A panel automatic assembly method and device

Abstract

The present invention relates to a panel automatic assembly method and equipment, and relates to the field of panel production, which includes obtaining weight detection value and image detection information; identifying the model information of the sleeve according to the image detection information; determining the sleeve weight value according to the model information; analyzing the vibration weight interval according to the vibration feeding amplitude and the sleeve weight value; determining whether the weight detection value falls into the vibration weight interval; if it falls into, giving a prompt; if it does not fall into, obtaining the sensor number according to the weight detection value; determining the blowing port number according to the sensor number; controlling the blowing device to blow at the blowing port number, and re-obtaining the weight detection value corresponding to the sensor number, giving a prompt when the weight detection value corresponding to the sensor number falls into the vibration weight interval; giving a warning when the weight detection value corresponding to the sensor number does not fall into the vibration weight interval. The present application has the effect of improving the precision of the panel automatic assembly machine during the assembly process.

Description

Technical Field

[0001] The invention relates to the field of panel production, and in particular to an automatic panel assembly method and equipment. Background Art

[0002] A panel is a network device that is usually assembled from multiple parts. With the development of technology, manual assembly is transformed into automated equipment assembly.

[0003] At present, in order to improve the precision of panel automatic assembly machines during the assembly process, the panel assembly machines are equipped with linear vibrators to transfer parts. After transportation, the parts are fixed by upper and lower pressing methods for precise assembly to meet factory standards.

[0004] During the automated assembly process of the panel automatic assembly machine, when the linear vibrator is transmitting parts, once a part gets stuck, it may be missed and manual processing is required to continue running the next instruction, which can easily cause the processing action to become unsmooth, thereby affecting the processing efficiency of the workpiece. Summary of the invention

[0005] In order to improve the assembly efficiency of panels and enhance the smoothness of processing actions, the present invention provides a panel automatic assembly method and equipment.

[0006] In a first aspect, the present invention provides a panel automatic assembly method, which adopts the following technical solution:

[0007] A panel automatic assembly method, comprising:

[0008] Obtaining a weight detection value and image detection information of the sleeve in the preset feeding plate;

[0009] Identify the model information of the casing from a preset feature database according to the image detection information;

[0010] Determine the casing weight value based on the model information;

[0011] Analyze the vibration weight range according to the preset vibration feeding amplitude and casing weight value;

[0012] Determine whether the weight detection value falls within the vibration weight interval;

[0013] If the weight detection value falls into the vibration weight range, a prompt will be given;

[0014] If the weight detection value does not fall into the vibration weight interval, the sensor number is obtained according to the weight detection value;

[0015] Determine the blowing port number according to the sensor number;

[0016] Control the preset air blowing device to blow air at the air port number, and re-acquire the weight detection value corresponding to the sensor number, and give a prompt when the weight detection value corresponding to the sensor number falls into the vibration weight interval; and give a warning when the weight detection value corresponding to the sensor number does not fall into the vibration weight interval.

[0017] By adopting the above technical solution, the vibration weight range of the sleeve is obtained through the weight sensor. When the vibration weight range is abnormal, it means that the position cannot be transmitted normally, that is, the sleeve is stuck. After determining the position, air blowing is performed to restore the sleeve to the operating state, thereby achieving smooth operation, improving the assembly efficiency of the panel, and improving the smoothness of the processing action.

[0018] Optionally, also include:

[0019] When the weight detection value corresponding to the sensor number does not fall within the vibration weight range, the feeding plate is controlled to switch from a preset working position to a preset abnormal position;

[0020] At the abnormal station, determine the abnormal channel of the feeding plate according to the sensor number;

[0021] Confirm the preset force parameters and pushing distance of the push tube according to the sensor number;

[0022] Control the preset push tube to push toward the abnormal channel with force parameters and pushing distance, and obtain the distance detection value;

[0023] Determine whether the distance detection value is not less than the push distance;

[0024] If the distance detection value is not less than the push distance, suction is performed according to the preset suction force and the push tube is pulled back by the distance detection value. After the pull back, suction is stopped and the push tube is controlled to reset, and the feeding plate is controlled to reset from the abnormal position to the working position;

[0025] If the distance detection value is less than the push distance, an alarm will be issued.

[0026] By adopting the above technical solution, when the abnormal station cannot be blown through by blowing, the abnormal channel is determined by the abnormal station corresponding to the sensor number. After the abnormal channel is confirmed, the push tube is used to push with preset force parameters and pushing distance. After pushing, the abnormal channel will be hit, and the abnormal channel will be cleared after the impact, and then the push tube and sleeve will be sucked back.

[0027] Optionally, also include:

[0028] Determine whether the weight detection value in the preset feeding area falls within the preset no-material weight interval;

[0029] If the weight detection value in the feeding area does not fall into the no-material weight range, a prompt will be given;

[0030] If the weight detection value in the feeding area falls into the no-material weight interval, the position of the sensor number in the feeding area that falls into the no-material weight interval is determined and defined as the no-material position, and the remaining position on the feeding plate is defined as the material position;

[0031] Determine the number of empty materials according to the empty material position;

[0032] Determine whether the quantity of unfilled materials is consistent with the preset benchmark quantity;

[0033] If the quantity of unfilled materials is consistent with the benchmark quantity, an indication will be given;

[0034] If the number of no materials is inconsistent with the reference number, the preset opening and closing device is controlled to control the cover plate preset on the feeding plate to open, and the image detection information on the transmission path corresponding to the position with materials is obtained;

[0035] Identify preset casing features from the image detection information, and define the identified feature area as a material removal position;

[0036] The preset material-retrieving robot is controlled to clamp the sleeve from the material-retrieving position to the material-free position, and the material-free position and the material-retrieving position are updated. When the material-free quantity is consistent with the reference quantity, the preset opening and closing device is controlled to close the cover to complete the material replenishment.

[0037] By adopting the above technical solution, when the number of empty materials in the loading area is inconsistent with the reference number, the cover plate is opened and the sleeve is clamped from the material position to the empty material position by a material taking robot. When it is consistent with the reference number, the material replenishment is completed, thereby improving the utilization rate of the sleeve in the loading area.

[0038] Optionally, also include:

[0039] If the weight detection value in the loading area falls into the no-material weight range and there is no material taking position, the no-material position is updated;

[0040] After the material-free position is updated, the sleeve in the feeding plate is controlled to be loaded to the preset assembly station;

[0041] Obtaining spare image information of a preset spare area;

[0042] Selecting a cannula from the spare image information according to the preset complete cannula feature, defining the selected cannula consistent with the preset first posture feature as a clamped cannula, and obtaining the clamping quantity of the clamped cannula;

[0043] Determine whether the number of grips is less than 1;

[0044] If the number of clamping is less than 1, the preset vibration device is controlled to vibrate the sleeve in the standby area and reacquire the standby image information;

[0045] If the number of grips is not less than 1, the gripping coordinates are determined according to the gripping sleeve in the backup image information;

[0046] Calculate the difference between the clamping coordinates and the preset assembly coordinates, and select the clamping sleeve with the smallest difference and define it as the target sleeve;

[0047] The preset assembly device is controlled to clamp the target casing from the preset spare area and install it on the assembly coordinate to complete the assembly.

[0048] By adopting the above technical solution, when there is a shortage of material in the feeding area and there is no material taking position, a spare sleeve with the same first posture feature is clamped from the spare area to the coordinate position of the mounting seat, thus completing the material replenishment and improving the assembly efficiency.

[0049] Optionally, also include:

[0050] Obtain image recognition information in a preset material pile;

[0051] Recognize the preset connector features from the image recognition information and select them by frame, define the selected connector that is consistent with the preset second posture feature as a clamping connector, and obtain the loading quantity of the clamping connector;

[0052] Determine whether the loading quantity is less than 1;

[0053] If the number of grips is not less than 1, the loading coordinates are determined according to the connector in the image recognition information, and the preset loading manipulator is controlled according to the loading coordinates to place the connector on the preset inspection table;

[0054] Get the number of connectors tested on the test bench;

[0055] Determine whether the test quantity is consistent with the preset benchmark test quantity;

[0056] If the detection quantity is inconsistent with the reference detection quantity, continue to obtain the loading quantity of the clamped connector;

[0057] If the detection quantity is consistent with the reference detection quantity, the detection image information on the detection table is obtained;

[0058] Identify a preset notch angle feature from the detection image information and select connectors that are inconsistent with the notch angle feature;

[0059] Obtain the notch angle value of the connector in the inspection image information selected by the frame;

[0060] Analyze and obtain the adjustment angle according to the notch angle value and the angle value corresponding to the notch angle feature;

[0061] According to the adjustment angle, a preset adjustment device is controlled to rotate the connector circumferentially so that the notch angle value is consistent with the angle value corresponding to the notch angle feature;

[0062] When the notch angle value is consistent with the angle value corresponding to the notch angle feature, the clamping coordinates are determined by analyzing the detected image information and the preset clamping points;

[0063] According to the clamping coordinates, the preset loading device is controlled to clamp the connector to the preset loading station.

[0064] By adopting the above technical solution, when there is no sleeve consistent with the first posture feature in the preparation area, the notch angle value of the mounting seat is obtained, and the sleeve consistent with the notch angle value of the mounting seat is installed on the loading station by a loading robot, thereby improving the accuracy of the sleeve installation.

[0065] Optionally, also include:

[0066] Control the rotating pallet preset under the material pile to rotate at a preset rotation force value, update the loading quantity and obtain the angle information of the pallet;

[0067] Determine whether the angle information is consistent with the preset reference angle information;

[0068] If the angle information is inconsistent with the reference angle information, a correction parameter is determined according to the angle information, and the rotation force value is corrected based on the correction parameter and re-rotated;

[0069] If the angle information is consistent with the reference angle information, determine whether the loading quantity is less than 1;

[0070] If the number of grips is less than 1, the material pile preset under the rotating tray is controlled to continue rotating at a preset force;

[0071] If the number of grips is not less than 1, the material pile preset under the rotating tray is controlled to stop rotating, and the loading coordinates are determined according to the mounting seat in the image recognition information. According to the loading coordinates, the preset loading manipulator is controlled to place the mounting seat on the preset detection table, and the detection number of the mounting seat is updated and re-determined whether the loading number is less than 1;

[0072] When the inspection quantity is consistent with the benchmark inspection quantity, loading is completed.

[0073] By adopting the above technical solution, when the loading robot fails to clamp the sleeve with the same notch angle as the mounting seat, the rotating tray is controlled to rotate it to change the notch angle of the mounting seat, and the sleeve with the same reference angle information is clamped to the inspection table. When the inspection quantity is consistent with the reference inspection quantity, the loading is completed, thereby improving the accuracy of the sleeve installation.

[0074] In a second aspect, the present application provides a panel automatic assembly device, which adopts the following technical solution:

[0075] An operating table, placed on the ground;

[0076] A transfer device is arranged on the operating table;

[0077] A fixed table, which is set on the operating table;

[0078] A mounting seat, which is arranged on the transfer device and clamps the panel and is provided for the connector to be connected;

[0079] An opening device is disposed on the fixing table and is used to open the mounting seat;

[0080] A sleeve feeding device is arranged on the operating table and is used to transfer the sleeve to the connector on the mounting seat;

[0081] A first pressing mechanism, disposed on the fixing platform and used for pressing the connector;

[0082] A second pressing mechanism is disposed on the fixing platform and is used to fix the connector;

[0083] A detection device, which is arranged on the operating table and is used to detect the integrity of the connector;

[0084] A panel loading device, which is arranged on the operating table and is used to transfer the panel to the mounting seat;

[0085] The unloading device is arranged on the operating table and is used to suck the assembled panels to the preset finished product area.

[0086] By adopting the above technical solution, the equipment operates the mounting seat through the operating device, and uses the opening device to open the mounting seat at each workstation before operating, placing the parts on the fixing table, and then using the sleeve feeding device to transfer the sleeve to the first pressing mechanism for connector pressing, and then operating to the detection device to detect the integrity of the connector through the fixation of the second pressing mechanism, and then operating to the panel loading device to transfer the panel to the mounting seat, and finally operating to the unloading device to suck the panel to the finished product area, thereby improving the assembly efficiency of the panel and improving the smoothness of the processing action.

[0087] Optionally, the casing feeding device comprises:

[0088] A carrying plate is arranged on the operating table;

[0089] A linear vibrator is disposed on the carrier plate and is used to transport the casing;

[0090] A feeding plate is arranged on the linear vibrator and is used for the installation of the sleeve; a feeding channel for the installation of the sleeve is arranged on the feeding plate;

[0091] A feeding cover plate, disposed on the feeding plate and used to cover the feeding channel;

[0092] A support seat, arranged on the bearing plate;

[0093] The inclined plate cylinder is arranged on a side of the support base away from the linear vibrator;

[0094] The first linear module is disposed on the carrying plate;

[0095] An inclined plate, disposed on the first linear module and used for movement;

[0096] A limit plate, disposed on the bearing plate and used to limit the sliding position of the inclined plate;

[0097] A support column, disposed on the bearing plate and used for support;

[0098] The second linear module is arranged on the supporting column;

[0099] An upper push plate is arranged on the second linear module; the upper push plate is provided with a placement hole for placing the sleeve, and the placement hole is communicated with the feeding channel;

[0100] A roller, which is rollingly connected to the upper push plate and rollingly cooperates with the inclined plate;

[0101] A locking block, used to connect and fix the locking plate and the feeding plate;

[0102] A locking plate, arranged on the locking block;

[0103] A first proximity sensor is disposed on the upper push plate and is used to detect the casing;

[0104] A column, arranged on the bearing plate;

[0105] A vertical plate, arranged on a side of the column away from the load-bearing plate;

[0106] A pusher cylinder is arranged on the vertical plate;

[0107] A push rod, which is arranged on the piston rod of the pusher cylinder and is used to push the sleeve from the upper push plate to the connector;

[0108] The inclined plate cylinder drives the inclined plate to push the upper push plate upwards, so that the placement hole and the feeding channel are aligned with each other.

[0109] By adopting the above technical solution, the sleeve feeding device transfers the parts to the upper push plate by operating the feed plate through the linear vibrator, and the operation of the inclined plate cylinder causes the inclined plate to slide in the first linear module, so that the upper push plate moves to the first proximity sensor, and then the pusher cylinder pushes the push rod to push the sleeve from the upper push plate to the connector, thereby improving the assembly efficiency of the sleeve and the smoothness of the sleeve feeding.

[0110] Optionally, the panel feeding device includes:

[0111] A conveyor belt support is arranged on the operating table;

[0112] A conveyor belt is disposed on a conveyor belt support and is used to convey the panel;

[0113] Transport the support column and set it on the operating table;

[0114] A support push plate is arranged on a transmission support column;

[0115] A feeding cylinder is arranged on the supporting push plate;

[0116] A loading block, which is arranged on the piston rod of the loading cylinder and is used to push the panel to the mounting seat;

[0117] The push plate cylinder is arranged on the operating table;

[0118] A lifting push plate is provided on the piston rod of the push plate cylinder and is used to lift the panel at the end of the conveyor belt;

[0119] A lifting baffle is arranged on the side of the lifting push plate close to the conveyor belt and is used to prevent the panel from falling;

[0120] A lifting bracket is arranged on the operating table;

[0121] A laser scanner is disposed on the lifting bracket and is used to detect the installation direction of the panel;

[0122] The second proximity sensor is disposed on the lifting bracket and is used for detecting the panel.

[0123] By adopting the above technical solution, the panel is loaded by conveying the panel to the loading block through the conveyor belt. After the installation direction of the panel is detected by the laser scanner, the loading block is pushed to the second proximity sensor using the lifting push plate, and finally the loading cylinder pushes the panel in the loading block into the mounting seat, thereby improving the assembly efficiency and smoothness of the panel.

[0124] In summary, the present application includes at least one of the following beneficial technical effects:

[0125] 1. Blow air at the air port number through the preset air blowing device, and re-obtain the weight value corresponding to the sensor number after blowing. If the weight detection value of the sensor number is within the vibration weight range, a prompt will be given; if the weight detection value corresponding to the sensor number is not within the vibration weight range, a warning will be given.

[0126] 2. When the air blowing fails to blow through the abnormal station, confirm the abnormal channel according to the abnormal station corresponding to the sensor number. Let the push tube push the casing in the abnormal channel according to the preset force parameters and pushing distance. The abnormal channel will be hit during the pushing process. After the collision, the abnormal channel will be unblocked, and finally the push tube and casing will be sucked back.

[0127] 3. The automatic panel assembly equipment operates the mounting seat through the operating device. Whenever it reaches a station, the opening device will open the mounting seat for operation. First, place the parts on the fixed table, and then use the sleeve feeding device to transfer the sleeve to the first pressing mechanism for the connector pressing operation. Then it moves to the detection device, fixes the operating table and the connector through the second pressing mechanism to detect the integrity of the connector, and then moves to the panel feeding device to transfer the panel to the mounting seat. Finally, it moves to the unloading device to adsorb the panel to the finished product area. Such a process can improve the assembly efficiency of the panel and enhance the smoothness of the processing action. BRIEF DESCRIPTION OF THE DRAWINGS

[0128] Figure 1 is a schematic diagram of the overall structure of the panel automatic assembly equipment according to an embodiment of the present application;

[0129] Figure 2 yes Figure 1 Enlarged view of part A in the middle;

[0130] Figure 3 It is a structural schematic diagram of a casing feeding device according to an embodiment of the present application;

[0131] Figure 4 yes Figure 1 Enlarged view of middle part B;

[0132] Figure 5 is a schematic structural diagram of a panel loading device according to an embodiment of the present application;

[0133] Figure 6 It is a structural schematic diagram of a feeding device according to an embodiment of the present application;

[0134] Figure 7 It is a flow chart of the method for automatic assembly of panels according to an embodiment of the present application.

[0135] The names of the parts indicated by the numerical symbols in the above drawings are as follows: 1. Operating table; 2. Transfer device; 3. Fixed table; 4. Mounting seat; 5. Opening device; 6. Sleeve feeding device; 7. First pressing mechanism; 8. Second pressing mechanism; 9. Detection device; 10. Panel feeding device; 11. Unloading device; 12. Loading plate; 13. Linear vibrator; 14. Feeding plate; 15. Feeding cover plate; 16. Support seat; 17. Inclined panel cylinder; 18. First linear module; 19. Inclined panel; 20. Limiting plate; 21. Support column; 22. Second linear module; 23. Push plate; 24. Roller; 25. Locking plate; 26. Locking block; 27. First proximity sensor; 28. Column; 29. ​​Vertical plate; 30. Pusher cylinder; 31. Conveyor belt bracket; 32. Conveyor belt; 33. Conveying support column ; 34, support push plate; 35, feeding cylinder; 36, feeding block; 37, push plate cylinder; 38, lift push plate; 39, lift baffle; 40, lift bracket; 41, laser scanner; 42, second proximity sensor; 43, unloading support plate; 44, electric linear module; 45, third linear module; 46, moving plate; 47, suction cylinder; 48, suction cup; 49, ejector; 50, feeding Channel; 51, placement hole; 52, sleeve; 53, panel; 54, connector; 55, first pressing block; 56, second pressing block; 58, push fork cylinder; 59, spring fixing block; 60, center column; 61, inclined push fork; 62, connecting plate; 63, first support frame; 64, first pressing cylinder; 65, detection bracket; 66, detection head; 67, second support frame; 68, second pressing cylinder. DETAILED DESCRIPTION

[0136] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0137] Reference Figure 1The embodiment of the present application discloses an automatic assembly device for a panel 53, comprising an operating table 1, a transfer device 2, a fixed table 3, a mounting seat 4, an opening device 5, a sleeve feeding device 6, a first pressing mechanism 7, a second pressing mechanism 8, a detection device 9, a panel feeding device 10, and a feeding device 11. The operating table 1 is placed on the ground, the transfer device 2 is installed on the operating table 1, and the transfer device 2 is connected to the output shaft of the motor preset on the operating table 1, so that the transfer device 2 is driven to rotate by the motor preset on the operating table 1. The fixed table 3 is fixedly installed on the body of the motor preset on the operating table 1, and the fixed table 3 is located on the side of the operating device away from the operating table 1. In this embodiment, the operating table 1 is a cubic box, the transfer device 2 and the fixed table 3 are both discs, and the diameter of the transfer device 2 is larger than the diameter of the fixed table 3. A through hole is opened in the middle of the transfer device 2 for the body of the motor preset on the operating table 1 to pass through, and the output shaft of the motor on the operating table 1 is connected with a bearing, and the bearing is connected to the transfer device 2 to drive the transfer device 2 to rotate.

[0138] Reference Figure 1 and Figure 2 The mounting seat 4 is installed on the side of the transfer device 2 away from the operating table 1. The mounting seat 4 includes a connecting plate 62, a spring fixing block 59 and a center column 60. The connecting plate 62 is for placing the connector 54. The spring fixing blocks 59 are installed at both ends of the connecting plate 62 along the length direction and are used to clamp the clamping panel 53. The two spring fixing blocks 59 are connected and tightened by springs preset in the connecting plate 62. The opening device 5 is installed on the side of the fixed platform 3 away from the transfer device 2 and is used to open the clamped mounting seat 4. The opening device 5 includes a push fork cylinder 58 and an inclined push fork 61. The inclined push fork 61 is installed on the piston rod of the push fork cylinder 58. The push fork cylinder 58 is installed on the fixed platform 3 and is used to push the inclined push fork 61 to move in the direction close to the mounting seat 4. The two outer sides of the inclined push fork 61 close to one end of the central column 60 are provided with inclined surfaces, so that the inclined push fork 61 can push the central column 60 away from each other. The central column 60 drives the two spring fixing blocks 59 to overcome the spring inside the connecting plate 62 and move away from each other, so as to facilitate the removal of the panel 53 clamped by the spring fixing blocks 59. In this embodiment, a total of eight mounting seats 4 are provided, and the eight mounting seats 4 are installed on the transfer device 2 at equal angles. A total of three opening devices 5 are provided, and two adjacent opening devices 5 are arranged at an angle of 90 degrees.

[0139] Reference Figure 1 and Figure 3The sleeve feeding device 6 is installed on the operating table 1 and at a position opposite to the opening device 5 located in the middle. The sleeve feeding device 6 is used to install the sleeve 52 on the connector 54 placed on the mounting seat 4. The sleeve loading device 6 includes a bearing plate 12, a linear vibrator 13, a feeding plate 14, a feeding cover plate 15, a support seat 16, an inclined plate cylinder 17, a first linear module 18, an inclined plate 19, a limit plate 20, a support column 21, a second linear module 22, an upper push plate 23, a roller 24, a locking plate 25, a locking block 26, a first proximity sensor 27, a column 28, a vertical plate 29, a pusher cylinder 30 and a push rod 49. The bearing plate 12 is installed on the operating table 1, the linear vibrator 13 is installed on the bearing plate 12, the vibrating feeding plate 14 is installed on the side of the linear vibrator 13 away from the bearing plate 12, the vibrating feeding plate 14 is used to place and transport the sleeve 52, and a feeding channel 50 for the sleeve 52 to pass through and move is opened on the vibrating feeding plate 14. A feeding cover plate 15 for covering the feeding channel 50 is installed on the side of the vibrating feeding plate 14 away from the linear vibrator 13. The length of the vibrating feeding plate 14 is at least greater than the length of the two sleeves 52 , thereby facilitating the transportation of the plurality of sleeves 52 .

[0140] Reference Figure 1 and Figure 3A first linear module 18 is installed on the side of the carrier plate 12 close to the mounting seat 4. The moving direction of the first linear module 18 is perpendicular to the vibration feed plate 14. The inclined plate 19 is installed on the slider of the first linear module 18 away from the carrier plate 12. The side of the inclined plate 19 away from the first linear module 18 is provided with an inclined surface. The support seat 16 is installed on the side of the carrier plate 12 close to the mounting seat 4. The inclined plate cylinder 17 is installed on the support seat 16, and the piston rod of the inclined plate cylinder 17 is connected to the inclined plate 19, so that the inclined plate cylinder 17 pushes the inclined plate 19 to move along the length direction of the first linear module 18. The limit plate 20 is installed on the end of the carrier plate 12 away from the support seat 16 and is used to limit the inclined plate 19. The column 28 is mounted on the carrier plate 12 and is located between the inclined plate 19 and the linear vibrator 13. The second linear module 22 is mounted on the side of the column 28 close to the inclined plate 19. The upper push plate 23 and the roller 24 are both mounted on the slider of the second linear module 22 close to the inclined plate 19, and the roller 24 is located between the upper push plate 23 and the inclined plate 19 and performs rolling cooperation at the same time. A placement hole 51 for placing a sleeve 52 is opened on the side of the upper push plate 23 away from the roller 24, and the length direction of the placement hole 51 is consistent with the length direction of the feeding channel 50. In this embodiment, the upper push plate 23 is an L-shaped plate, and the inclined surface of the inclined plate 19 is inclined from the limit plate 20 to the support seat 16 in a direction away from the supporting plate 12, so that when the inclined plate cylinder 17 pushes the inclined plate 19 to move in a direction close to the limit plate 20, the roller 24 rolls along the inclined surface of the inclined plate 19 to drive the upper push plate 23 to move in a direction away from the supporting plate 12, and the inclined surface inclination of the inclined plate 19 is when the output of the inclined plate cylinder 17 is maximum, and the placement hole 51 is aligned with the feeding channel 50.

[0141] Reference Figure 3 The locking plate 25 is located on the side of the upper push plate 23 away from the vibrating feed plate 14, and the locking plate 25 is used to limit the upper push plate 23. The locking blocks 26 are installed at both ends of the locking plate 25 along the length direction, and the locking blocks 26 are used to fix the locking plate 25 on the vibrating feed plate 14. The first proximity sensor 27 is installed on the side of the locking plate 25 close to the bearing plate 12 and is used to detect the proximity of the sleeve 52.

[0142] Reference Figure 1 and Figure 3 , the column 28 is mounted on the bearing plate 12, and there are two columns 28 in total and symmetrically located on both sides of the linear vibrator 13, the vertical plate 29 is fixedly mounted on the side of the column 28 away from the bearing plate 12 through a flange, and the vertical plate 29 is located on the vibrating feeder plate 14. The pusher cylinder 30 is mounted on the side of the vertical plate 29 away from the column 28, and the push rod 49 is mounted on the piston rod of the pusher cylinder 30 and is used to push the sleeve 52 in the upper push plate 23 to the connector 54 in the mounting seat 4.

[0143] Reference Figure 1 and Figure 4 The first pressing mechanism 7 is installed on the fixed platform 3 and aligned with the sleeve feeding device 6. The first pressing mechanism 7 is used to press the connector 54 on the mounting seat 4. The first pressing mechanism 7 includes a first support frame 63, a first pressing cylinder 64 and a first pressing block 55. The first support frame 63 is installed on the fixed platform 3 by bolts. The first pressing cylinder 64 is welded to the side of the first support frame 63 away from the fixed platform 3. The first pressing block 55 is installed on the piston rod of the first pressing cylinder 64 by bolts. A groove for pressing with the connector 54 is pre-opened on the side of the first pressing block 55 close to the mounting seat 4. The first pressing cylinder 64 drives the first pressing block 55 to move in the direction close to the mounting seat 4, so that the first pressing block 55 presses the connector 54.

[0144] Reference Figure 1 The detection device 9 is installed on the operating table 1 and is located between the sleeve feeding device 6 and the panel feeding device 10. The detection device 9 includes a detection bracket 65 and a detection head 66. The detection bracket 65 is installed on the operating table 1 by bolts. The detection head 66 is installed on the side of the detection bracket 65 away from the operating table 1. The detection head 66 is used to detect the integrity of the connector 54 on the mounting seat 4.

[0145] Reference Figure 1 and Figure 4 The second pressing mechanism 8 is installed on the fixed platform 3 and aligned with the detection device 9. The second pressing mechanism 8 is used to press the connector 54 on the mounting seat 4. The second pressing mechanism 8 includes a second support frame 67, a second pressing cylinder 68 and a second pressing block 56. The second support frame 67 is installed on the fixed platform 3 by bolts. The second pressing cylinder 68 is welded to the side of the second support frame 67 away from the fixed platform 3. The second pressing block 56 is installed on the piston rod of the second pressing cylinder 68 by bolts. A groove for pressing with the connector 54 is pre-opened on the side of the second pressing block 56 close to the mounting seat 4. The second pressing cylinder 68 drives the second pressing block 56 to move in the direction close to the mounting seat 4, so that the second pressing block 56 presses the connector 54.

[0146] Reference Figure 1 and Figure 5The panel loading device 10 is installed on the operating table 1 and aligned with the first opening device 5 in the counterclockwise direction. The panel loading device 10 is used to transfer the panel 53 to the mounting seat 4. The panel loading device 10 includes a conveyor belt bracket 31, a conveyor belt 32, a conveying support column 33, a support push plate 34, a loading cylinder 35, a loading block 36, a push plate cylinder 37, a lifting push plate 38, a lifting baffle 39, a lifting bracket 40, a laser scanner 41 and a second proximity sensor 42. The conveyor belt bracket 31 is fixedly installed on the operating table 1 by screws, and the conveyor belt 32 is installed on the conveyor belt bracket 31 by bolts and driven by a motor preset on the conveyor belt bracket 31 to transfer the panel 53 to the direction close to the mounting seat 4. The push plate cylinder 37 is welded on the operating table 1 and is located on the side of the conveyor belt 32 close to the mounting seat 4. The lifting push plate 38 is welded on the piston rod in the push plate cylinder 37. The lifting push plate 38 is driven by the push plate cylinder 37 to lift the panel 53 at the end of the conveyor belt 32.

[0147] Reference Figure 1 and Figure 5 The lifting baffle 39 is bolted to the lower end of the lifting push plate 38 near the conveyor belt 32. The lifting baffle 39 is used to prevent the panel 53 on the conveyor belt 32 from falling after the lifting push plate 38 rises. The lifting bracket 40 is bolted to the operating table 1, and the lifting bracket 40 is close to the side of the push plate cylinder 37 away from the conveyor belt 32. The laser scanner 41 is installed on the side of the lifting bracket 40 away from the conveyor belt 32, and the signal output end and the signal receiving end of the laser scanner 41 extend through the lifting bracket 40 and are used to sense and detect the installation direction of the panel 53 on the side of the lifting bracket 40 near the conveyor belt 32. The panel 53 is located between the signal output end and the signal receiving end of the laser scanner 41. When the laser scanner 41 can receive the signal, the laser scanner 41 outputs a signal indicating that the installation direction of the panel 53 is correct. The second proximity sensor 42 is installed on a side of the lifting bracket 40 close to the laser scanner 41 and is used to detect the approach of the panel 53 . The lifting bracket 40 is provided with a through hole for the second proximity sensor 42 to sense.

[0148] Reference Figure 1 and Figure 5 The conveying support column 33 is fixed to the operating table 1 by screws, and the support push plate 34 is installed on the side of the conveying support column 33 away from the operating table 1 by bolts. The feeding cylinder 35 is welded to the side of the support push plate 34 away from the conveying support column 33, and the feeding block 36 is welded to the piston rod of the feeding cylinder 35. The feeding cylinder 35 drives the feeding block 36 to push the panel 53 onto the mounting seat 4.

[0149] Reference Figure 1 and Figure 6The unloading device 11 is installed on the operating table 1 and is aligned with the second opening device 5 in the counterclockwise direction. The unloading device 11 is used to unload the panel 53 from the mounting seat 4. The unloading device 11 includes an unloading support plate 43, an electric linear module 44, a third linear module 45, a moving disk 46, an air suction cylinder 47 and a suction cup 48. The unloading support plate 43 is fixed to the operating table 1 by screws. The electric linear module 44 is installed on the side of the unloading support plate 43 away from the operating table 1 by bolts. The moving direction of the slider of the electric linear module 44 is perpendicular to the height direction of the unloading support plate 43. The third linear module 45 is installed on the slider of the electric linear module 44, and the moving direction of the slider of the third linear module 45 is perpendicular to the moving direction of the slider of the electric linear module 44. The air suction cylinder 47 is installed on the slider of the electric linear module 44 by bolts, and the air suction cylinder 47 is located on the side of the third linear module 45 away from the operating table 1. The sliding moving disk 46 is installed on the slider of the third linear module 45. The slider of the third linear module 45 is driven to move by the air suction cylinder 47, thereby driving the sliding moving disk 46 to move. The sucker 48 is mounted on the sliding movable plate 46 and is used to suck the panel 53 in the mounting seat 4. In this embodiment, a waist-shaped hole for the sucker 48 to be installed is provided on the sliding movable plate 46, so that the installation position of the sucker 48 can be adjusted conveniently, thereby cutting panels 53 of different specifications.

[0150] Reference Figure 7 Based on the same inventive concept, an embodiment of the present invention provides a panel automatic assembly method, comprising:

[0151] Step 101: Obtain a preset weight detection value and image detection information of the sleeve 52 in the feeding plate 14 .

[0152] The weight detection value refers to the weight value of the sleeve 52 detected by the feeding plate 14 , and the weight detection value is detected and acquired by a pressure sensor preset on the feeding plate 14 .

[0153] The image detection information refers to image information obtained by performing image detection on the feeding plate 14 , and the image detection information is obtained by detection through a camera preset on the operating table 1 .

[0154] Step 102: Identify the model information of the sleeve 52 from a preset feature database according to the image detection information.

[0155] The characteristic database stores the models corresponding to the various specifications and sizes of the sleeve 52. The characteristic database is a database set manually and will not be described in detail here.

[0156] The model information refers to the model corresponding to the sleeve 52 of different specifications and dimensions. The specifications and dimensions of the sleeve 52 are identified from the image detection information, and the model information of the sleeve 52 is matched from the feature database based on the specifications and dimensions of the sleeve 52.

[0157] Step 103: Determine the casing weight value according to the model information.

[0158] The casing weight value refers to the reference weight value of the casing 52 of the model corresponding to the model information, and the reference weight value of the casing 52 of the model is retrieved according to the model information and used as the casing weight value.

[0159] Step 104: Analyze the vibration weight range according to the preset vibration feeding amplitude and the casing weight value.

[0160] The vibration feeding amplitude refers to the amplitude of vibration of the sleeve 52 when the sleeve 52 is conveyed by the linear vibrator 13 vibrating the feeding plate 14. The vibration feeding amplitude is preset and stored by the operator.

[0161] The vibration weight interval refers to the interval in which the weight of the sleeve 52 normally floats when the feeding plate 14 vibrates. The vibration weight interval is matched from a preset vibration database by the vibration feeding amplitude and the sleeve weight value.

[0162] The vibration database stores vibration weight intervals corresponding to different casing weight values ​​under vibration feeding amplitudes. The vibration database is a manually set database and will not be described in detail here.

[0163] Step 105: Determine whether the weight detection value falls within the vibration weight interval.

[0164] Here, whether the weight detection value falls within the vibration weight interval is determined, thereby determining whether the sleeve 52 is stuck on the feeding plate 14 abnormally.

[0165] Step 106: If the weight detection value falls within the vibration weight range, a prompt is given.

[0166] When the weight detection value falls within the vibration weight range, it indicates that the sleeve 52 is not stuck on the feed plate 14, so a preset prompt message is output to prompt the operator.

[0167] The prompt information refers to the light information used to prompt the operator that there is no abnormality with the sleeve 52 on the feeding plate 14. The prompt information is set in advance by those skilled in the art and will not be described in detail here.

[0168] Step 107: If the weight detection value does not fall within the vibration weight interval, the sensor number is obtained according to the weight detection value.

[0169] Among them, the sensor number refers to the number corresponding to the pressure sensor. When the weight detection value does not fall into the vibration weight interval, it means that the sleeve 52 is stuck on the feeding plate 14. Therefore, the number of the pressure sensor corresponding to the weight detection value that does not fall into the vibration weight interval is used as the sensor number.

[0170] Step 108: Determine the blowing port number according to the sensor number.

[0171] Among them, the blowing port number refers to the number corresponding to the blowing port used when the blowing device preset on the feeding plate 14 blows air to the sleeve 52 on the feeding plate 14, and the corresponding blowing port number on the feeding plate 14 is queried and retrieved through the sensor number.

[0172] The air blowing device refers to a device used to blow air into the feeding plate 14 to move the sleeve 52. The air blowing device can be a fan and is connected to the air blowing port on the feeding plate 14 using a hose.

[0173] Step 109: Control the preset blowing device to blow air at the blowing port number, and re-acquire the weight detection value corresponding to the sensor number, and give a prompt when the weight detection value corresponding to the sensor number falls into the vibration weight range; give a warning when the weight detection value corresponding to the sensor number does not fall into the vibration weight range.

[0174] Among them, the blowing device is controlled to blow air to the feeding plate 14 at the position of the blowing port number, thereby pushing the sleeve 52 stuck on the feeding plate 14 to move, and re-obtaining the weight detection value corresponding to the sensor number. When the weight detection value corresponding to the sensor number falls into the vibration weight range, it means that the sleeve 52 stuck on the feeding plate 14 is out of the stuck state, so the prompt information is output to prompt the operator.

[0175] When the weight detection value corresponding to the sensor number does not fall within the vibration weight range, it means that the sleeve 52 is still stuck on the feeding plate 14, so a preset warning message is output to warn the operator.

[0176] The warning information refers to the light information used to warn the operator that the sleeve 52 is abnormal on the feeding plate 14. The warning information is set in advance by those skilled in the art and will not be described in detail here.

[0177] After step 109, in order to continue feeding the casing 52 with abnormal conditions, the following steps are also included:

[0178] Step 201 : When the weight detection value corresponding to the sensor number does not fall into the vibration weight interval, the feeding plate 14 is controlled to switch from a preset working station to a preset abnormal station.

[0179] The working station refers to the station when the feeding plate 14 normally transports the sleeve 52, and the abnormal station refers to the station when the feeding plate 14 needs to be adjusted when an abnormality occurs in the sleeve 52. The working station and the abnormal station are preset by the operator.

[0180] When the weight detection value corresponding to the sensor number does not fall into the vibration weight range, it means that the sleeve 52 is still stuck on the feed plate 14, and the feed plate 14 is controlled to switch from the preset working station to the abnormal station.

[0181] Step 202: At the abnormal station, determine the abnormal channel of the feeding plate 14 according to the sensor number.

[0182] The abnormal passage of the feeding plate 14 refers to the passage on the feeding plate 14 when the sleeve 52 is stuck.

[0183] When the sleeve 52 in the feeding plate 14 is stuck on the feeding plate 14 , the abnormal channel of the corresponding feeding plate 14 is retrieved through the sensor number.

[0184] Step 203: Confirm the preset force parameters and pushing distance of the push tube according to the sensor number.

[0185] Among them, the push tube refers to a device for pushing the sleeve 52 in the abnormal channel. The push tube is preset on the operating table 1 and moves to the abnormal channel of the feeding plate 14 when the feeding plate 14 switches to the preset abnormal station. The force parameter refers to the force value that needs to be output when the push tube is controlled to push the sleeve 52 out of the jam. The pushing distance refers to the distance value that needs to be moved when the push tube is controlled to push the sleeve 52 out of the jam. The corresponding weight detection value is retrieved through the sensor number and the force parameter and pushing distance are determined through the preset pushing database query. The pushing database stores the force parameters and pushing distances corresponding to different weight detection values. The pushing database is a database set by humans and will not be described here.

[0186] Step 204: Control the preset push tube to push toward the abnormal channel with force parameters and pushing distance, and obtain the distance detection value.

[0187] The distance detection value refers to the distance that the push tube has been pushed forward. The distance detection value is obtained by querying the movement of the push tube. The push tube is pushed forward to the casing 52 of the abnormal channel by using force parameters and pushing distance control, and the distance detection value is obtained in real time for subsequent use.

[0188] Step 205: Determine whether the distance detection value is not less than the push distance.

[0189] Here, whether the distance detection value is not less than the pushing distance is determined, thereby determining whether the sleeve 52 is pushed out from the stuck state.

[0190] Step 206: If the distance detection value is not less than the pushing distance, suction is performed according to the preset suction force and the push tube is pulled back by the distance detection value. After pulling back, suction is stopped and the push tube is controlled to reset, and the feeding plate 14 is controlled to reset from the abnormal position to the working position.

[0191] The preset suction force refers to the suction force value required for sucking the push tube back, and the preset suction force is obtained after being pre-input by the operator.

[0192] When the distance detection value is not less than the pushing distance, it means that the sleeve 52 is pushed out from the stuck state at this time, so the push tube is sucked in by the preset suction force, and the push tube is moved a distance corresponding to the distance detection value to pull the push tube back. After the push tube is pulled back, the suction is stopped and the push tube is controlled to reset. Finally, the feeding plate 14 is controlled to reset from the abnormal position to the working position.

[0193] Step 207: If the distance detection value is less than the pushing distance, an alarm is issued.

[0194] When the distance detection value is less than the pushing distance, it means that the sleeve 52 is still in a stuck state and cannot be pushed by the push tube, and an alarm is issued. The alarm can be issued by light, sound or a combination of the two.

[0195] After step 206, in order to continue feeding the sleeve 52, the following steps are also included:

[0196] Step 301: Determine whether the weight detection value in the preset feeding area falls into the preset free-material weight interval.

[0197] The loading area refers to the area where the sleeve 52 on the feeding plate 14 is loaded onto the mounting seat 4. The no-material weight interval refers to the weight interval corresponding to when there is no sleeve 52 in the loading area. The loading area and the no-material weight interval are formed by being preset and stored by the operator.

[0198] It is determined by checking whether the weight detection value in the feeding area falls into a preset no-material weight interval, thereby determining whether there is no sleeve 52 in the feeding area.

[0199] Step 302: If the weight detection value in the loading area does not fall into the no-material weight interval, a prompt is given.

[0200] If the weight detection value of the feeding area is not within the preset weight detection value interval of the sleeve 52, it means that there are sleeves 52 in the feeding area, and a prompt is given. The prompt can be a light prompt information for prompting the operator that there are sleeves 52 in the feeding area. The light prompt information is set in advance by those skilled in the art and will not be described in detail here.

[0201] Step 303: If the weight detection value in the loading area falls into the no-material weight interval, the position of the sensor number in the loading area that falls into the no-material weight interval is determined and defined as the no-material position, and the remaining position on the feeding plate 14 is defined as the material position.

[0202] The non-material position refers to the position corresponding to when there is no sleeve 52 in the material loading area. The material position refers to the position corresponding to when there is a sleeve 52 in the material loading area.

[0203] If the weight detection value in the feeding area falls into the empty weight range, it means that there is a vacant position in the feeding area, and material needs to be replenished, so the empty position and the material position are defined.

[0204] Step 304: Determine the number of empty materials according to the empty material position.

[0205] The number of no-materials refers to the number of positions corresponding to the positions where no sleeve 52 exists in the loading area, and the number of no-materials positions is counted and the counting result is used as the number of no-materials.

[0206] Step 305: Determine whether the unfilled quantity is consistent with a preset reference quantity.

[0207] The reference number refers to the reference position number when all the feeding areas have sleeves 52, and the reference number is obtained after being pre-input by the operator. By determining whether the number of no materials is consistent with the preset reference number, it is determined whether the sleeve 52 needs to be clamped and adjusted.

[0208] Step 306: If the out-of-stock quantity is consistent with the reference quantity, an indication is given.

[0209] When the number of no materials is consistent with the reference number, it means that there are sleeves 52 at this time, so an instruction is given to continue the operation.

[0210] Step 307: If the number of no materials is inconsistent with the reference number, the preset opening and closing device is controlled to control the cover plate preset on the feeding plate 14 to open, and the image detection information on the transmission path corresponding to the material position is obtained.

[0211] Among them, the opening and closing device refers to a device used to control the opening or closing of the cover plate above the feeding plate 14. The opening and closing device can be a robot, which controls the opening of the cover plate on the feeding plate 14 through a preset control system, and the control system is obtained after being pre-set by the operator.

[0212] When the number of no materials is inconsistent with the reference number, it means that there is a vacant position in the loading area and the sleeve 52 needs to be clamped and adjusted. Therefore, the control opening and closing device opens the cover on the feeding plate 14 and obtains the image detection information on the transmission path through the material position.

[0213] Step 308: Identify the preset features of the casing 52 from the image detection information, and define the identified feature area as the material removal position.

[0214] The feature of the sleeve 52 refers to the feature used to indicate the shape and size of the sleeve 52, and the feature information is set and stored in advance by the operator. The material collection position refers to the position used to collect the material from the sleeve 52. The image detection information is identified, and the feature area corresponding to the identified feature of the sleeve 52 is defined as the material collection position.

[0215] Step 309: Control the preset material picking robot to clamp the sleeve 52 from the material picking position to the material free position, and update the material free position and the material picking position. When the material free quantity is consistent with the reference quantity, control the preset opening and closing device to control the cover to close to complete the material replenishment.

[0216] The material-retrieving robot refers to a robot used to clamp the sleeve 52 from the material-retrieving position to the material-free position, and the material-retrieving robot is preset on the operating table 1 .

[0217] By controlling the material picking robot to clamp the sleeve 52 from the material picking position to the no-material position, and updating the no-material position and the material picking position, when the no-material quantity is consistent with the reference quantity, it means that the sleeve 52 in the loading area of ​​the feeding tray at this time is the reference loading quantity, so the opening and closing device is controlled to control the cover to close to complete the material replenishment.

[0218] After step 301, in order to further continue feeding the sleeve 52, the following steps are further included:

[0219] Step 401: If the weight detection value in the loading area falls into the no-material weight interval and there is no material picking position, the no-material position is updated.

[0220] Among them, when the weight detection value in the loading area falls into the no-material weight interval and there is no material picking position, it means that the material picking position is in a no-material state and there is no position for picking up the sleeve 52, so the no-material position in the loading area is updated.

[0221] Step 402: After the material-free position is updated, the sleeve 52 in the feeding plate 14 is controlled to be loaded to the preset assembly station.

[0222] The assembly station refers to a station for assembling the sleeve 52, and the assembly station is pre-set by the operator. After the material-free position is updated, the material-taking manipulator is controlled to load the sleeve 52 to the assembly station for convenience of subsequent operations.

[0223] Step 403: Obtain the spare image information of the preset spare area.

[0224] The standby area refers to an area for storing and placing the standby sleeve 52, and the standby area is preset by the operator. The standby image information refers to image information obtained by image detection of the area where the standby area is located, and the standby image information is obtained by detection by a camera preset in the standby area.

[0225] Step 404 : select the cannula 52 from the spare image information according to the preset complete cannula feature, define the selected cannula 52 that is consistent with the preset first posture feature as the clamped cannula 52 , and obtain the clamping quantity of the clamped cannula 52 .

[0226] The complete sleeve feature refers to the features of the shape and color of each part of the complete sleeve 52. The first posture feature refers to the placement state feature of the sleeve 52 when the sleeve 52 is clamped and loaded. The complete sleeve feature and the first posture feature are obtained after being pre-input by the operator.

[0227] The clamping sleeve 52 refers to the sleeve 52 that can be clamped and used in the spare area. The clamping quantity refers to the quantity corresponding to the sleeve 52 that can be clamped and used in the spare area.

[0228] The cannula 52 consistent with the first posture feature is detected and framed out from the spare image information based on the complete cannula feature and defined as the clamped cannula 52, and then the clamped cannula 52 is counted, and the counting result is used as the clamping quantity.

[0229] Step 405: Determine whether the clamping quantity is less than 1.

[0230] The sleeves 52 in the spare area are detected to determine whether there are sleeves 52 that can be clamped by determining whether the clamping quantity is less than 1.

[0231] Step 406: If the clamping quantity is less than 1, the preset vibration device is controlled to vibrate the sleeve 52 in the standby area and reacquire the standby image information.

[0232] The vibration device refers to a device for vibrating the preparation area, and the vibration device can be an electromagnetic vibration feeder. When the number of clamping is less than 1, it means that there is no sleeve 52 that can be clamped in the standby area, so the preset vibration device is controlled to vibrate the sleeve 52 in the standby area, and the standby image information of the sleeve 52 is re-acquired.

[0233] Step 407: If the clamping quantity is not less than 1, the clamping coordinates are determined according to the clamping sleeve 52 in the backup image information.

[0234] The clamping coordinates refer to the coordinates of the position of the clamping sleeve 52 in the material preparation area.

[0235] When the number of clamping is not less than 1, it means that there is a clampable sleeve 52 in the spare area. Therefore, the clamping coordinates are determined by the correspondence between the position of the clamped sleeve 52 in the spare image information and the actual position. The correspondence between the position in the spare image information and the actual position is obtained after pre-input by the operator.

[0236] Step 408 : Calculate the difference between the clamping coordinates and the preset assembly coordinates, and select the clamping sleeve 52 with the smallest difference and define it as the target sleeve 52 .

[0237] The assembly coordinates refer to the coordinates at which the sleeve 52 is assembled, and the assembly coordinates are obtained after being pre-input by the operator. The target sleeve 52 refers to the sleeve 52 that is selected, clamped and used for assembly.

[0238] By calculating the difference between the clamping coordinates and the preset assembly coordinates and screening the calculation results, the sleeve 52 corresponding to the minimum difference is screened out and used as the target sleeve 52.

[0239] Step 409: Control the preset assembly device to clamp the target sleeve 52 from the preset spare area and install it on the assembly coordinates to complete the assembly.

[0240] The assembly device refers to a device for clamping and assembling the target sleeve 52. The target sleeve 52 is clamped out of the spare area and installed at a position on the assembly coordinate by controlling the assembly device, so as to assemble the target sleeve 52.

[0241] In order to further carry out the automatic assembly of the panel 53, it also includes:

[0242] Step 501: Obtain image recognition information in a preset material pile.

[0243] The material pile refers to an area formed by stacking the connectors 54 , and the image recognition information refers to information obtained by detecting with a camera preset at the location of the material pile.

[0244] Step 502: Identify and select the preset connector features from the image recognition information, define the selected connector 54 and the connector that is consistent with the preset second posture feature as a clamping connector, and obtain the loading quantity of the clamping connector.

[0245] The connector feature refers to the shape and color of the connector 54, and the connector feature is obtained after the operator pre-inputs. The second posture feature refers to the posture feature when the angle of the connector 54 and the mounting seat 4 coincide, and the second posture feature is obtained after the operator pre-inputs. The clamping connector 54 refers to the connector 54 that needs to be clamped. The loading quantity refers to the number of connectors that need to be clamped from the material pile. The clamping connector 54 refers to the connector 54 that can currently be used to clamp the connector 54 in the material pile.

[0246] The connector 54 that is consistent with the second posture feature is identified from the image recognition information based on the connector feature and defined as the clamping connector 54, and then the connectors 54 are counted, and the counting result is used as the loading quantity.

[0247] Step 503: Determine whether the loading quantity is less than 1.

[0248] By determining whether the loading quantity is less than 1, it is determined whether the connector 54 in the material pile can be loaded.

[0249] Step 504: If the loading quantity is not less than 1, the loading coordinates are determined according to the connector 54 in the image recognition information, and the preset loading robot is controlled to place the connector 54 on the preset inspection table according to the loading coordinates.

[0250] The loading manipulator refers to a manipulator used to load the connector 54 in the material pile, and the loading manipulator is preset on the operating table 1. The detection table refers to a device used to detect the connector 54 when it is assembled to the mounting seat 4, and the detection table is preset on the operating table 1. The loading coordinates refer to the position coordinates of the connector 54 that needs to be loaded and clamped.

[0251] When the loading quantity is not less than 1, it means that the connector 54 in the material pile can be loaded, so the loading coordinates are determined by clamping the corresponding relationship between the position of the connector 54 in the image recognition information and the actual position, and the corresponding relationship between the position in the image recognition information and the actual position is obtained after the operator pre-inputs. Then, the connector 54 of the loading coordinates is placed on the preset inspection table by controlling the preset loading manipulator.

[0252] Step 505: Obtain the number of connectors 54 tested on the testing station.

[0253] The detection quantity refers to the number of connectors 54 on the detection platform during the detection. The detection quantity is detected by a weight sensor preset on the detection platform, and the detection quantity is determined by whether the detected weight falls within a preset weight detection value interval. The weight detection value interval refers to the weight interval corresponding to different numbers of connectors 54, and the weight detection value interval is obtained after being pre-input by the operator.

[0254] Step 506: Determine whether the detection quantity is consistent with a preset reference detection quantity.

[0255] The reference detection number refers to the number of fixed positions where the mounting base 4 can place and detect the connector 54. The reference detection number is obtained after being pre-input by the operator.

[0256] Whether the detection can be performed is determined by determining whether the connectors 54 that can be clamped in the material pile are consistent with the connectors 54 of the reference detection quantity.

[0257] Step 507 : If the detected quantity is inconsistent with the reference detected quantity, continue to obtain the loading quantity of the clamping connector 54 .

[0258] When the detection quantity is inconsistent with the reference detection quantity, it means that the detection cannot be performed at this time, so the loading quantity of the clamping connector 54 continues to be obtained.

[0259] Step 508: If the detection quantity is consistent with the reference detection quantity, the detection image information on the detection table is obtained.

[0260] The detection image information refers to the image information on the detection table. The detection image information is detected and obtained by the camera on the detection table. When the detection quantity is consistent with the reference detection quantity, it means that the detection can be carried out at this time, so the detection image information is obtained.

[0261] Step 509: Identify the preset notch angle feature from the detected image information and select the connector 54 that is inconsistent with the notch angle feature.

[0262] The notch angle feature refers to the feature corresponding to the notch angle of the connector 54 being able to match the notch angle of the mounting seat 4 during installation. The notch angle feature is obtained after being pre-input by the operator.

[0263] The detection image information is identified by using the notch angle feature, and the connector 54 that is inconsistent with the notch angle feature is framed to facilitate subsequent use.

[0264] Step 510: Obtain the notch angle value of the connector 54 in the selected detection image information.

[0265] The notch angle value refers to the angle corresponding to the notch orientation of the connector 54. The notch angle value is calculated by calculating the angle between the notch orientation of the connector 54 in the selected detection image information and the reference direction, and the reference direction is obtained by the operator's pre-input.

[0266] Step 511: Analyze and obtain the adjustment angle according to the notch angle value and the angle value corresponding to the notch angle feature.

[0267] The adjustment angle refers to the angle required for rotating the connector 54 circumferentially, and the difference between the notch angle value and the angle value corresponding to the notch angle feature is calculated and used as the adjustment angle.

[0268] Step 512: Control the preset adjustment device to rotate the connector 54 circumferentially according to the adjustment angle so that the notch angle value is consistent with the angle value corresponding to the notch angle feature.

[0269] The adjusting device is a device for controlling the circumferential rotation of the connector 54, and the adjusting device is preset on the operating table 1. The connector 54 on the testing table is rotated circumferentially by controlling the adjusting device until the notch angle value is consistent with the angle value corresponding to the notch angle feature.

[0270] Step 513: When the notch angle value is consistent with the angle value corresponding to the notch angle feature, analyze the detected image information and the preset clamping point to determine the clamping coordinates.

[0271] The clamping point refers to the relative position point on the connector 54 corresponding to the clamping, and the clamping point is obtained after the operator pre-inputs. The clamping coordinates refer to the actual position point corresponding to the clamping of the connector 54. When the notch angle value is consistent with the angle value corresponding to the notch angle feature, it means that the clamping can be performed at this time, and the actual position of the connector 54 as a whole is determined by detecting the image information and combined with the preset clamping point to determine the clamping coordinates.

[0272] Step 514: Control the preset loading device to clamp the connector 54 to the preset loading station according to the clamping coordinates.

[0273] The loading device refers to a device for clamping the connector 54 for loading, and the loading device is preset on the operating table 1. The loading station refers to the station when the connector 54 is loaded onto the mounting seat 4. The preset loading device is controlled by the clamping coordinates of the connector 54 to clamp the connector 54 to the loading station, and the installation is completed.

[0274] After step 507, in order to further load the connector 54, the following steps are further included:

[0275] Step 601: Control a rotating tray preset under the material pile to rotate at a preset rotation force value, update the loading quantity and obtain the angle information of the tray.

[0276] The rotation force value refers to the force value used to control the pallet to drive the material pile to rotate. The rotation force is set in advance by a person skilled in the art and will not be described in detail here. The angle information refers to the angle information corresponding to the rotation of the pallet.

[0277] By controlling the pallet preset under the material pile to rotate at a preset rotation force value, after the rotation is completed, the loading quantity in the material pile is updated and the angle information of the pallet is obtained, and the angle information after rotation is called out through the rotation of the pallet.

[0278] Step 602: Determine whether the angle information is consistent with preset reference angle information.

[0279] The reference angle information refers to the angle information that the tray needs to reach when rotating with a preset rotation force value, and the reference angle information is obtained after being pre-input by the operator. By determining whether the angle information is consistent with the preset reference angle information, it is determined whether the rotation angle of the tray meets the requirement.

[0280] Step 603: If the angle information is inconsistent with the reference angle information, a correction parameter is determined according to the angle information, and the rotation force value is corrected based on the correction parameter and re-rotated.

[0281] Among them, the correction parameter refers to the parameter value for correcting the correction rotation force value. When the angle information is inconsistent with the reference angle information, it means that the rotation angle of the tray does not meet the requirement at this time. Therefore, the angle difference between the angle information and the reference angle information is calculated, and then the correction parameter is determined by the angle difference. After the rotation force value is corrected by the correction parameter, the tray is controlled to rotate again according to the corrected rotation force value.

[0282] Step 604: If the angle information is consistent with the reference angle information, determine whether the loading quantity is less than 1.

[0283] Among them, when the angle information is consistent with the reference angle information, it means that the rotation angle of the pallet meets the requirement at this time, so it is determined whether the loading quantity is less than 1, and then it is determined whether the connector 54 in the material pile can perform the loading operation.

[0284] Step 605: If the number of grips is less than 1, control the material pile preset under the rotating tray to continue rotating at a preset force.

[0285] The preset force refers to the force required for re-rotation when there is no clamped connector 54, and the preset force is obtained by the operator after input in advance. When the clamping number is less than 1, it means that the connector 54 in the material pile cannot be loaded at this time, so the preset force is controlled to rotate the tray.

[0286] Step 606: If the clamping quantity is not less than 1, the material pile preset under the rotating tray is controlled to stop rotating, and the loading coordinates are determined according to the connector 54 in the image recognition information. According to the loading coordinates, the preset loading robot is controlled to place the connector 54 on the preset inspection table, and the inspection quantity of the connector 54 is updated and re-determined whether the loading quantity is less than 1.

[0287] When the clamping quantity is not less than 1, it means that the clampable connector 54 in the material pile can be loaded, so the rotating tray stops rotating, and the connector 54 in the image recognition information is identified to determine the loading coordinates, and then the connector 54 of the loading coordinates is placed on the inspection table by the loading robot, and the detection quantity of the connector 54 is updated. After the update, it is re-determined whether the loading quantity of the connector 54 is less than 1.

[0288] Step 607: When the detection quantity is consistent with the reference detection quantity, the loading is completed.

[0289] When the detected quantity is consistent with the reference detection quantity, it means that the loading is completed.

[0290] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A panel automatic assembly equipment, characterized in that: include: An operating table (1) is placed on the ground; A transfer device (2) is arranged on the operating table (1); The fixed platform (3) is arranged on the operating platform (1), and the transfer device (2) and the fixed platform (3) are both discs; A mounting seat (4) is disposed on the transfer device (2) and clamps the panel (53) and is provided for the connector (54) to be connected; An opening device (5) is disposed on the fixing platform (3) and is used to open the mounting seat (4); A sleeve feeding device (6) is arranged on the operating table (1) and is used to transfer the sleeve (52) to the connector (54) on the mounting seat (4); A first pressing mechanism (7) is disposed on the fixing platform (3) and is used for pressing the connector (54); A second pressing mechanism (8) is disposed on the fixing platform (3) and is used to fix the connector (54); A detection device (9) is arranged on the operating table (1) and is used to detect the integrity of the connector (54); A panel loading device (10) is arranged on the operating table (1) and is used to transfer the panel (53) to the mounting seat (4); A material unloading device (11) is arranged on the operating table (1) and is used to suck the assembled panels (53) to a preset finished product area; The casing feeding device (6) comprises a bearing plate (12), a linear vibrator (13), a feeding plate (14), a feeding cover plate (15), a support seat (16), an inclined plate cylinder (17), a first linear module (18), an inclined plate (19), a limit plate (20), a support column (21), a second linear module (22), an upper push plate (23), a roller (24), a locking plate (25), a locking block (26), a first proximity sensor (27), a column (28), a vertical plate (29), a pusher cylinder (30) and a push rod (49). The bearing plate (12) is mounted on the operating table (1), the linear vibrator (13) is mounted on the bearing plate (12), and the vibrating feeding plate (14) is mounted on the linear vibrator (13) away from the vibrator. On one side of the carrying plate (12), a vibrating feed plate (14) is used to place and transport the sleeve (52); a feeding channel (50) for the sleeve (52) to pass through and move is provided on the vibrating feed plate (14); a feeding cover plate (15) for covering the feeding channel (50) is installed on the side of the vibrating feed plate (14) away from the linear vibrator (13); the length of the vibrating feed plate (14) is at least greater than the length of the two sleeves (52); a first linear module (18) is installed on the side of the carrying plate (12) close to the mounting seat (4); the moving direction of the first linear module (18) is perpendicular to that of the vibrating feed plate (14); and an inclined plate (19) is installed on the sliding side of the first linear module (18) away from the carrying plate (12). The inclined plate (19) is provided with an inclined surface on one side away from the first linear module (18); the support seat (16) is installed on the side of the bearing plate (12) close to the mounting seat (4); the inclined plate cylinder (17) is installed on the support seat (16); and the piston rod of the inclined plate cylinder (17) is connected to the inclined plate (19), so that the inclined plate cylinder (17) pushes the inclined plate (19) to move along the length direction of the first linear module (18); the limiting plate (20) is installed on one end of the bearing plate (12) away from the support seat (16) and is used to limit the inclined plate (19); the column (28) is installed on the bearing plate (12) and is located between the inclined plate (19) and the linear vibrator (13); the column (28) is close to the inclined plate ( A second linear module (22) is installed on one side of the upper push plate (23) and the roller (24) are installed on the slider of the second linear module (22) close to the inclined plate (19), and the roller (24) is located between the upper push plate (23) and the inclined plate (19) and rolls with each other at the same time. A placement hole (51) for placing a sleeve (52) is provided on the side of the upper push plate (23) away from the roller (24), and the length direction of the placement hole (51) is consistent with the length direction of the feeding channel (50). The locking plate (25) is located on the side of the upper push plate (23) away from the vibrating feeding plate (14), and the locking plate (25) is used to limit the upper push plate (23). The locking blocks (26) are installed at both ends of the locking plate (25) along the length direction.The locking block (26) is used to fix the locking plate (25) on the vibrating feed plate (14); the first proximity sensor (27) is installed on the side of the locking plate (25) close to the bearing plate (12) and is used to detect the proximity of the sleeve (52); the column (28) is installed on the bearing plate (12), and there are two columns (28) in total and they are symmetrically located on both sides of the linear vibrator (13); the vertical plate (29) is fixedly installed on the side of the column (28) away from the bearing plate (12) through a flange, and the vertical plate (29) is located on the vibrating feed plate (14); the pusher cylinder (30) is installed on the side of the vertical plate (29) away from the column (28); the pusher rod (49) is installed on the piston rod of the pusher cylinder (30) and is used to push the sleeve (52) in the upper push plate (23) to the connector (54) in the mounting seat (4).

2. The panel automatic assembly equipment according to claim 1, characterized in that: The panel loading device (10) comprises: A conveyor belt support (31) is arranged on the operating table (1); A conveyor belt (32) is disposed on the conveyor belt support (31) and is used to convey the panel (53); A conveying support column (33) is arranged on the operating table (1); A support push plate (34) is arranged on the transmission support column (33); A feeding cylinder (35) is arranged on the supporting push plate (34); A loading block (36) is disposed on the piston rod of the loading cylinder (35) and is used to push the panel (53) to the mounting seat (4); A push plate cylinder (37) is arranged on the operating table (1); A lifting push plate (38) is arranged on the piston rod of the push plate cylinder (37) and is used to lift the panel (53) at the end of the conveyor belt (32); A lifting baffle (39) is arranged on a side of the lifting push plate (38) close to the conveyor belt (32) and is used to prevent the panel (53) from falling; A lifting bracket (40) is arranged on the operating table (1); A laser scanner (41) is disposed on the lifting bracket (40) and is used to detect the installation direction of the panel (53); The second proximity sensor (42) is disposed on the lifting bracket (40) and is used to detect the panel (53).

3. The panel automatic assembly equipment according to claim 1, characterized in that: The unloading device (11) comprises: A material blanking support plate (43) is arranged on the operating table (1) for support; An electric linear module (44) is disposed on the blanking support plate (43) and is used for movement; A third linear module (45) is arranged on a slide block of the electric linear module (44); A movable plate (46) is disposed on the third linear module (45) and is used for sliding; A suction cylinder (47) is disposed on the electric linear module (44) and is used to drive the moving plate (46) to slide; The suction cup device (48) is arranged on the movable plate (46) and is used for sucking the panel (53) from the mounting seat (4).

4. A panel automatic assembly method, characterized in that: The automatic panel assembly equipment according to any one of claims 1 to 3 comprises: Obtaining a weight detection value and image detection information of a sleeve (52) in a preset feeding plate (14); Identifying model information of the sleeve (52) from a preset feature database according to the image detection information; Determine the casing weight value based on the model information; The vibration weight interval is analyzed according to the preset vibration feeding amplitude and the sleeve weight value, wherein the vibration feeding amplitude refers to the amplitude of vibration of the sleeve (52) when the sleeve (52) is conveyed by the linear vibrator (13) vibrating the feeding plate (14), and the vibration feeding amplitude is formed after being preset and stored by the operator, and the vibration weight interval refers to the interval in which the weight of the sleeve (52) normally floats when the feeding plate (14) vibrates, and the vibration weight interval is matched from a preset vibration database according to the vibration feeding amplitude and the sleeve weight value, and the vibration database stores vibration weight intervals corresponding to different sleeve weight values ​​under the vibration feeding amplitude; Determine whether the weight detection value falls within the vibration weight interval; If the weight detection value falls into the vibration weight range, a prompt will be given; If the weight detection value does not fall into the vibration weight interval, the sensor number is obtained according to the weight detection value; Determine the blowing port number according to the sensor number; The preset air blowing device is controlled to blow air at the air port number, and the weight detection value corresponding to the sensor number is re-acquired, and a prompt is given when the weight detection value corresponding to the sensor number falls into the vibration weight interval; a warning is given when the weight detection value corresponding to the sensor number does not fall into the vibration weight interval. The air blowing device refers to a device used to blow air into the feeding plate (14) to move the sleeve (52).

5. The panel automatic assembly method according to claim 4, characterized in that: Also includes: When the weight detection value corresponding to the sensor number does not fall within the vibration weight range, the feeding plate (14) is controlled to switch from a preset working position to a preset abnormal position; At the abnormal station, the abnormal channel of the feeding plate (14) is determined according to the sensor number; Confirm the preset force parameters and pushing distance of the push tube according to the sensor number; Control the preset push tube to push toward the abnormal channel with force parameters and pushing distance, and obtain the distance detection value; Determine whether the distance detection value is not less than the push distance; If the distance detection value is not less than the pushing distance, suction is performed according to the preset suction force and the push tube is pulled back by controlling the distance detection value. After the pull-back, suction is stopped and the push tube is controlled to reset, and the feeding plate (14) is controlled to reset from the abnormal position to the working position; If the distance detection value is less than the push distance, an alarm will be issued.

6. The panel automatic assembly method according to claim 5, characterized in that: Also includes: Determine whether the weight detection value in the preset feeding area falls within the preset no-material weight interval; If the weight detection value in the feeding area does not fall into the no-material weight range, a prompt will be given; If the weight detection value in the feeding area falls into the no-material weight interval, the position of the sensor number in the feeding area falling into the no-material weight interval is determined and defined as the no-material position, and the remaining position on the feeding plate (14) is defined as the material position; Determine the number of empty materials according to the empty material position; Determine whether the quantity of unfilled materials is consistent with the preset benchmark quantity; If the quantity of unfilled materials is consistent with the benchmark quantity, an indication will be given; If the number of no materials is inconsistent with the reference number, a preset opening and closing device is controlled to control a cover plate preset on a feeding plate (14) to open, and image detection information on a transmission path corresponding to a position with materials is obtained; Identify preset casing features from the image detection information, and define the identified feature area as a material removal position; The preset material taking manipulator is controlled to clamp the sleeve (52) from the material taking position to the material free position, and the material free position and the material taking position are updated. When the material free quantity is consistent with the reference quantity, the preset opening and closing device is controlled to control the cover plate to close, so as to complete the material replenishment.

7. The panel automatic assembly method according to claim 6, characterized in that: When there is no material taking position, the feeding methods include: If the weight detection value in the loading area falls into the no-material weight range and there is no material taking position, the no-material position is updated; After the material-free position is updated, the sleeve (52) in the feeding plate (14) is controlled to be loaded to a preset assembly station; Obtaining the spare image information of the preset spare area; A cannula (52) is framed out from the spare image information according to a preset complete cannula feature, and a cannula (52) that is consistent with the preset first posture feature and is framed out is defined as a clamped cannula (52), and a clamping quantity of the clamped cannula (52) is obtained; Determine whether the number of grips is less than 1; If the number of clamping is less than 1, a preset vibration device is controlled to vibrate the sleeve (52) in the standby area, and the standby image information is reacquired; If the number of clamping is not less than 1, the clamping coordinates are determined according to the clamping sleeve (52) in the backup image information; Calculating the difference between the clamping coordinates and the preset assembly coordinates, and selecting the clamping sleeve (52) with the smallest difference and defining it as the target sleeve (52); The preset assembly device is controlled to clamp the target sleeve (52) from the preset spare area and install it on the assembly coordinates to complete the assembly.

8. The panel automatic assembly method according to claim 7, characterized in that: Also includes: Obtain image recognition information in a preset material pile; Recognize the preset connector feature from the image recognition information and select it by frame, define the selected connector (54) and the connector (54) that is consistent with the preset second posture feature as a clamping connector (54), and obtain the loading quantity of the clamping connector (54); Determine whether the loading quantity is less than 1; If the number of grips is not less than 1, a loading coordinate is determined according to the connector (54) in the image recognition information, and a preset loading robot is controlled according to the loading coordinate to place the connector (54) on a preset inspection table; Obtaining the number of connectors (54) tested on the test bench; Determine whether the test quantity is consistent with the preset benchmark test quantity; If the detected quantity is inconsistent with the reference detected quantity, the loading quantity of the clamping connector (54) is continuously obtained; If the detection quantity is consistent with the reference detection quantity, the detection image information on the detection table is obtained; Identifying a preset notch angle feature from the detected image information and selecting a connector (54) that is inconsistent with the notch angle feature; Obtaining a notch angle value of a connector (54) in the inspection image information selected by the frame; Analyze and obtain the adjustment angle according to the notch angle value and the angle value corresponding to the notch angle feature; According to the adjustment angle, a preset adjustment device is controlled to rotate the connector (54) circumferentially so that the notch angle value is consistent with the angle value corresponding to the notch angle feature; When the notch angle value is consistent with the angle value corresponding to the notch angle feature, the clamping coordinates are determined by analyzing the detected image information and the preset clamping points; A preset loading device is controlled according to the clamping coordinates to clamp the connector (54) to a preset loading station.

9. The panel automatic assembly method according to claim 8, characterized in that: If the number of clamps is less than 1, the method for confirming the loading coordinates is: Control the rotating pallet preset under the material pile to rotate at a preset rotation force value, update the loading quantity and obtain the angle information of the pallet; Determine whether the angle information is consistent with the preset reference angle information; If the angle information is inconsistent with the reference angle information, a correction parameter is determined according to the angle information, and the rotation force value is corrected based on the correction parameter and re-rotated; If the angle information is consistent with the reference angle information, determine whether the loading quantity is less than 1; If the number of grips is less than 1, the material pile preset under the rotating tray is controlled to continue rotating at a preset force; If the gripping quantity is not less than 1, the material pile preset under the rotating tray is controlled to stop rotating, and the loading coordinates are determined according to the mounting seat (4) in the image recognition information, and the preset loading manipulator is controlled to place the mounting seat (4) on the preset detection table according to the loading coordinates, and the detection quantity of the mounting seat (4) is updated and whether the loading quantity is less than 1 is re-determined; When the inspection quantity is consistent with the benchmark inspection quantity, loading is completed.

Images