unprocessed workpiece 720, and the material picking component at the rear side is used as the first material picking component, and the first material picking component is used to suck up the processed workpiece 720. When the processing starts, after the first positioning CCD device 500 feeds back the position of the workpiece 720 in the tray 700, the manipulator 400 moves so that the first material picking component reaches above the two adjacent workpieces 720 at the rear side of the tray 700, and at this time, the second material picking component is offset from the tray 700. After the robot 400 moves down, it picks up the two workpieces 720 on the rear side through the first material picking assembly, and then adjusts the posture of the workpiece 720 on the robot 400 according to the feedback of the second positioning CCD device 510. The robot 400 moves along the first axis 420 to the first machine tool 300 on the left side, and after the processed workpiece 720 is sucked up by the rear row of the second material picking suction cup 470 of the second material picking assembly, the unprocessed workpiece 720 on the rear row of the first material picking suction cup 470 is placed on the processing station of the first machine tool 300, and then the robot 400 moves out of the first machine tool 300 on the left side. And enter the second machine tool 300 on the right, after sucking up the processed workpiece 720 of the second machine tool 300 through the front row of material picking suction cups 470 of the second material picking assembly, the unprocessed workpiece 720 of the front row of material picking suction cups 470 of the first material picking assembly is placed on the processing station of the second machine tool 300 on the right, and the manipulator 400 moves the two processed workpieces 720 out of the second machine tool 300 on the right and reaches the precise 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 material picking assembly. When the robot 400 reaches above the material tray 700 of the raw material loading station 150, the two workpieces 720 on the second material picking component are respectively above the two material troughs 710 on the rear side of the material tray 700, and at the same time, the two rows of material picking suction cups 470 of the first material picking component are respectively above the two material troughs 710 on the front side of the material tray 700, and the robot 400 drives the material picking bracket 460 to move downward, so that the processed workpieces 720 of the second material picking component are placed in the rear side material trough 710, and at the same time, the material picking suction cups 470 of the first material picking component contact with the unprocessed workpieces 720 in the front side material trough 710, so that by respectively controlling the suction force of the suction cups on the second material picking component and the first material picking component, when the robot 400 drives the material picking bracket 460 to rise, the material picking suction cups 470 of the second material picking component are separated from the workpieces 720, and at the same time, the material picking suction cups 470 of the first material picking component suck up the other two 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 material picking suction cups 470 on the same long rod 480 matches the interval between two adjacent material troughs 710, so that one group of material picking components can place the workpiece 720 while another group of material picking components can take out the workpiece 720, which is beneficial to improving processing efficiency.

[0097] See also Fig.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 on the workpiece 720 in the tray 700 to the manipulator 400 control console, so that the manipulator 400 can adjust the posture and pick up the unprocessed workpiece 720 in the tray 700. Then, the visual fine positioning system feeds back the visual recognition result of the second positioning CCD device 510 on the workpiece 720 on the manipulator 400 to the manipulator 400 control console, so that the manipulator 400 can adjust the posture of the workpiece 720 on the suction cup. Then, according to the processing completion instruction of the workpiece 720 sent by the CNC processing system, the manipulator 400 moves to replace the workpiece 720 on the processing station of the machine tool 300. Finally, the manipulator 400 control console performs a reverse adjustment of the posture of the workpiece 720 according to the recognition result of the visual fine positioning system, so as to put the processed workpiece 720 into the material trough 710 of the tray 700. The method for positioning the workpiece 720 of the glass processing production line of the embodiment of the present invention adopts a method of positioning the workpiece 720 by using a robot 400 in cooperation with visual recognition. The calibration template can be changed by the software system to adapt to the positioning requirements of workpieces 720 of different shapes. Compared with the traditional method of replacing the matching fixture of the workpiece 720, it is beneficial to improve processing efficiency and reduce production costs, and avoid the problem of scratching the workpiece 720 caused by cylinder push.

[0098] See also Fig.15 The method for positioning a workpiece 720 of an automated production line according to the technical solution of the present invention is applied to a glass processing production line according to an 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 of the workpiece 720 in the tray 700, and a second positioning CCD device 510 for identifying the position 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 includes at least the following steps:

[0099] D100, identifying and obtaining the position of the first workpiece 720 in the tray 700 through the first positioning CCD device 500, and calibrating according to the pre-introduced tray 700 workpiece 720 module to generate a first deviation value;

[0100] D200, calculating and obtaining a first posture compensation according to the distance between the rotation center of the manipulator 400 and the center of the picking arm 410, adjusting the posture of the manipulator 400 according to the first posture compensation, and then picking up the unprocessed workpiece 720 in the tray 700 by the manipulator 400;

[0101] D300, when it is detected that the manipulator 400 reaches the precise positioning position, the second positioning CCD device 510 is used to identify and obtain the posture of the second workpiece 720 on the manipulator 400, and calibrates according to the pre-imported arm end workpiece 720 template to generate a second deviation value, and then obtains the second posture compensation through calculation;

[0102] D400 . After adjusting the posture of the workpiece 720 on the robot 400 according to the second posture compensation, the robot 400 places the adjusted workpiece 720 on the processing station of the machine tool 300 .

[0103] Further,

[0104] D500, after receiving the instruction from the machine tool 300 to complete the current processing, the mobile robot 400 enters the machine tool 300 and picks up the processed workpiece 720;

[0105] D600, after the manipulator 400 moves to the precise positioning position, the position of the manipulator 400 is reversely adjusted according to the position of the second workpiece 720, and the processed workpiece 720 is placed in the tray 700 by moving the manipulator 400;

[0106] D700 , repeat steps D100 to D600 until all workpieces 720 in the tray 700 are processed.

[0107] 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 position and posture of the workpiece 720 on the tray 700, so as to enable the manipulator 400 to take out the workpiece 720 in the material trough 710 of the tray 700 or put the workpiece 720 into the material trough 710 of the tray 700. Specifically, the coarse vision positioning console determines the template a of the workpiece 720 of the tray 700 by importing standard drawings, such as loading CAD drawings, and each subsequent tray 700 recognition result is calibrated according to the template a of the workpiece 720 of the tray 700. During the visual recognition process of the first positioning CCD device 500, the coarse vision positioning console obtains the first deviation value Δx of the X-axis (first axis 420) under the coordinate system C based on the above calibration results. a , Y axis (second axis 430) first deviation value Δy 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 robot 400 and the center of the pickup arm 410 x and l y , convert the first posture compensation comp1 picked up x 、comp1 y and comp1 r . Comp1 is obtained by calculation x、comp1 y and comp1 r Afterwards, the robot 400 control console adjusts the posture of the robot 400 and picks up the workpiece 720 in the tray 700, thereby establishing a relative relationship between the visual coarse positioning system and the picking up of the robot 400.

[0108] The posture compensation 1 of the first positioning CCD device 500 is calculated by the following algorithm:

[0109] comp1 x =cos(atan(l y / l x )+Δ ra )-l x

[0110] comp1 y =sin(atan(l y / l x )+Δ ra )-l y

[0111] comp1 r =Δ ra

[0112] Where, comp1 x 、comp1 y and comp1 r They 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, namely comp1 x 、comp1 y and comp1 r They 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 respectively. a , Δy a and Δr a They 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 They 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. x and l y They represent the X-axis distance and Y-axis distance between the rotation center of the manipulator 400 and the center of the pickup arm 410, that is, l x and l y They respectively represent the first axis 420 distance and the second axis 430 distance between the rotation center of the robot 400 and the center of the pickup arm 410 .

[0113] Furthermore, in the material tray 700 of the embodiment of the present invention, the intervals between two adjacent material troughs 710 are equal and parallel to each other, so the offset angles of all workpieces 720 in the same material tray 700 are the same. After any workpiece 720 in the material tray 700 is identified by the first positioning CCD device 500 and the posture of the manipulator 400 is adjusted according to the generated posture compensation 1, the compensation values ​​for other workpieces 720 in the same material tray 700 can be calculated based on the interval setting of the material troughs 710, so that the compensation values ​​of multiple workpieces 720 in the same material tray 700 can be obtained through one CCD visual recognition, which is beneficial to improving processing efficiency. Furthermore, in the manipulator 400 of the embodiment of the present invention, the interval between two adjacent material picking suction cups 470 on the same long rod 480 is set according to the spacing between two adjacent material troughs 710, so that when one row of material picking suction cups 470 contacts the preset position of the workpiece 720 in one of the material troughs 710, another row of material picking suction cups 470 just contacts the preset position of the workpiece 720 in another adjacent material trough 710, so that the manipulator 400 can pick up multiple workpieces 720 at the same time according to one recognition result, which is beneficial to improving production efficiency.

[0114] 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 posture of the workpiece 720 on the manipulator 400 so that the posture of the workpiece 720 on the manipulator 400 meets the posture requirement of the workpiece 720 of the processing station of the machine tool 300, replacing the traditional method of positioning the workpiece 720 in cooperation with the matching fixture and the pushing cylinder. Specifically, the precision visual positioning console picks up the standard parts through the picking arm 410 to define the characteristic points of the standard parts, thereby determining the template b of the workpiece 720 at the end of the arm, and each subsequent workpiece 720 recognition result is calibrated according to the template b of the workpiece 720 at the end of the arm. During the visual recognition process of the second positioning CCD device 510, after the posture of the manipulator 400 is adjusted, the precision visual positioning console recognizes according to the template b of the workpiece 720 at the end of the arm, and obtains a more accurate X-axis deviation value Δx under the coordinate system C. b , Y-axis deviation value Δy b Deviation value Δr from the rotation axis 450R b , and calculate the second attitude compensation comp2 x 、comp2 y and comp2 r The manipulator 400 console adjusts the posture of the workpiece 720 through the manipulator 400 and places it on the processing station of the machine tool 300.

[0115] The posture compensation 2 of the second positioning CCD device 510 is calculated by the following algorithm:

[0116]

[0117] Where comp2 x 、comp2 y and comp2 r They represent the second posture compensation of the X-axis, the second posture compensation of the Y-axis and the second posture compensation of the rotation axis 450, namely comp2 x 、comp2 y and comp2 r They represent the second posture compensation of the first axis 420, the second posture compensation of the second axis 430 and the second posture compensation of the rotation axis 450 respectively. a , Δy a and Δr a They 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 They respectively represent the second deviation value of the first axis 420 in the coordinate system C, the second deviation value of the first axis 420 and the second deviation value of the rotation axis 450.

[0118] Furthermore, the precision visual 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 performs visual recognition again, and calculates the second posture compensation of the X-axis, the second posture compensation of the Y-axis, and the second posture compensation of the rotation axis 450, until the compensation value is within the set range, and then establishes the relative relationship between the precision visual positioning system and the manipulator 400. After the manipulator 400 adjusts the position of the workpiece 720 on the suction cup, it feeds back to the CNC processing system, and after the machine tool 300 completes the processing of the workpiece 720, the manipulator 400 moves into the machine tool 300 to replace the workpiece 720.

[0119] Furthermore, in order to reduce the error between the visual positioning system and the CNC machining system, multiple precise positioning recognitions are introduced, and the second posture compensation comp2 x 、comp2 y and comp2 r The robot 400 posture is adjusted multiple times to make the compensation value closer to zero, thereby improving the processing accuracy. In the positioning method of the workpiece 720 of the automated production line of the embodiment of the present invention, the second positioning CCD device 510 is used to identify and obtain the second posture compensation, which at least includes the following steps:

[0120] D310, judging whether the current second compensation value exceeds the tolerance according to the preset compensation threshold;

[0121] D320, if yes, re-identify the posture of the second workpiece 720 on the manipulator 400 through the second positioning CCD device 510, recalibrate according to the pre-imported arm end workpiece 720 template to generate a new second deviation value, and calculate a new second posture compensation, and replace the current second compensation value with the new second posture compensation;

[0122] D330: If not, output the final second posture compensation.

[0123] Furthermore, in the material tray 700 and the robot 400 of the embodiment of the present invention, the intervals between two adjacent material troughs 710 are equal and parallel to each other, so that the offset angles of all workpieces 720 in the same material tray 700 are the same, and the intervals between two adjacent material picking suction cups 470 on the same long rod 480 are set according to the spacing between two adjacent material troughs 710, so that when one row of material picking suction cups 470 contacts the preset position of the workpiece 720 in one of the material troughs 710, the other row of material picking suction cups 470 just contacts the adjacent one. The robot 400 contacts the preset position of the workpiece 720 in another material trough 710. The robot 400 can pick up multiple workpieces 720 in the same material tray 700 at the same time, and the offset values ​​of different workpieces 720 picked up by the robot 400 at the same time are the same. Therefore, after the second positioning CCD device 510 recognizes and adjusts the posture of the robot 400 once, the posture compensation of the multiple workpieces 720 on the robot 400 can be achieved. When placing the workpiece 720 on the machine tool 300, it is only necessary to appropriately adjust the posture of the workpiece 720 according to the distance between the two adjacent long rods 480, which is beneficial to improving the processing efficiency.

[0124] It is understandable that, for situations where higher processing accuracy is required, using the robot 400 to pick up only one workpiece 720 at a time and identifying the workpiece 720 each time 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.

[0125] 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, and the two machine tools 300 are symmetrically arranged at the left and right ends of the first axis 420 of the manipulator 400. Among them, the two machine tools 300 are used to process the workpiece 720 in the same process, or the two machine tools 300 are used to process the workpiece 720 in different processes, so as to realize the simultaneous processing of the two workpieces 720, which is conducive to improving production efficiency. Further, when the two machine tools 300 are used to process the same process, the two machine tools 300 can be set to process the workpiece 720 synchronously, or can be set to process the workpiece 720 asynchronously.

[0126] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of protection of the present disclosure. All should belong to the protection scope of the present invention. Within the protection scope of the present invention, its technical scheme and / or implementation method can have various modifications and changes.

Claims

1. A glass processing production line, characterized in that: include: A frame (100), wherein a raw material area (110) and a finished product area (120) are respectively arranged on the left and right sides of the frame (100); 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 manual loading station (130) is used to manually stack material trays (700); A machine tool (300) for processing a workpiece (720), wherein the machine tool (300) is arranged on a side of the frame (100); A silo mechanism (200) for storing a material tray (700), the silo mechanism (200) being arranged on the frame (100), the silo mechanism (200) being provided with a loading conveyor belt (210) for switching the position of the material 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 material tray (700) between the raw material storage area (140) and the raw material loading station (150), a unloading conveyor belt (230) for switching the position of the material 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 material tray (700) between the finished product storage area (170) and the finished product unloading station (180); A manipulator (400) is used to switch the position of a workpiece (720) between the raw material loading station (150) and the machine tool (300), wherein 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 manipulator (400) is provided with a first axis (420), a second axis (430), a third axis (440) and a rotating axis (450), wherein the first axis (420) 0) is horizontally arranged and movable 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) so as to be movable up and down, the second shaft (430) is arranged on the lower side of the third shaft (440) so as to be movable forward and backward, the rotating shaft (450) is rotatably arranged on the lower side of the second shaft (430), and the picking arm (410) is connected to the lower side of the rotating shaft (450); A first positioning CCD device (500) is used to identify and obtain the position and posture of a first workpiece (720) at the raw material loading station (150); A second positioning CCD device (510) is used to identify and obtain the position and posture of a second workpiece (720) on the robot (400); A transfer mechanism (600) is used to transfer a material tray (700) from the raw material loading station (150) to the finished product unloading station (180); the transfer mechanism (600) is arranged on the frame (100); The robot (400) picks up the workpiece (720) in the tray (700) of the raw material loading station (150) according to the posture of the first workpiece (720), and the robot (400) adjusts the posture of the picking arm (410) carrying the workpiece (720) according to the posture of the second workpiece (720); The first posture compensation of the first workpiece (720) is obtained by the following calculation: Where 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); Δr a represents the first deviation value of the rotation axis (450) in the coordinate system C; l x and l y Respectively represent the first axis (420) distance and the second axis (430) distance between the rotation center of the manipulator (400) and the center of the pickup arm (410); The second posture compensation of the second workpiece (720) is obtained by the following calculation: Where comp2 x 、comp2 y and comp2 r They respectively represent the second posture compensation of the first axis (420), the second posture compensation of the second axis (430) and the second posture compensation of the rotation axis (450); the deviation value of the first axis (420) in the coordinate system C is Δx b , the deviation value of the second axis (430) is Δy b The second deviation value from the rotation axis (450) is Δr b .

2. The glass processing production line according to claim 1, characterized in that: The manual loading station (130) is arranged at the front side of the raw material storage area (140), and the raw material loading station (150) is arranged at the upper side of the raw material storage area (140); the manual unloading station (160) is arranged at the front side of the finished product storage area (170), and the finished product unloading station (180) is arranged at the upper side of the finished product storage area (170).

3. The glass processing production line according to claim 2, 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).

4. The glass processing production line according to claim 3, characterized in that: The first positioning CCD device (500) is arranged on the frame (100) and above the robot (400), and the second positioning CCD device (510) is arranged on the frame (100) and below the robot (400) and between the raw material area (110) and the finished product area (120).

5. The glass processing production line according to claim 1, characterized in that: The transfer mechanism (600) further includes a transfer suction cup (640) for sucking up the material tray (700), and the transfer suction cup (640) is arranged on the lower side of the transfer support (630).

6. The glass processing production line according to claim 5, characterized in that: The number of the machine tools (300) is two, and the two ends of the first shaft (420) are respectively disposed in the two machine tools (300).

7. The glass processing production line according to claim 5, characterized in that: The transfer mechanism (600) comprises a transfer rail (610), a connecting bracket (620) and a transfer bracket (630) for taking and placing a material tray (700); one side of the connecting bracket (620) is slidably connected to the transfer rail (610) and the other side of the connecting bracket (620) is fixedly connected to the transfer bracket (630); and the transfer rail (610) is arranged in the raw material area (110) and the finished product area (120).

8. A control method for a glass processing production line, applied to the glass processing production line according to any one of claims 1 to 7, the method comprising the following steps: E100, detecting whether the manual loading station (130) has completed manual stacking of the material trays (700); if so, transferring the material trays (700) from the manual loading station (130) to the raw material storage area (140) via the loading conveyor belt (210), and then transferring the material trays (700) at the top surface of the raw material storage area (140) to the raw material loading station (150) via the loading support rod (220); E200, after receiving a processing preparation instruction sent by the machine tool (300), the first positioning CCD device (500) is used to identify and obtain the position of the first workpiece (720) on the raw material loading station (150), and after adjusting the position of the pickup arm (410), the pickup arm (410) picks up the unprocessed workpiece (720) in the material tray (700) and moves it to a precise positioning position; E300, identifying and acquiring the position of the second workpiece (720) on the manipulator (400) through the second positioning CCD device (510), adjusting the position of the pickup arm (410) of the manipulator (400), placing the unprocessed workpiece (720) on the machine tool (300) by moving the manipulator (400), and after moving the manipulator (400) out of the machine tool (300), processing the workpiece (720) by the machine tool (300); E400, after receiving an instruction from the machine tool (300) to complete the current processing, the robot (400) is moved into the machine tool (300) and picks up the processed workpiece (720), and then the processed workpiece (720) is placed in the material tray (700) of the raw material loading station (150) by moving the robot (400); E500, repeating steps E200 to E400 until all workpieces (720) currently in the material tray (700) of the raw material loading station (150) are processed; E600, determining whether the finished product unloading station (180) is empty, and if not, transferring the material tray (700) from the finished product unloading station (180) to the finished product storage area (170) via the unloading bracket; E700, after the material tray (700) is transferred from the raw material loading station (150) to the finished product unloading station (180) by the transfer support (630), the material tray (700) on the top surface of the raw material storage area (140) is transferred to the raw material loading station (150) by the loading support rod (220); E800, repeating steps E200 to E700 until all the trays (700) currently on the loading support rod (220) are transferred to the unloading support rod (240); E900. Through the cooperation of the unloading support rod (240) and the unloading conveyor belt (230), all the material trays (700) on the unloading support rod (240) are transferred to the manual unloading station (160).

9. The control method of the glass processing production line according to claim 8, characterized in that: In the step E200, two or more unprocessed workpieces (720) are picked up at one time by the picking arm (410).

10. The control method of the glass processing production line according to claim 8, characterized in that: In step E400, after the processed workpiece (720) is moved to the precise positioning position by the robot (400), the picking arm (410) is reversely adjusted according to the posture of the second workpiece (720) obtained in step E300, and the processed workpiece (720) is placed in the material tray (700).

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