A stamping part off-line system

Abstract

This application provides a stamping parts off-line system, relating to the field of stamping parts production technology. The system includes: a robot control terminal, a production control terminal, a gripping robotic arm, and multiple handling robots. The robot control terminal is used to determine the number of empty material racks to be handled based on the number of stamping parts required for the current production task and the capacity of the material racks. It controls the handling robots to move empty material racks from the material rack storage area to the receiving area corresponding to the stamping parts off-line station according to the number of empty material racks to be handled. It also controls the handling robots to move fully loaded material racks in the receiving area to the stamping parts storage area. The production control terminal controls the stamping parts production line to produce stamping parts. The gripping robotic arm is used to grip the stamping parts that have been produced and transferred to the stamping parts off-line station and place them into an unloaded material rack located in the receiving area. The handling robots perform handling tasks under the control of the robot control terminal. This solution can improve the operational efficiency of the stamping parts off-line.

Description

Technical Field

[0001] This application relates to the field of stamping parts manufacturing technology, and in particular to a stamping parts off-line system. Background Technology

[0002] Stamping refers to parts that are made by using the pressure of a die to deform sheet metal, thereby obtaining parts with a certain shape, size and performance.

[0003] When stamped parts are removed from the production line, they need to be manually removed and placed into racks. Then, a forklift is used by a person to lift the racks full of stamped parts and transport them to the designated storage area. Therefore, the process of removing stamped parts from the production line requires a large number of workers, resulting in low efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a stamping part unloading system to improve the efficiency of stamping part unloading operations.

[0005] The specific technical solution is as follows:

[0006] This application first provides a stamping part unloading system, the system including: a robot control terminal, a production control terminal, a gripping robotic arm set at the stamping part unloading station, and multiple handling robots; wherein:

[0007] The robot control terminal is used to determine the number of empty material racks to be transported based on the number of stamped parts required to be produced in the current production task and the capacity of the material rack; according to the currently determined number of empty material racks to be transported, control the transport robot to transport the empty material racks from the material rack storage area to the receiving area corresponding to the stamped part off-line station; and control the transport robot to transport the fully loaded material racks in the receiving area to the stamped part storage area.

[0008] The production control terminal is used to control the stamping production line to produce stamped parts;

[0009] The gripping robotic arm is used to grip the stamped parts that have been produced and transferred to the stamped parts off-line station and place them into a material rack located in the receiving area that is not fully loaded.

[0010] Each transport robot is used to perform transport tasks under the control of the robot control terminal.

[0011] Optionally, the production control terminal is further configured to send first information indicating the changed number of stamped parts to the robot control terminal when the number of stamped parts indicated by the production task changes.

[0012] The robot control terminal is also used to update the current number of empty material racks to be moved based on the capacity of the material rack, the number of empty material racks that the control robot has already moved, and the received first information when it receives the first information sent by the production control terminal.

[0013] Optionally, the receiving area includes: a qualified product receiving area and a non-qualified product receiving area;

[0014] The robot control terminal is specifically used to control the handling robot to move empty racks from the rack storage area to the qualified product receiving area according to the currently determined number of empty racks to be moved.

[0015] The production control terminal is also used to send a second message indicating the defective product to the robot control terminal when there are defective products among the stamped parts produced.

[0016] The robot control terminal is also used to control the handling robot to move the empty rack from the rack storage area to the non-conforming product receiving area when it is determined, based on the received second information, that an empty rack for loading non-conforming products needs to be replenished.

[0017] The gripping robotic arm is specifically used to grip the defective parts that are transferred to the stamping part off-line station and place them into a material rack located in the defective part receiving area that is not fully loaded; and to grip the qualified stamping parts that are transferred to the stamping part off-line station and place them into a material rack located in the qualified part receiving area that is not fully loaded.

[0018] Optionally, the system further includes: a first image acquisition device, configured to, when the stamped part is at the initial position and the produced stamped part reaches the designated detection position of the stamped part production line, follow the stamped part at the speed at which the stamped part is transported by the stamped part production line, and acquire images of the stamped part during the movement, until the first image acquisition device moves to the end position and returns to the initial position; and determine whether the stamped part is a qualified product based on the acquired images.

[0019] Optionally, the first image acquisition device is specifically used to acquire images of various parts of the stamped part during the movement.

[0020] Optionally, the first image acquisition device is specifically used for:

[0021] Based on a pre-set machine learning model, image features of the collected stamped parts images are extracted and used as features to be utilized;

[0022] If the image features of qualified products are recorded in a preset image feature library, and the feature to be used matches the image features of the qualified products, then the stamping part in the acquired image is determined to be a qualified product; if the feature to be used does not match the image features of the qualified products, then the stamping part in the acquired image is determined to be a defective product; wherein, the image features in the image feature library are obtained by feature extraction of the image of the stamping part based on the machine learning model;

[0023] If the image features of qualified products and unqualified products are recorded in a preset image feature library, and if the feature to be used does not match the image features of the unqualified product but matches the image features of the qualified product, then the stamped part in the acquired image is determined to be a qualified product; if the feature to be used matches the image features of the unqualified product, then the stamped part in the acquired image is determined to be an unqualified product; if the feature to be used does not match the image features of the unqualified product and does not match the image features of the qualified product, then manual inspection is prompted, and a manually added label indicating whether the stamped part in the acquired image is qualified is obtained. The image features of the stamped part and the label are recorded in the image feature library accordingly.

[0024] Optionally, the handling robot includes a forklift robot.

[0025] Optionally, the handling robot also includes: a lurking forklift robot;

[0026] The robot control terminal is specifically used to control the forklift robot to move empty racks from the rack storage area to the empty rack receiving area according to the currently determined number of empty racks to be moved, and to control the lurking forklift robot to move empty racks from the empty rack receiving area to the receiving area; to control the lurking forklift robot to move fully loaded racks to the full rack receiving area, and to control the forklift robot to move fully loaded racks from the full rack receiving area to the stamping parts storage area.

[0027] Optionally, the robot control terminal is also used to control the forklift robot to stack the transported racks when the forklift robot carrying the fully loaded racks reaches the stamping parts storage area.

[0028] Optionally, the robot control terminal is also used to control the forklift robot to destacking the stacked racks when there is a demand for the delivery of stamped parts, and to transport the racks carrying the stamped parts to the demand side after destacking.

[0029] Optionally, the system further includes: a first rack detection device disposed on the route from the rack storage area to the receiving area;

[0030] The first rack detection device is used to detect the type of each rack that the handling robot on the route moves to the receiving area, and to send the detected rack type to the robot control terminal;

[0031] The robot control terminal is also used to control the transport robot that is transporting the rack to stop moving towards the receiving area when the type of rack detected by the first rack detection device is not the specified type, and to control the transport robot to move the empty rack towards the receiving area from the area where the rack of the specified type is stored in the rack storage area; wherein, the specified type is the type of rack used to load the stamping parts currently being produced.

[0032] Optionally, the system further includes: a second image acquisition device;

[0033] The second image acquisition device is used to acquire images of the stamped parts at the stamping part off-line station, and guide the gripping robotic arm to grab the stamped part into the material rack in the receiving area based on the acquired images.

[0034] Optionally, the system further includes: a second material rack detection device;

[0035] The second rack detection device is used to detect the type of racks arriving at the receiving area and send the detected rack type to the robot control terminal;

[0036] The robot control terminal is also used to control the transport robot that transports the rack to move the rack away from the receiving area when the rack type detected by the second rack detection device is not the specified type, and to control the transport robot to move the empty rack to the receiving area from the area where the rack of the specified type is stored in the rack storage area; wherein, the specified type is the type of rack used to load the stamping parts currently being produced.

[0037] Beneficial effects of the embodiments in this application:

[0038] The stamping parts off-line system provided in this solution, through the cooperation of a robot control unit, a production control unit, a gripping robotic arm set up at the stamping parts off-line station, and multiple handling robots, enables the production control unit to control the stamping parts production line to produce stamping parts. During the production process, the robot control unit can determine the number of empty material racks to be transported based on the number of stamping parts required for the current production task, and then control the robots to transport the required number of empty material racks to the receiving area corresponding to the off-line station. The gripping robotic arm can grab the produced stamping parts and place them into the unloaded material racks located in the receiving area. The handling robots can also transport the fully loaded material racks in the receiving area to the stamping parts storage area, thereby realizing unmanned stamping parts off-line operation and improving the efficiency of stamping parts off-line operation.

[0039] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0041] Figure 1 This is a schematic diagram of a stamping part production line system provided in an embodiment of this application;

[0042] Figure 2 This is a schematic diagram of another structure of the stamping part unloading system provided in the embodiments of this application;

[0043] Figure 3 This is a schematic diagram showing the first image acquisition device moving along with the stamped part in an embodiment of this application;

[0044] Figure 4 This is a flowchart of a stamping part production line system provided in an embodiment of this application;

[0045] Figure 5 This is another flowchart of the stamping part production line system provided in the embodiments of this application;

[0046] Figure 6 This is another structural schematic diagram of the stamping part unloading system provided in the embodiments of this application. Detailed Implementation

[0047] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0048] To improve the efficiency of stamping part unloading, this application provides a stamping part unloading system, which may include: a robot control terminal, a production control terminal, a gripping robotic arm installed at the stamping part unloading station, and multiple handling robots; wherein:

[0049] The robot control terminal is used to determine the number of empty racks to be moved based on the number of stamped parts required to be produced in the current production task and the capacity of the racks; according to the determined number of empty racks to be moved, it controls the handling robot to move the empty racks from the rack storage area to the receiving area corresponding to the stamped parts off-line station; and controls the handling robot to move the fully loaded racks in the receiving area to the stamped parts storage area.

[0050] The production control terminal is used to control the production line of stamped parts to produce stamped parts.

[0051] The gripping robotic arm is used to grip the stamped parts that have been produced and transferred to the stamping part off-line station and place them into a material rack located in the receiving area that is not fully loaded.

[0052] Each transport robot is used to perform transport tasks under the control of the robot control terminal.

[0053] In this embodiment, with the cooperation of the robot control unit, the production control unit, the gripping robotic arm located at the stamping part off-line station, and multiple handling robots, the production control unit controls the stamping part production line to produce stamping parts. During the stamping part production process, the robot control unit can determine the number of empty material racks to be moved based on the current production task's required number of stamping parts, and then control the robots to move the required number of empty material racks to the receiving area corresponding to the off-line station. The gripping robotic arm can grab the produced stamping parts and place them into the unloaded material racks located in the receiving area. The handling robots can also move the fully loaded material racks in the receiving area to the stamping part storage area. This solution achieves unmanned stamping part off-line operation, thus improving the efficiency of the stamping part off-line operation.

[0054] The stamping part production line system provided in the embodiments of this application will now be described in conjunction with the accompanying drawings.

[0055] like Figure 1 As shown, the stamping part unloading system may include: a robot control terminal 101, a production control terminal 102, a gripping robotic arm 103 installed at the stamping part unloading station, and multiple handling robots 104; wherein:

[0056] The robot control terminal 101 is used to determine the number of empty material racks to be transported based on the number of stamped parts required to be produced in the current production task and the capacity of the material rack; according to the currently determined number of empty material racks to be transported, control the transport robot 104 to transport the empty material racks from the material rack storage area to the receiving area corresponding to the stamped part off-line station; and control the transport robot 104 to transport the fully loaded material racks in the receiving area to the stamped part storage area.

[0057] Production control terminal 102 is used to control the production line of stamping parts to produce stamping parts.

[0058] The robot control terminal 101 can be an electronic device with information transmission and processing functions, such as a computer or server. The production control terminal 102 can also be an electronic device with information transmission and processing functions. In specific scenarios, the production control terminal 102 can be a production line information system, such as a MES (Manufacturing Execution System) or MOM (Manufacturing Operation Management System). The robot control terminal 101 and the production control terminal 102 can communicate via a wired connection, such as a data transmission cable, or a wireless connection, such as a WLAN (Wireless Local Area Network) or 5G (Fifth Generation Data Transmission Technology), to facilitate information exchange between the two.

[0059] To facilitate the movement of the handling robot 104, the connection between the robot control terminal 101 and the handling robot 104 can be wireless. Furthermore, the robot control terminal 101 can periodically obtain the status information of each managed handling robot 104 through heartbeat detection, such as the position of the handling robot 104 and whether it is idle (i.e., whether it is performing a handling task).

[0060] The number of stamped parts required for the current production task can be set directly by the operator on the robot control terminal 101. Alternatively, this number can also be set directly by the operator on the production control terminal 102, which then sends the information to the robot control terminal 101. The stamped part off-line station can be the section of the stamped part production line used to off-line the produced stamped parts. The receiving area corresponding to the stamped part off-line station can be an area designated near the station. The receiving area can accommodate one or more racks; for example, it can include multiple parking points, each accommodating one rack. The stamped part storage area can be the factory's warehouse. If the number of racks that the receiving area can accommodate (hereinafter referred to as the receiving area capacity) is less than the number of empty racks to be moved, the robot control terminal 101 can first control the robot to move racks of the receiving area capacity to the receiving area. When a fully loaded rack in the receiving area is moved away, the robot is then controlled to move newly moved empty racks to the receiving area until the number of empty racks moved to the receiving area reaches the number determined according to the production task.

[0061] Understandably, the number of empty racks to be moved can be determined based on the ratio of the number of stamped parts to be produced to the rack capacity. For example, if the number of stamped parts to be produced is 900 and the capacity of a single rack is 30, then the number of empty racks to be moved is 30. The robot control unit 101 can then select an idle transport robot 104 to move 30 empty racks to the receiving area corresponding to the stamped parts off-line station. After the transport robot 104 moves the empty racks to the receiving area, it can place them there and then drive away to perform other transport tasks. When there are full racks in the receiving area, the robot control unit 101 will then select an idle transport robot 104 to move the full racks to the stamped parts storage area. Currently, the handling robot 104 can also wait in the receiving area after moving the empty rack to the receiving area corresponding to the stamping part off-line station until the rack is full before moving it to the stamping part storage area. When selecting an idle handling robot 104, the robot control terminal 101 can prioritize selecting the handling robot 104 closest to the rack to be moved, or the handling robot 104 with the highest battery level.

[0062] In addition, after production stops, if there are unloaded racks in the receiving area, the robot control terminal 101 can also control the handling robot 104 to move the unloaded racks to the stamping parts storage area.

[0063] The gripping robotic arm 103 is used to grip the stamped parts that have been produced and transferred to the stamping part off-line station and place them into a material rack located in the receiving area that is not fully loaded.

[0064] A vision camera, specifically a 3D (Dimensions) vision camera, can be installed on the gripping robotic arm 103 to guide it in gripping the stamped part. Depending on the factory layout, there can be one or multiple gripping robotic arms 103. When there are multiple gripping robotic arms 103, each arm can alternately grip the stamped part and place it into the material rack.

[0065] For each rack, the gripping robotic arm 103 can determine whether the rack is full based on the number of stamped parts gripped and the rack's capacity. For example, if the rack's capacity is 30 parts, the gripping robotic arm 103 can determine that the rack is full after gripping 30 stamped parts. When the rack is determined to be full, the gripping robotic arm 103 can send information indicating that the rack is full to the robot control terminal 101, so that the robot control terminal 101 can subsequently control the robot to move the rack away from the receiving area.

[0066] Each handling robot 104 is used to perform handling tasks under the control of the robot control terminal 101.

[0067] Currently, when stamped parts come off the production line, they need to be packed manually. This means that the stamped parts are picked up by hand and placed into the racks, and then a forklift is driven by a person to transport the fully loaded racks to the stamped parts storage area. This requires a lot of manpower and high forklift driving skills.

[0068] In this embodiment, with the cooperation of the robot control terminal 101, the production control terminal 102, the gripping robotic arm 103 located at the stamping part off-line station, and multiple handling robots 104, the production control terminal 102 controls the stamping part production line to produce stamping parts. The robot control terminal 101, during the stamping part production process, can determine the number of empty material racks to be moved based on the current production task, and then control the robots to move the required number of empty material racks to the receiving area corresponding to the off-line station. The gripping robotic arm 103 can grab the produced stamping parts and place them into the unloaded material racks in the receiving area. The handling robots 104 can also move the fully loaded material racks in the receiving area to the stamping part storage area. This solution achieves unmanned stamping part off-line operation, thus improving the efficiency of stamping part off-line operation. Furthermore, it reduces the safety risks of personnel handling material racks and reduces labor costs for operators.

[0069] In one embodiment of this application, the production control terminal 102 is further configured to send first information indicating the changed number of stamped parts indicated by the production task to the robot control terminal 101 when the number of stamped parts indicated by the production task changes.

[0070] The robot control terminal 101 is also used to update the number of empty material racks to be transported based on the capacity of the material rack, the number of empty material racks that the control handling robot 104 has already transported, and the received first information when it receives the first information sent by the production control terminal 102.

[0071] A change in the number of stamped parts indicated by the production task may be due to adjustments in the production plan for the stamped parts. For example, the number of stamped parts to be produced may have increased or decreased. When adjustments to the production plan are necessary, the operator can modify the required number of stamped parts to be produced at the production control terminal 102. Furthermore, the production control terminal 102 can send first information indicating the changed number of stamped parts to the robot control terminal 101. Understandably, the first information can be the changed number of stamped parts to be produced, including a decrease or increase. The first information can also be the total number of stamped parts to be produced after the change.

[0072] When the robot control terminal 101 receives the first information, it can update the current number of empty racks to be moved based on the first information, the capacity of the rack, and the number of empty racks already moved by the handling robot 104. For example, if the initial production plan for stamped parts is 900 pieces, and the capacity of a single rack is 30 pieces, and the robot control terminal 101 has already controlled the handling robot 104 to move 20 racks to the receiving area, then the number of empty racks to be moved is 10. If the robot control terminal 101 receives the first information indicating that the required production of stamped parts has increased by 300 pieces, then the robot control terminal 101 can determine that the current number of empty racks to be moved is 20.

[0073] In one scenario, if the first information indicates that the number of stamped parts to be produced is reduced, and the total capacity of the racks currently transported to the receiving area is greater than the reduced number of stamped parts to be produced, then the robot control terminal 101 can determine that the number of empty racks to be transported is 0, meaning that there is no need to transport empty racks to the receiving area.

[0074] In this embodiment, unmanned operation of stamped parts unloading is achieved, improving the efficiency of stamped parts unloading. Furthermore, by interacting with the production control terminal 102 through the robot control terminal 101, the problem of real-time adjustment of the number of empty material racks to be transported during the existing stamped parts unloading process is solved. That is, the number of empty material racks to be transported can be automatically adjusted in real time according to the adjustment of the production plan, further improving production efficiency.

[0075] In one embodiment of this application, the receiving area includes a qualified product receiving area and a non-qualified product receiving area. For example, the receiving area may include 10 areas for accommodating racks, of which 9 are for accommodating racks loaded with qualified products and 1 is for accommodating racks loaded with non-qualified products.

[0076] The robot control terminal 101 is specifically used to control the handling robot 104 to move empty racks from the rack storage area to the qualified product receiving area according to the currently determined number of empty racks to be moved.

[0077] The production control terminal 102 is also used to send a second message indicating the defective product to the robot control terminal 101 when there are defective products in the stamped parts being produced.

[0078] The robot control terminal 101 is also used to control the handling robot 104 to move the empty rack from the rack storage area to the non-conforming product receiving area when it is determined, based on the received second information, that an empty rack for loading non-conforming products needs to be replenished.

[0079] Each time a defective product is detected, the production control terminal 102 can send a second message to the robot control terminal 101. The robot control terminal 101 can then determine the number of defective products based on the number of times the second message is received, and consequently determine the number of empty racks used to load the defective products. However, this is not the only possible method; for example, the second message could also be the number of defective products.

[0080] In one implementation, since the probability of defective products is low, the robot control unit 101 can first control the robot to move empty racks used for loading qualified products. When the second information indicating a defective product is received for the first time, the robot control unit 101 can determine that an additional empty rack for loading defective products is needed. At this time, the robot control unit 101 controls the robot to move the first empty rack to the defective product receiving area. When the empty rack is full, the handling robot 104 can be controlled to move the rack to the defective product storage area. Subsequently, when the second information is received again, the robot control unit 101 can control the robot to move the empty rack to the defective product receiving area again.

[0081] For example, if the production plan for stamped part A is 900 pieces and the capacity of a single rack is 30 pieces, and a defective piece appears when the 100th piece is actually produced, then the robot control terminal 101 can determine that 27 more empty racks are needed, and an additional rack is generated to load the defective piece.

[0082] To detect whether a stamped part is a qualified or unqualified product, as shown in Figure 2, the stamped part production line system may further include: a first image acquisition device 105, used to acquire images of the produced stamped parts, and then determine whether the stamped part is a qualified product based on the acquired images. Specifically, in one implementation, when the produced stamped part is at its initial position and reaches the designated detection position on the stamped part production line, the first image acquisition device 105 follows the stamped part according to the speed at which the stamped parts are transported on the production line, and acquires images of the stamped part during the movement, until the first image acquisition device 105 moves to the end position and returns to the initial position; the system then determines whether the stamped part is a qualified product based on the acquired images.

[0083] like Figure 3 As shown, the first image acquisition device 105 can start moving from its initial position at a speed v to follow the stamped part when it reaches the designated detection position i, until the first image acquisition device 105 moves to the end position, at which point the stamped part reaches the end detection position j. A conveyor belt can be installed in the stamped part production line to transport the produced stamped parts to the stamped part unloading station. A robotic arm can be installed near the conveyor belt to control the first image acquisition device 105 to follow the stamped part.

[0084] To detect the presence of a stamping part at a designated detection location, a photoelectric sensor can be installed at the designated detection location. Alternatively, the first image acquisition device 105 can acquire images of the designated detection location in real time and perform target detection on the acquired images to determine whether a stamping part exists at the designated detection location.

[0085] In this embodiment, the first image acquisition device 105 is controlled to follow the stamping part according to the speed at which the stamping part is transported on the stamping part production line, and to acquire images of the stamping part during the movement. This allows for the detection of the stamping part without stopping the transport of the stamping part, thereby further improving the production efficiency of the stamping part.

[0086] Furthermore, the first image acquisition device 105 is specifically used to acquire images of various parts of the stamped part during the movement process. Since some stamped parts have complex structures, defects may appear in various parts of the stamped part. Therefore, in order to perform more accurate inspection, images of various parts of the stamped part can be acquired for inspection. For example, images of the stamped part can be acquired from the top, left, and right sides to obtain images of various parts of the stamped part. In specific implementation, a movement path can be set for the robotic arm controlling the first image acquisition device 105 according to the parts of the stamped part to be inspected as needed. Whenever the stamped part reaches the designated inspection position, the robotic arm can carry the first image acquisition device 105 to move along the set movement path, so that the first image acquisition device 105 acquires images of different parts of the stamped part from multiple angles.

[0087] In this case, the gripping robotic arm 103 is specifically used to grip the non-conforming products that are transferred to the stamping part off-line station and place them into a material rack located in the non-conforming product receiving area that is not fully loaded; and to grip the qualified stamping parts that are transferred to the stamping part off-line station and place them into a material rack located in the qualified product receiving area that is not fully loaded.

[0088] When the first image acquisition device 105 detects the inspection result of the currently produced stamped part (the inspection result indicates whether the stamped part is qualified or unqualified), it can send the inspection result to the gripping robot arm 103, or it can send the inspection result to the production control terminal 102, which then sends the inspection result to the gripping robot arm 103. Thus, the gripping robot arm 103 can, when the current stamped part is qualified, grip the stamped part and place it in a partially loaded rack located in the qualified part receiving area; when the current stamped part is unqualified, grip the stamped part and place it in a partially loaded rack located in the unqualified part receiving area.

[0089] Currently, quality inspection of stamped parts upon completion of the production line is generally conducted by workers based on observation and touch, which requires a large workforce, high technical skills, inconsistent inspection standards, and carries the risk of incorrect or missed inspections. However, using the first image acquisition device 105 to inspect the quality of stamped parts can further reduce labor costs in the quality inspection process, improve inspection efficiency, enhance the consistency of inspection standards, and reduce the risk of incorrect or missed inspections.

[0090] In one implementation, the first image acquisition device 105 is specifically used for:

[0091] If the image features of qualified products are recorded in the preset image feature library, and the feature to be used matches the image features of qualified products, then the stamping part in the acquired image is determined to be a qualified product; if the feature to be used does not match the image features of qualified products, then the stamping part in the acquired image is determined to be a non-qualified product; wherein, the image features in the image feature library are obtained by feature extraction of the image of the stamping part based on a machine learning model;

[0092] The aforementioned preset machine learning model can be any machine learning model that extracts features from images, such as a CNN (Convolutional Neural Networks) model. In one implementation, the machine learning model can also be trained based on images of sample stamped parts and the actual quality inspection results of the sample stamped parts. The sample stamped parts can include qualified and unqualified stamped parts. Specifically, the machine learning model can be connected to a detection head, which is used to output detection results based on image features. In this way, the initial structure of the machine learning model can be used to extract images of sample stamped parts, and the extracted image features can be input into the detection head to obtain the output detection results. Then, the model loss can be calculated based on the detection results and the actual quality inspection results. Subsequently, the model parameters of the initial structure of the machine learning model can be tuned based on the obtained model loss until the model converges, resulting in a trained machine learning model.

[0093] In one implementation, an image feature library can record image features of various parts of a qualified stamped part. The feature to be used can include image features of each part of the stamped part. In this case, if the image features of each part of the stamped part can match the image features of that part of a qualified stamped part recorded in the image feature library, then it can be determined that the feature to be used matches the image features of the qualified part; otherwise, it is determined that the feature to be used does not match the image features of the qualified part.

[0094] In one implementation, when matching features from an image feature library, the similarity between the feature to be used and each feature in the image feature library can be calculated, for example, by calculating cosine distance or Euclidean distance. If there is a feature in the image feature library whose similarity to the feature to be used reaches a preset threshold, then the feature is determined to match the feature to be used. If there are multiple features whose similarity to the feature to be used reaches the preset threshold, then the feature with the highest similarity can be determined as the feature that matches the feature to be used.

[0095] If the image features of qualified products and unqualified products are recorded in the preset image feature library, and the feature to be used does not match the image features of the unqualified product but matches the image features of the qualified product, then the stamped part in the acquired image is determined to be a qualified product; if the feature to be used matches the image features of the unqualified product, then the stamped part in the acquired image is determined to be an unqualified product; if the feature to be used does not match the image features of the unqualified product and does not match the image features of the qualified product, then manual inspection is prompted, and a manually added label indicating whether the stamped part in the acquired image is qualified is obtained. The feature to be used and the corresponding label are recorded in the image feature library.

[0096] In this case, the image feature library can record the image features of each local part of a qualified stamped part, as well as the image features of the local parts of a defective stamped part.

[0097] For any part of the stamped part, if the image features of the image of that part match the image features of the defective product in the image feature library, then it can be determined that the feature to be used matches the image features of the defective product; if the image features of the image of each part of the stamped part do not match the image features of the defective product in the image feature library, then it can be determined that the feature to be used does not match the image features of the defective product.

[0098] In this embodiment, it can first be determined whether the feature to be used matches the image features of the defective product. If they match, the stamped part is determined to be a defective product. If they do not match, it is then determined whether the feature to be used matches the image features of the qualified product. If they match the image features of the qualified product, the stamped part can be determined to be a qualified product. If they do not match the image features of the qualified product, it indicates that the image feature library cannot be used to determine whether the stamped part is qualified, and a new type of defect may have occurred. In this case, the first image acquisition device 105 can also notify the staff to conduct manual inspection to determine whether the stamped part is qualified, and then obtain the manually added label indicating whether the stamped part in the acquired image is qualified, and record the image features of the stamped part and the label in the image feature library. Specifically, the image features of the local image of the defective part of the stamped part can be recorded in the image feature library.

[0099] For example, if a defect is identified in a stamped part by human intervention, images of the defective portion of the stamped part can be manually captured, and image features can be extracted using a machine learning model and recorded in an image feature library.

[0100] In addition, the image feature library can also record the types of defects, which can refer to the types of defects that cause the stamped parts to be defective, such as deformation, wear, and cracking. This enables the first image acquisition device 105 to have the ability to determine the type of defect of the defective stamped parts.

[0101] By continuously adding image features and tags of defective stamped parts to the image feature library, the results of the first image acquisition device 105 in detecting stamped parts can become more and more accurate.

[0102] In this embodiment, unmanned stamping part unloading operation can be realized, improving the efficiency of stamping part unloading. Furthermore, when there are defective stamping parts among the produced stamping parts, the production control terminal 102 sends second information indicating the defective parts to the robot control terminal 101. The robot control terminal 101 is also used to control the handling robot 104 to transport empty racks from the rack storage area to the defective part receiving area if it determines, based on the received second information, that an empty rack for loading defective parts needs to be replenished. The gripping robotic arm 103 is specifically used to grip the defective parts transferred to the stamping part unloading station and place them into a partially loaded rack in the defective part receiving area; and to grip the qualified stamping parts transferred to the stamping part unloading station and place them into a partially loaded rack in the qualified part receiving area. It can adjust the number of empty racks to be transported in real time according to the defective products that appear in the production process, and by cooperating with the gripping robot arm 103, it can automatically load qualified and defective products into different racks.

[0103] In one embodiment of this application, the handling robot 104 includes a forklift mobile robot (FMR). The robot control terminal 101 is also used to control the forklift robot to stack the transported racks when it reaches the stamped parts storage area; and to control the forklift robot to destacking the stacked racks when there is a demand for stamped parts delivery, and to transport the destacking racks carrying the stamped parts to the demand side.

[0104] The demand side for stamped parts can be a downstream production line that performs further processing on the stamped parts. The robot control unit 101 can control a forklift robot to stack the racks transported to the stamped parts storage area, thus improving the utilization rate of the storage space. Furthermore, when there is a demand for stamped parts in a downstream process, the robot control unit 101 can again control the forklift robot to destacking the stacked racks and transport the destacking racks containing the stamped parts to the demand side.

[0105] In this case, the workflow of this embodiment can be as follows: Figure 4 As shown:

[0106] S401, changing boxes on the production line;

[0107] That is, the robot control terminal 101 controls the forklift robot to transport the fully loaded racks out of the receiving area and move the empty racks to the receiving area;

[0108] S402, full case off the production line;

[0109] That is, the robot control terminal 101 controls the forklift robot to transport the fully loaded rack from the receiving area to the stamping parts storage area;

[0110] S403, empty container put into service;

[0111] That is, the robot control terminal 101 controls the forklift robot to move the empty rack from the rack storage area to the receiving area;

[0112] S404, full boxes are being stored and stacked;

[0113] That is, the robot control terminal 101 controls the forklift robot to stack the racks that have been transported to the stamping parts storage area;

[0114] S405, full box unpacking and material preparation;

[0115] When there is a demand for the delivery of stamped parts, the robot control terminal 101 controls the forklift robot to destacking the stacked racks.

[0116] S406, downstream delivery;

[0117] That is, the robot control terminal 101 controls the forklift robot to transport the rack containing the stamped parts after destacking to the end where the stamped parts are needed.

[0118] In this embodiment, unmanned operation of stamped parts unloading is achieved, improving the efficiency of stamped parts unloading. Furthermore, the robot control terminal controls the forklift robot to stack the transported racks, and when there is a demand for stamped parts delivery, the forklift robot controls the destacking operation of the stacked racks. That is, in the stamped parts storage area, the racks are separated from the stacked state, and then the destacking racks carrying stamped parts are transported to the demand side. This enables automated stacking and destacking of racks, improves the utilization rate of the stamped parts storage area, and also significantly reduces the number of personnel required for subsequent destacking and delivery of stamped parts racks.

[0119] In one embodiment of this application, the handling robot 104 further includes a lurking forklift robot, namely an autonomous mobile robot (AMR). In this case, the robot control terminal 101 is specifically used to control the forklift robot to move empty racks from the rack storage area to the empty rack receiving area according to the currently determined number of empty racks to be moved, and to control the lurking forklift robot to move empty racks from the empty rack receiving area to the receiving area; to control the lurking forklift robot to move fully loaded racks to the full rack receiving area, and to control the forklift robot to move fully loaded racks from the full rack receiving area to the stamping parts storage area.

[0120] Depending on the factory layout, the empty rack receiving area and the full rack receiving area can be the same area or different areas. To improve handling efficiency, they can be in the same area or adjacent areas. Forklift robots can be used solely to move empty racks to the empty rack receiving area and to move fully loaded racks from the full rack receiving area to the stamping parts storage area, where they are then stacked. While low-profile forklift robots are too short to perform stacking operations, they are more flexible and have higher handling efficiency. Therefore, low-profile forklift robots can be used solely to move empty racks from the empty rack receiving area to the receiving area and to move fully loaded racks from the receiving area to the full rack receiving area, improving the efficiency of this process. Through the cooperation between low-profile forklift robots and forklift robots, both handling efficiency and rack stacking operations can be achieved.

[0121] Furthermore, the stealthy forklift robot has its own forks. When the robot moves near the rack, it can directly pick up and move the rack without having to crawl under it. This allows the stealthy forklift robot to handle racks that are low, even when used for loading stamped parts. Traditional stealthy robots, on the other hand, lack forks and require a single-layer shelf to load stamped parts. This embodiment uses a more flexible stealthy forklift robot, eliminating the need for a single-layer shelf and reducing production costs.

[0122] In this case, the workflow of this embodiment can be as follows: Figure 5 As shown:

[0123] S501, changing boxes on the production line;

[0124] That is, the robot control terminal 101 controls the lurking forklift robot to transport the fully loaded material rack from the receiving area and move the empty material rack to the receiving area, realizing the box changing of the stamping production line.

[0125] S502, a stealthy forklift robot is off the production line;

[0126] That is, the robot control terminal 101 controls the lurking forklift robot to move the fully loaded rack to the full rack docking area.

[0127] S503, stop at the shuttle area;

[0128] That is, the robot control terminal 101 controls the lurking forklift robot to move the fully loaded rack to the full rack receiving area; and controls the forklift robot to move the empty rack from the rack storage area to the empty rack receiving area.

[0129] S504, full empty swap;

[0130] That is, the robot control terminal 101 controls the lurking forklift robot to place the fully loaded rack in the full rack docking area, and then controls the lurking forklift robot to move the empty rack from the empty rack docking area; and the control terminal controls the forklift robot to place the empty rack in the empty rack docking area, and then controls the forklift robot to move the fully loaded rack from the full rack docking area.

[0131] S505, empty container launched;

[0132] That is, the robot control terminal 101 controls the lurking forklift robot to transport the empty material rack to the receiving area.

[0133] S506, fully loaded and stacked in the warehouse;

[0134] That is, the robot control terminal 101 controls the forklift robot to transport the fully loaded rack to the stamping parts storage area and stack them.

[0135] S507, empty container outbound transfer;

[0136] That is, the robot control terminal 101 controls the forklift robot to move empty racks from the rack storage area;

[0137] S508, material preparation in the docking area;

[0138] That is, the robot control terminal 101 controls the forklift robot to move the empty rack from the rack storage area to the empty rack receiving area;

[0139] S509, a stealthy forklift robot delivering goods and returning empty;

[0140] That is, the robot control terminal 101 controls the lurking forklift robot to move the empty material rack from the empty material rack receiving area to the receiving area;

[0141] S510, forklift robot returns empty;

[0142] That is, the robot control terminal 101 controls the forklift robot to move the empty rack from the rack storage area to the empty rack transfer area.

[0143] During the production process, the above process can be repeated until the number of empty material racks in the receiving area reaches the number required for the production task, and all the produced stamped parts are moved to the stamped parts storage area.

[0144] In this embodiment, unmanned operation of stamped parts unloading is achieved, improving the efficiency of stamped parts unloading. Furthermore, the handling robot also includes a forklift robot and a stealthy forklift robot. The robot control terminal controls the forklift robot to move empty racks from the rack storage area to the empty rack receiving area according to the currently determined number of empty racks to be moved, and controls the stealthy forklift robot to move empty racks from the empty rack receiving area to the receiving area; it also controls the stealthy forklift robot to move fully loaded racks to the full rack receiving area, and controls the forklift robot to move fully loaded racks from the full rack receiving area to the stamped parts storage area. This solution, through the cooperation between the stealthy forklift robot and the forklift robot, can balance handling efficiency and achieve automated rack stacking, saving warehouse space.

[0145] In one embodiment of this application, as Figure 2 As shown, the stamping part off-line system also includes: a first material rack inspection device 106 disposed on the route from the material rack storage area to the receiving area;

[0146] The first rack detection device 106 is used to detect the type of each rack that the handling robot 104 on the route moves to the receiving area, and to send the detected rack type to the robot control terminal 101.

[0147] Because stamped parts produced on different production lines vary in size and shape, different stamped parts may require different racks for loading. In one implementation, a first rack detection device 106 can be positioned at a designated location on the route from the rack storage area to the receiving area to detect the type of rack passing through that designated location. There are various ways to detect the rack type; for example, an RFID tag can be attached to the rack, and the first rack detection device 106 can parse the information carried by the RFID tag to determine the rack type.

[0148] Alternatively, the first rack detection device 106 can also be an intelligent camera equipped with a classification model. This classification model can be a neural network model trained based on sample racks and their corresponding real labels. In this way, the first rack detection device 106 can first acquire images of the racks being transported by the handling robot 104 along the route, and then input the acquired images into the classification model to determine the type of rack.

[0149] The robot control terminal 101 is also used to control the transport robot 104 that is transporting the rack to stop moving towards the receiving area when the type of rack detected by the first rack detection device 106 is not the specified type, and to control the transport robot 104 to move the empty rack to the receiving area from the area where the rack of the specified type is stored in the rack storage area; wherein, the specified type is the type of rack used to load the stamping parts currently being produced.

[0150] When the type of the rack is not the specified type, it indicates that the handling robot 104 has handled the wrong rack, and a rack of the correct type needs to be added to the receiving area. Therefore, the handling robot 104 handling the rack can be controlled to stop moving towards the receiving area, and the handling robot 104 can be controlled to move from the area storing racks of the specified type in the rack storage area to the receiving area. In one implementation, the robot control terminal 101 can obtain the position information of the handling robot 104 in real time. When it receives the rack type sent by the first rack detection device 106, it can determine that the handling robot 104 currently located at the specified position is the handling robot that has handled the wrong rack.

[0151] The robot control terminal 101 can also send an error message to the staff when it determines that the type of the material rack is not the specified type. For example, the error message can be displayed on a screen used for information display in the factory, so that the staff can quickly go to the site to resolve the error.

[0152] In this embodiment, unmanned stamping part unloading operations can be achieved, improving the efficiency of stamping part unloading. Furthermore, the stamping part unloading system also includes a first rack detection device installed on the route from the rack storage area to the receiving area. This device detects the type of each rack being transported by the handling robot to the receiving area and sends the detected rack type to the robot control terminal. When the rack type detected by the first rack detection device is not the specified type, the robot control terminal stops the handling robot carrying that rack from moving towards the receiving area and moves the empty rack from the area where racks of the specified type are stored in the rack storage area to the receiving area. This solution automatically detects whether the handling robot has transported the wrong rack, avoiding placing incorrect racks in the receiving area, and promptly replenishes the receiving area with the correct type of rack if the wrong rack has been transported.

[0153] In one embodiment of this application, as Figure 6 As shown, the system may also include: a second image acquisition device 107;

[0154] The second image acquisition device 107 is used to acquire images of stamped parts at the stamping part off-line station, and guide the gripping robotic arm to grab the stamped part into the material rack in the receiving area based on the acquired images.

[0155] The second image acquisition device 107 can be installed on the gripping robotic arm 103. The second image acquisition device 107 can be a vision camera, specifically a 3D (Dimensions) vision camera, etc., used to acquire images of the stamped parts at the stamping part off-line station to guide the gripping robotic arm 103 to grip the stamped parts.

[0156] In one embodiment of this application, the system may further include: a second material rack detection device 108;

[0157] The second rack detection device 108 is used to detect the type of racks arriving at the receiving area and send the detected rack type to the robot control terminal 101.

[0158] The second material rack inspection device 108 can be installed at the stamping part unloading station or the receiving area. The method by which the second material rack inspection device 108 detects the type of material rack can be similar to that of the first material rack inspection device 106. In one implementation, the second material rack inspection device 108 can be the aforementioned second image acquisition device 107; that is, the second material rack inspection device 108 is also an image acquisition device, and the function of guiding the gripping robotic arm 103 to grip parts and the function of detecting the type of material rack can be set in the same image acquisition device. Of course, the second image acquisition device 107 and the second material rack inspection device 108 can also be different devices.

[0159] In this case, the robot control terminal 101 is also used to control the handling robot 104 that transports the rack away from the receiving area when the rack type detected by the second rack detection device 108 is not the specified type, and to control the handling robot 104 to move the rack away from the rack storage area where racks of the specified type are stored, and to move the empty rack to the receiving area; wherein, the specified type is the type of rack used to load the stamped parts currently being produced.

[0160] When the type of the rack detected by the second rack detection device 108 is not the specified type, the robot control terminal 101 also sends an error message to the staff so that the staff can go to the site to resolve the error.

[0161] By setting up a second rack inspection device 108, the racks arriving at the receiving area can be further inspected if the first rack inspection device 106 does not detect an incorrect rack, so as to further avoid loading the stamped parts into the wrong rack.

[0162] In this embodiment, the second image acquisition device 107 acquires images of the stamped parts at the stamping part exit station to guide the gripping robot arm 103 to pick up the stamped parts and place them into the material rack in the receiving area. This allows the gripping robot arm 103 to more accurately pick up the stamped parts into the material rack. The second material rack detection device 108 detects the type of material rack arriving at the receiving area, further preventing the stamped parts from being loaded into the wrong material rack.

[0163] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0164] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0165] The various embodiments in this specification are described in a related manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0166] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A stamping part unloading system, characterized in that, The system includes: a robot control terminal, a production control terminal, a gripping robotic arm installed at the stamping parts off-line station, and multiple handling robots; wherein: The robot control terminal is used to determine the number of empty material racks to be transported based on the number of stamped parts required to be produced in the current production task and the capacity of the material rack; according to the currently determined number of empty material racks to be transported, control the transport robot to transport the empty material racks from the material rack storage area to the receiving area corresponding to the stamped part off-line station; and control the transport robot to transport the fully loaded material racks in the receiving area to the stamped part storage area. The production control terminal is used to control the stamping production line to produce stamped parts; The gripping robotic arm is used to grip the stamped parts that have been produced and transferred to the stamped parts off-line station and place them into a material rack located in the receiving area that is not fully loaded. Each transport robot is used to perform transport tasks under the control of the robot control terminal.

2. The system according to claim 1, characterized in that, The production control terminal is also used to send first information indicating the changed number of stamped parts to the robot control terminal when the number of stamped parts indicated by the production task changes. The robot control terminal is also used to update the current number of empty material racks to be moved based on the capacity of the material rack, the number of empty material racks that the control robot has already moved, and the received first information when it receives the first information sent by the production control terminal.

3. The system according to claim 1, characterized in that, The receiving area includes: a receiving area for qualified products and a receiving area for unqualified products; The robot control terminal is specifically used to control the handling robot to move empty racks from the rack storage area to the qualified product receiving area according to the currently determined number of empty racks to be moved. The production control terminal is also used to send a second message indicating the defective product to the robot control terminal when there are defective products among the stamped parts produced. The robot control terminal is also used to control the handling robot to move the empty rack from the rack storage area to the non-conforming product receiving area when it is determined, based on the received second information, that an empty rack for loading non-conforming products needs to be replenished. The gripping robotic arm is specifically used to grip the defective parts that are transferred to the stamping part off-line station and place them into a material rack located in the defective part receiving area that is not fully loaded; and to grip the qualified stamping parts that are transferred to the stamping part off-line station and place them into a material rack located in the qualified part receiving area that is not fully loaded.

4. The system according to any one of claims 1-3, characterized in that, The system further includes: a first image acquisition device, used to follow the stamped part at the speed at which the stamped part is transported on the stamped part production line when the stamped part is at the initial position and the stamped part reaches the designated detection position of the stamped part production line, and to acquire images of the stamped part during the movement until the first image acquisition device moves to the end position and returns to the initial position; and to determine whether the stamped part is a qualified product based on the acquired images.

5. The system according to claim 4, characterized in that, The first image acquisition device is specifically used to acquire images of various parts of the stamped part during the movement process.

6. The system according to claim 4, characterized in that, The first image acquisition device is specifically used for: Based on a pre-set machine learning model, image features of the collected stamped parts images are extracted and used as features to be utilized; If the image features of qualified products are recorded in a preset image feature library, and the feature to be used matches the image features of the qualified products, then the stamping part in the acquired image is determined to be a qualified product; if the feature to be used does not match the image features of the qualified products, then the stamping part in the acquired image is determined to be a defective product; wherein, the image features in the image feature library are obtained by feature extraction of the image of the stamping part based on the machine learning model; If the image features of qualified products and unqualified products are recorded in a preset image feature library, and if the feature to be used does not match the image features of the unqualified product but matches the image features of the qualified product, then the stamped part in the acquired image is determined to be a qualified product; if the feature to be used matches the image features of the unqualified product, then the stamped part in the acquired image is determined to be an unqualified product; if the feature to be used does not match the image features of the unqualified product and does not match the image features of the qualified product, then manual inspection is prompted, and a manually added label indicating whether the stamped part in the acquired image is qualified is obtained. The image features of the stamped part and the label are recorded in the image feature library accordingly.

7. The system according to claim 1, characterized in that, Material handling robots include: forklift robots.

8. The system according to claim 7, characterized in that, Handling robots also include: lurking forklift robots; The robot control terminal is specifically used to control the forklift robot to move empty racks from the rack storage area to the empty rack receiving area according to the currently determined number of empty racks to be moved, and to control the lurking forklift robot to move empty racks from the empty rack receiving area to the receiving area; to control the lurking forklift robot to move fully loaded racks to the full rack receiving area, and to control the forklift robot to move fully loaded racks from the full rack receiving area to the stamping parts storage area.

9. The system according to claim 7 or 8, characterized in that, The robot control terminal is also used to control the forklift robot to stack the transported racks when the forklift robot carrying the fully loaded racks reaches the stamping parts storage area.

10. The system according to claim 9, characterized in that, The robot control terminal is also used to control the forklift robot to destacking the stacked racks when there is a demand for stamped parts, and to transport the racks carrying the stamped parts to the demand side after destacking.

11. The system according to claim 1, characterized in that, The system further includes: a first rack detection device disposed on the route from the rack storage area to the receiving area; The first rack detection device is used to detect the type of each rack that the handling robot on the route moves to the receiving area, and to send the detected rack type to the robot control terminal; The robot control terminal is also used to control the transport robot that is transporting the rack to stop moving towards the receiving area when the type of rack detected by the first rack detection device is not the specified type, and to control the transport robot to move the empty rack towards the receiving area from the area where the rack of the specified type is stored in the rack storage area; wherein, the specified type is the type of rack used to load the stamping parts currently being produced.

12. The system according to claim 1, characterized in that, The system also includes: a second image acquisition device; The second image acquisition device is used to acquire images of the stamped parts at the stamping part off-line station, and guide the gripping robotic arm to grab the stamped part into the material rack in the receiving area based on the acquired images.

13. The system according to claim 1, characterized in that, The system also includes: a second material rack detection device; The second rack detection device is used to detect the type of racks arriving at the receiving area and send the detected rack type to the robot control terminal; The robot control terminal is also used to control the transport robot that transports the rack to move the rack away from the receiving area when the rack type detected by the second rack detection device is not the specified type, and to control the transport robot to move the empty rack to the receiving area from the area where the rack of the specified type is stored in the rack storage area; wherein, the specified type is the type of rack used to load the stamping parts currently being produced.

Images