Product assembly line body and control method of product assembly line body

Abstract

The invention discloses a product assembly line body and a control method of the product assembly line body, and relates to the technical field of assembly assemblage. In the product assembly line body, a base is provided with a waste discharging and material supplementing station and an adjusting station which are spaced in the horizontal direction; the moving stroke of the first material moving part passes through a waste discharging and material supplementing station and an adjusting station, and a first visual detection device is arranged on the first material moving part; the waste discharging and material supplementing device is located at the waste discharging and material supplementing station and comprises a first material storage table and a first waste discharging channel which are arranged at intervals in the horizontal direction, and a plurality of first material storage grooves are formed in the upper end face of the first material storage table and used for storing qualified materials so that the qualified materials can be picked up by the first material moving part; and the adjusting device is located at the adjusting station and comprises an overturning platform arranged on the base, the overturning platform rotates along the axis extending in the horizontal direction, and the overturning platform is used for bearing the multiple qualified materials transferred by the first material transferring part and adjusting the multiple qualified materials from the first posture to the second posture in the rotating process.

Description

Technical Field

[0001] The present invention relates to the technical field of assembly, and particularly to a product assembly line body and a control method for a product assembly line body. Background Art

[0002] In the current flexible line body assembly process, a robotic arm grabs one product and assembles it with another product on the production line. For the appearance inspection and posture correction inspection of the products, both are carried out by snapshot detection. If it is found that there are defective products among the multiple products currently grabbed by the robotic arm, all the products on the robotic arm need to be scrapped, and the robotic arm needs to return to grab again. The scrap frequency is high and the production beat is slow. Summary of the Invention

[0003] The main object of the present invention is to propose a product assembly line body and a control method for a product assembly line body, and a replenishment position is added at the scrap disposal to be able to speed up the production progress and avoid waste of materials caused by frequent scrap.

[0004] To achieve the above object, the present invention proposes a product assembly line body, including: A base, the base having a scrap replenishment station and an adjustment station spaced along the horizontal direction; A material transfer device, including a first material transfer part, the moving stroke of the first material transfer part passing through the scrap replenishment station and the adjustment station, a first vision detection device being provided on the first material transfer part, and the first material transfer part being capable of picking up a plurality of materials; A scrap replenishment device, located at the scrap replenishment station, the scrap replenishment device including a first storage table and a first scrap channel spaced along the horizontal direction, the first scrap channel being used for receiving and discharging defective materials detected by the first vision detection device, the upper end surface of the first storage table forming a plurality of first storage slots, the plurality of first storage slots being used for storing qualified materials for the first material transfer part to pick up; and, An adjustment device, located at the adjustment station, the adjustment device including a flipping platform provided on the base, the flipping platform rotating about an axis extending in the horizontal direction, the flipping platform being used for receiving a plurality of qualified materials transferred by the first material transfer part and adjusting the plurality of qualified materials from a first posture to a second posture during the rotation.

[0005] In one embodiment, the flipping platform includes a first side surface and a second side surface that are adjacently arranged. During the rotation of the flipping platform, the flipping platform has a first position where the first side surface faces upward and a second position where the second side surface faces upward. A plurality of placement grooves are formed on the flipping platform, and each of the placement grooves penetrates through the first side surface and the second side surface. The plurality of placement grooves are used for placing a plurality of materials. The flipping platform is converted from the first position to the second position to drive the plurality of materials to be adjusted from a first posture to a second posture.

[0006] In one embodiment, a plurality of through grooves are formed in the first side surface at intervals in the horizontal direction and penetrate through the second side surface; The adjusting device further includes: A plurality of push rods are respectively movably installed in the plurality of through grooves. A notch is provided at the end of each push rod facing the second side surface. The notch and the side wall of the corresponding through groove jointly define one of the placement grooves; and, A driving part is drivingly connected to the plurality of push rods through an adapter plate and is used for driving the plurality of push rods to move synchronously to adjust the size of the placement groove.

[0007] In one embodiment, the adjusting device further includes a pushing part arranged on the side of the flipping platform. The pushing part has a moving stroke of approaching or departing from the flipping platform. A plurality of convex blocks are provided on the side of the pushing part facing the flipping platform. In the first position, the plurality of convex blocks can movably extend into the plurality of placement grooves respectively to push each material to abut against the wall surface of the corresponding placement groove.

[0008] In one embodiment, the placement groove includes a first groove section and a second groove section arranged in sequence from the groove opening to the groove bottom direction, and the second groove section is adapted to the convex block.

[0009] In one embodiment, the product assembly line body further includes: A second storage table is arranged on the side of the flipping platform. A plurality of second storage grooves are formed on the upper end surface of the second storage table. The plurality of second storage grooves are used for storing qualified materials in the second posture; A second material transfer part is located at the adjustment station. A second vision detection device is arranged on the second material transfer part. The second material transfer part is used for removing the materials with abnormal postures detected by the second vision detection device and can pick up and drive the materials in the second storage groove to be transferred onto the flipping platform.

[0010] In one embodiment, the second material transfer part is rotatably arranged along an axis extending in the up and down direction so that after the second material transfer part picks up the materials with abnormal postures, the posture of the materials can be corrected by rotation.

[0011] In one embodiment, the adjusting device further includes a pushing portion disposed on the side of the flipping platform, and the pushing portion has a moving stroke of approaching or departing from the flipping platform. The product assembly line body further includes a moving table, which is disposed on the side of the flipping platform and has a moving stroke of approaching or departing from the flipping platform. The upper end of the moving table is for installing the pushing portion and the second material storage table.

[0012] In one embodiment, the second material transferring portion has a moving stroke in the up and down direction. An active seat that moves horizontally is provided on the base, and the flipping platform and the second material storage table are provided on the active seat.

[0013] In one embodiment, the first material transferring portion includes: a main body, which is movably arranged; and a plurality of suction nozzles, which are spaced and installed at the lower end of the main body.

[0014] The present invention also provides a control method for a product assembly line body. Based on the above product assembly line body, the control method for the product assembly line body includes the following steps: When there are defective materials among a plurality of materials on the first material transferring portion, control the first material transferring portion to move to the waste discharging and replenishing station. Control the first material transferring portion to release the defective material and let it fall into the first waste discharging channel, control the first material transferring portion to move and pick up the stored materials on the first material storage table, or control the first material transferring portion to release the qualified materials and let them fall into the vacant first material storage slots. When all the materials on the first material transferring portion are qualified materials, control the first material transferring portion to place the plurality of qualified materials at the adjusting station in a first posture.

[0015] In one embodiment, the flipping platform includes a first side and a second side arranged adjacent to each other. During the rotation of the flipping platform, there is a first position where the first side faces upward and a second position where the second side faces upward. A plurality of placement grooves are formed in the first side of the flipping platform, and all of the plurality of placement grooves penetrate through the second side. The plurality of placement grooves are used for placing a plurality of materials. The flipping platform is converted from the first position to the second position to drive the plurality of materials to be adjusted from a first posture to a second posture. The product assembly line body includes a second storage table and a second material transfer part. The second storage table is arranged on the side of the flipping platform. The upper end surface of the second storage table is recessed to form a plurality of second storage grooves, and the plurality of second storage grooves are used for storing qualified materials in the second posture. The second material transfer part is located at the adjustment station and can rotate around an axis extending in the vertical direction. A second vision detection device is arranged on the second material transfer part. The second material transfer part is used to remove the materials with abnormal postures detected by the second vision detection device, and can pick up and drive the materials in the second storage grooves to be transferred onto the flipping platform; After the step of controlling the first material transfer part to place a plurality of qualified materials in the adjustment station in the first posture when all the plurality of materials on the first material transfer part are qualified materials, the following steps are further included: Control the flipping platform to be converted from the first position to the second position to drive the plurality of qualified materials to rotate; If the second vision detection device detects that at least part of the qualified materials have abnormal postures; Control the second material transfer part to pick up the qualified materials with abnormal postures, and control the second material transfer part to rotate to correct the postures of the materials until the materials are in the second posture and then place them back on the flipping platform.

[0016] In one embodiment, after the step of controlling the flipping platform to be converted from the first position to the second position to drive the plurality of qualified materials to rotate, the following steps are further included: If the second vision detection device detects that at least part of the qualified materials have abnormal states; Control the second material transfer part to remove the qualified materials with abnormal states, and control the second material transfer part to move to transfer the stored materials on the second storage table to the flipping platform, or control the second material transfer part to move to transfer the remaining qualified materials in the second posture on the flipping platform to the empty second storage grooves.

[0017] In one embodiment, the steps of controlling the second material transfer unit to remove qualified materials with abnormal removal states, and controlling the second material transfer unit to transfer the stored materials on the second material storage table to the flipping platform, or controlling the second material transfer unit to transfer the remaining qualified materials in the second posture on the flipping platform to the empty second material storage tank include: Controlling the second material transfer unit to remove qualified materials with abnormal removal states; Obtaining the number N1 of the fully loaded second material storage tanks on the current second material storage table, and comparing it with the number n1 of the empty placement slots on the flipping platform; When 0≤N1<n1, controlling the second material transfer unit to transfer the remaining qualified materials in the second posture on the flipping platform to the empty second material storage tank; When N1≥n1, controlling the second material transfer unit to transfer the stored materials on the second material storage table to the flipping platform.

[0018] In one embodiment, the steps of controlling the first material transfer unit to release defective materials and let them fall into the first waste discharge channel, controlling the first material transfer unit to move and pick up the stored materials on the first material storage table, or controlling the first material transfer unit to release qualified materials and let them fall into the empty first material storage tank include: Controlling the first material transfer unit to release defective materials and let them fall into the first waste discharge channel; Obtaining the number N2 of the empty first material storage tanks on the current first material storage table, and comparing it with the number n2 of the materials picked up by the first material transfer unit each time; When N2≥n2-1, controlling the first material transfer unit to release the remaining qualified materials and let them fall into the empty first material storage tank; When N2<n2-1, controlling the first material transfer unit to move and pick up the stored materials on the first material storage table so that the first material transfer unit is fully loaded.

[0019] In the technical solution of the present invention, a first vision detection device is provided on the first material transfer unit, which can perform detection after the first material transfer unit picks up multiple materials. According to the detection results, when waste discharge is required, the moving stroke of the first material transfer unit first passes through the waste discharge and replenishment station, and then passes through the adjustment device, so that the first material transfer unit collects defective materials through the first waste discharge channel at the waste discharge and replenishment station. At this time, the vacant position on the first material transfer unit can be directly replenished by picking up qualified materials in the first material storage tank, so that it can enter the adjustment station in a fully loaded state for posture adjustment of the materials. By adding a first material storage table at the waste discharge position, waste discharge and replenishment can be completed in a relay during the production beat, shortening the moving path of the first material transfer unit, accelerating the production progress, and also avoiding waste of materials caused by frequent waste discharge. Brief Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0021] Figure 1 It is a schematic structural diagram of an embodiment of the product assembly line provided by the present invention; Figure 2 For Figure 1 It is a schematic structural diagram of the adjustment device in Figure 3 For Figure 2 It is an enlarged schematic diagram of the partial area A in Figure 4 For Figure 2 It is an enlarged schematic diagram of the partial area B in Figure 5 It is a schematic flowchart of the control method of the product assembly line provided by the present invention; Figure 6 For Figure 5 It is a flowchart of the control method of the product assembly line in

[0022] Explanation of the reference numerals in the drawings: 100, product assembly line; 1, base; 1a, waste discharging and replenishing station; 1b, adjustment station; 11, movable seat; 2, waste discharging and replenishing device; 21, first storage table; 211, first storage tank; 22, first waste discharging channel; 3, adjustment device; 31, flipping platform; 311, first side; 312, second side; 313, through groove; 32, placement groove; 321, first groove section; 322, second groove section; 33, push rod; 34, driving part; 35, pushing part; 351, clamping protrusion; 4, second storage table; 41, second storage tank; 5, moving table; 6, optical fiber.

[0023] The realization of the objectives, functional features, and advantages of the present invention will be further described with reference to the embodiments and the drawings. Detailed Embodiments

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0025] It should be noted that if a directional indication is involved in the embodiment of the present invention, the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0026] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0027] In the current flexible line assembly process, the robot arm grabs one product and assembles it with another product on the production line. The product's appearance inspection and posture correction inspection are both carried out through process capture inspection. If defective products are found among the multiple products currently grabbed by the robot arm, all products on the robot arm will need to be disposed of, and the robot arm will need to return to grab again. The frequency of waste disposal is high and the production rhythm is slow.

[0028] Based on the above situation, in the prior art, due to the unreasonable layout of the production line, the robot arm needs to move back and forth to grasp, resulting in a long processing time. When discharging waste, qualified products are discharged and need to be re-sorted, which increases costs.

[0029] Therefore, the present invention proposes a product assembly line, which adds a material replenishment position at the waste discharge point, thereby speeding up the production progress and avoiding the waste of materials caused by frequent waste discharge.

[0030] Please refer to Figures 1 to 2, the product assembly line 100 includes a base 1, a waste discharging and replenishing device 2 (not shown in the figure), and an adjusting device 3. The base 1 has a waste discharging and replenishing station 1a and an adjusting station 1b spaced along the horizontal direction; the material transferring device includes a first material transferring part, the moving stroke of the first material transferring part passes through the waste discharging and replenishing station 1a and the adjusting station 1b, a first vision detection device is arranged on the first material transferring part, and the first material transferring part can pick up a plurality of materials; the waste discharging and replenishing device 2 is located at the waste discharging and replenishing station 1a, and the waste discharging and replenishing device 2 includes a first storage table 21 and a first waste discharging channel 22 spaced along the horizontal direction. The first waste discharging channel 22 is used for receiving and discharging defective materials detected by the first vision detection device. The upper end surface of the first storage table 21 forms a plurality of first storage slots 211, and the plurality of first storage slots 211 are used for storing qualified materials for the first material transferring part to pick up; the adjusting device 3 is located at the adjusting station 1b, and the adjusting device 3 includes a turning platform 31 arranged on the base 1. The turning platform 31 rotates around an axis extending in the horizontal direction. The turning platform 31 is used for receiving a plurality of qualified materials transferred by the first material transferring part and adjusting the plurality of qualified materials from the first posture to the second posture during the rotation process.

[0031] In the technical solution of the present invention, a first vision detection device is arranged on the first material transferring part, which can perform detection after the first material transferring part picks up a plurality of materials. According to the detection result, when waste discharging is required, the moving stroke of the first material transferring part first passes through the waste discharging and replenishing station 1a and then passes through the adjusting device 3, so that the first material transferring part collects defective materials through the first waste discharging channel 22 at the waste discharging and replenishing station 1a. At this time, the vacant position on the first material transferring part can be replenished by picking up qualified materials in the first storage slots 211, so that it can enter the adjusting station 1b in a full-load state for posture adjustment of the materials. By adding a first storage table 21 at the waste discharging position, waste discharging and material replenishment can be completed in relay during the production beat, shortening the moving path of the first material transferring part, accelerating the production progress, and also avoiding waste of materials caused by frequent waste discharging.

[0032] It should be understood that the adjusting station 1b and the waste discharging and replenishing station 1a are on the same straight line. Therefore, if the first vision detection device detects that all the materials on the first material transferring part are qualified materials, the first material transferring part does not need to stop when passing through the waste discharging and replenishing station 1a and can directly reach the adjusting station 1b.

[0033] The structural form of the material transferring device is not limited. The displacement of the first material transferring part can be driven by a multi-axis driving structure or a robotic arm. It should be understood that the first material transferring part can pick up a plurality of materials at the same time, but each picking point of the first material transferring part is independent of each other. For example, if the first material transferring part picks up 4 materials, during waste discharging, the first material transferring part can only release 1 material for waste discharging, and the remaining 3 materials can be retained on the first material transferring part.

[0034] Based on the above embodiments, the first material transfer part can be composed of multiple jaws. In this embodiment, the first material transfer part includes a main body and multiple suction nozzles. The main body serves as a support and can accommodate corresponding floating structures or air pipes. The multiple suction nozzles are installed at intervals at the lower end of the main body, and the air circuits of the multiple suction nozzles are independent of each other, so as to control the adsorption or release of a single suction nozzle.

[0035] In some embodiments, the adjustment station 1b and the waste discharging and replenishing station 1a are spaced along the first horizontal direction. At this time, the first waste discharging channel 22 and the first storage table 21 can be spaced along the first horizontal direction, that is, the first material transfer part can pass through the first waste discharging channel 22 first and then pass through the first storage table 21, so that the first material transfer part performs a linear reciprocating motion. The first waste discharging channel 22 and the first storage table 21 can also be spaced along the second horizontal direction. At this time, the first material transfer part needs to be translated at the waste discharging and replenishing station 1a, but this arrangement makes the length of the line shorter and is beneficial to a compact layout.

[0036] In this embodiment, multiple first storage slots 211 on the first storage table 21 are arranged along the second horizontal direction. Each first storage slot 211 needs to pre-store qualified materials so as to be directly supplied for replenishment. Each first storage slot 211 is adapted to the shape of the material to ensure stable support.

[0037] It should be noted that the first waste discharging channel 22 is composed of a cylindrical structure or a pipe, and a material box should be correspondingly placed below it to facilitate the collection of waste materials.

[0038] Furthermore, please refer to Figures 2 to 3 , the flipping platform 31 includes an adjacent first side 311 and a second side 312. During the rotation of the flipping platform 31, the flipping platform 31 has a first position with the first side 311 facing upward and a second position with the second side 312 facing upward. Multiple placement slots 32 are formed on the flipping platform 31, and each placement slot 32 penetrates through the first side 311 and the second side 312. The multiple placement slots 32 are used for placing multiple materials. The flipping platform 31 is converted from the first position to the second position to drive the multiple materials to be adjusted from the first posture to the second posture. That is, the placement slots 32 are formed at the side end of the flipping platform 31 and penetrate through two adjacent sides. Initially, the materials are placed in the placement slots 32 in a vertical first posture, and at this time the first side 311 faces upward. The placement slots 32 mainly play a limiting function. Control the flipping platform 31 to rotate 90°. At this time, the second side 312 faces upward, and the materials are driven to rotate and present a horizontal second posture. The placement slots 32 mainly play a supporting function.

[0039] Specifically, the flipping platform 31 is driven by a rotary cylinder to achieve rotation. Specifically, the flipping platform 31 is rotatably installed along an axis extending in the second horizontal direction.

[0040] To adapt to materials of different sizes, in this embodiment, the size of the placement groove 32 is set to be adjustable. Please refer to Figures 2 to 3 , a plurality of through grooves 313 are provided on the first side surface 311 at intervals in the horizontal direction and penetrate through the second side surface 312. Specifically, each through groove 313 extends along the first horizontal direction, and both sides of each through groove 313 along the first horizontal direction penetrate through the flipping platform 31, so that each through groove 313 forms three adjacent open sides, and two of the open sides are respectively located on the first side surface 311 and the second side surface 312. The adjusting device 3 further includes a plurality of push rods 33 and a driving part 34. The plurality of push rods 33 are respectively movably installed in the plurality of through grooves 313. A notch is provided at the end of each push rod 33 facing the second side surface 312. The notch and the side wall of the corresponding through groove 313 jointly define a placement groove 32. The driving part 34 is drivingly connected to the plurality of push rods 33 through an adapter plate, and is used to drive the plurality of push rods 33 to move synchronously to adjust the size of the placement groove 32. The ends of the plurality of push rods 33 are connected through an adapter plate, so that a cylinder can drive the adapter plate to drive the plurality of push rods 33 to move simultaneously, realizing the synchronous adjustment of the sizes of the plurality of placement grooves 32. During the movement of the push rod 33, the distance between the end of the push rod 33 and the second side surface 312 changes, so that the size of the corresponding placement groove 32 formed by enclosing changes.

[0041] It should be understood that the design of the notch can play the roles of limiting and supporting.

[0042] Moreover, due to the position change of the flipping platform 31, in order to ensure the matching effect of related parts, the adjusting device 3 further includes a fixing plate, and the fixing plate covers the outside of the plurality of through grooves 313 to limit the relative positions of the plurality of push rods 33 and the flipping platform 31. It should be understood that there should be a gap between the fixing plate and the second side, so as to avoid blocking the placement groove 32 and reserve a certain adjustment space for the placement groove 32.

[0043] Considering that the material may move around in the placement groove 32 after the first material transfer part releases the material, please refer to again Figure 3, the adjustment device 3 further includes a pushing part 35 provided on the side of the flipping platform 31. The pushing part 35 has a moving stroke of approaching or departing from the flipping platform 31. A plurality of clamping protrusions 351 are provided on the side of the pushing part 35 facing the flipping platform 31. In the first position, the plurality of clamping protrusions 351 can movably extend into the plurality of placement grooves 32 respectively to push each material to abut against the wall surface of the corresponding placement groove 32. Initially, the pushing part 35 is away from the flipping platform 31. After the material is placed in the placement groove 32, the pushing part 35 moves towards the flipping platform 31, so that the plurality of clamping protrusions 351 can extend into the placement groove 32 from the second side to contact the material, so that the material can be abutted against the side wall of the placement groove 32 opposite to the pushing part 35 to achieve positioning, thus ensuring that the positions of each material are the same. Then the pushing part 35 moves in the reverse direction and thus is away from the flipping platform 31. During the rotation of the flipping platform 31 and after the rotation stops, the material can maintain the state of fitting with the corresponding wall surface, thereby improving the stability of the material attitude conversion process.

[0044] Further, each clamping protrusion 351 extends in a direction away from the pushing part 35, that is, a trapezoidal structure is formed. At this time, the outer shape of the notch can be correspondingly set.

[0045] Please refer to Figure 4 , the placement groove 32 includes a first groove section 321 and a second groove section 322 which are arranged in sequence along the direction from the groove opening to the groove bottom. The second groove section 322 is adapted to the clamping protrusion 351. Thus, the first groove section 321 still has sufficient space.

[0046] In order to improve the precision of the linear movement of the push rod 33 in the through groove 313, the through groove 313 is arranged in a stepped shape, and the push rod 33 is correspondingly arranged in a stepped shape, so as to be guided by the steps and improve the matching precision between the push rod 33 and the through groove 313.

[0047] There is also a situation where waste needs to be discharged for the material at the adjustment station 1b. In some embodiments, please refer to again Figure 2, the product assembly line 100 further includes a second storage table 4 and a second material transfer unit (not shown in the figure). The second storage table 4 is arranged on the side of the flipping platform 31. The upper end surface of the second storage table 4 forms a plurality of second storage grooves 41. The plurality of second storage grooves 41 are used to store qualified materials in the second posture. The second material transfer unit is located at the adjustment station 1b. A second vision inspection device is arranged on the second material transfer unit. The second material transfer unit is used to remove the materials with abnormal states detected by the second vision inspection device, and can pick up and drive the materials in the second storage grooves 41 to be transferred onto the flipping platform 31. The arrangement of the second storage table 4 enables replenishment operations to be carried out at the adjustment station 1b. The second vision inspection device is used to inspect the materials after the flipping platform 31 rotates. Since the posture of the materials is adjusted, the inspection angle of the second vision inspection is not the same as that of the first vision inspection device. Therefore, it is possible that products that are qualified in the first inspection are found to have abnormal states in the second inspection, that is, new quality defects are found. At this time, waste can be discharged through the second material transfer unit. After waste is discharged, there is a shortage of materials on the flipping platform 31. The second material transfer unit can directly pick up the materials in the second storage grooves 41 to supplement the empty positions on the flipping platform 31, so as to ensure the full-load state of the flipping platform 31 at the second position, which is convenient for overall material picking for subsequent assembly processes.

[0048] It should be understood that there are also abnormalities caused by the materials falling off after the flipping platform 31 rotates. At this time, replenishment can also be carried out through the second material transfer unit. In view of this, an optical fiber 6 is arranged on the second storage table 4. The optical fiber 6 can judge the presence or absence of materials. The presence or absence of materials on the flipping platform 31 can be detected through the optical fiber 6, and the presence or absence of materials in the second storage grooves 41 can also be detected through the optical fiber 6, so as to realize intelligent detection.

[0049] Moreover, the second material transfer unit is rotatably arranged along an axis extending in the up and down direction. The second vision inspection device can also detect whether the materials are all in the second posture after the flipping platform 31 rotates. For materials with abnormal postures, after the second material transfer unit picks up the materials with abnormal postures, the posture of the materials can be corrected by its own rotation, so as to avoid the waste of good products only due to inconsistent postures.

[0050] The implementation method of the second material transfer unit can be the same as that of the first material transfer unit, that is, picking up and releasing materials through a plurality of suction nozzles. The second material transfer unit can also be arranged differently from the first material transfer unit. It should be noted that the function of the first material transfer unit is to place qualified materials at the adjustment station 1b, and the function of the second material transfer unit is to transfer qualified materials in the second posture to the production line for assembly with other materials.

[0051] To make the overall device more compact, the adjustment device 3 further includes a pushing part 35 provided on the side of the flipping platform 31. The pushing part 35 has a moving stroke of approaching or departing from the flipping platform 31. The product assembly line body 100 further includes a moving platform 5 which is provided on the side of the flipping platform 31 and has a moving stroke of approaching or departing from the flipping platform 31. The upper end of the moving platform 5 is for installing the pushing part 35 and the second material storage table 4. That is, the pushing part 35 and the second material storage table 4 are installed together. When the pushing part 35 moves, the second material storage table 4 will move accordingly. However, their working sequences are different, so it will not affect the production process.

[0052] In some embodiments, the second material transferring part has a moving stroke in the vertical direction. An active seat 11 which moves in the horizontal direction is arranged on the base 1. The flipping platform 31 and the second material storage table 4 are arranged on the active seat 11. That is, the first material storage table 21 and the first waste discharging channel 22 remain fixed, and the second material storage table 4 can move in the horizontal direction. This is considered based on the production line layout. Since the second material transferring part moves up and down, the waste discharging channel and the production line of the materials to be assembled at the adjustment station are distributed up and down relative to the base 1. When replenishing materials at the adjustment station 1b, the active seat 11 moves so that the second material storage table 4 moves to face the second material transferring part. After completely taking the materials, the flipping platform 31 is then made to face the second material transferring part, thus ensuring the smooth progress of the production rhythm.

[0053] In the technical solution of the present invention, before and after the materials enter the adjustment station 1b, replenishment of materials is achieved through the first material storage table 21 and the second material storage table 4. Thus, the NG material information of the first vision detection device and the second vision detection device obtained by the control system can be used to control the corresponding material transferring parts to perform waste discharging and material replenishing actions. Corresponding detection parts can be arranged on both the first material storage table 21 and the second material storage table 4 to detect the situation of the stored materials, and the material replenishment of the first material storage table 21 and the second material storage table 4 can be reasonably arranged according to the material taking situation.

[0054] In addition, the product assembly line 100 further includes a control device, which may be an industrial control computer. Specifically, the control device may include a processing device (such as a central processing unit, a graphics processing unit, etc.), which can execute various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) or the program loaded from the storage device into the random access memory (RAM: Random Access Memory). In the RAM, various programs and data required for the operation of the control device are also stored. The processing device, ROM, and RAM are connected to each other through a bus. The input / output (I / O) interface is also connected to the bus. Usually, the following systems can be connected to the I / O interface: input devices including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; storage devices including, for example, a magnetic tape, a hard disk, etc.; and a communication device. The communication device can allow the control device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a control device with various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems can be alternatively implemented or had.

[0055] Based on this, an embodiment of the present application provides a control method for a product assembly line. Figures 5 to 6 It is a schematic flowchart of an embodiment of the control method for the product assembly line of the present application.

[0056] The control method for the product assembly line includes the following steps: Step S10, when there are defective materials among a plurality of materials on the first material transfer part, control the first material transfer part to move to the waste discharging and replenishing station 1a. It should be noted that after the first material transfer part picks up a plurality of materials, the first visual detection device performs the first detection. If at least one defective material is found in the first detection result, it is determined at this time that waste discharging treatment is required, and then the first material transfer part is controlled to be transferred to the waste discharging and replenishing station 1a.

[0057] It should be noted that the materials picked up by the first material transfer part have all been processed in the previous process, which may be film pasting, gauze pasting, or may have assembled other components. The present invention does not limit this.

[0058] For example, the first material transfer unit picks up 4 materials at a time. In the first inspection result, if all 4 materials are qualified, it is determined that waste discharge is not required at this time, and the first material transfer unit can directly move to the adjustment station 1b. If there are defective materials among the 4 materials, the number of defective materials may be 1, 2, 3, or even 4. At this time, it is determined that waste discharge is required, and the first material transfer unit is controlled to be transferred to the waste discharge and replenishment station 1a.

[0059] Step S20: Control the first material transfer unit to release the defective material and let it fall into the first waste discharge channel 22, control the first material transfer unit to move and pick up the stored materials on the first storage table 21, or control the first material transfer unit to release the qualified materials and let them fall into the empty first storage slots 211 of the first storage table 21; It should be noted that before the equipment works, it is necessary to pre-place the qualified materials taken out from the previous process in the first storage slots 211 of the first storage table 21 for use as supplementary materials. After the equipment officially works, no manual intervention is performed. When there are defective materials on the first material transfer unit, the defective materials need to be discharged as waste and materials are taken from the first storage table 21 for replenishment. Therefore, the quantity of materials stored on the first storage table 21 will gradually decrease. Therefore, a corresponding judgment mechanism needs to be set. When the quantity of materials stored on the first storage table 21 is sufficient, the first material transfer unit replenishes materials on the first storage table 21. When the quantity of materials stored on the first storage table 21 is insufficient, the first storage table 21 needs to be replenished. Specifically, after the first material transfer unit releases the defective materials, the remaining qualified materials are replenished into the empty first storage slots 211 of the first storage table 21 to ensure stable subsequent replenishment.

[0060] It should be understood that if there are no materials on the first material transfer unit, it is necessary to return to the initial position to pick up materials for inspection again.

[0061] Step S30: When all the materials on the first material transfer unit are qualified materials, control the first material transfer unit to place the multiple qualified materials at the adjustment station 1b in the first posture.

[0062] For example, when the first material transfer unit picks up materials, the materials are all in a vertical state, then the vertical state is the first posture. The adjustment device 3 at the adjustment station 1b can change the materials from the vertical state to an inclined state or a horizontal state, and a reasonable design is carried out according to the assembly form of the material and the subsequent product.

[0063] In the technical solution of the present invention, it mainly involves the detection, transfer, and posture adjustment of materials. When defective materials are detected, through the setting of the first storage table 21, the first material transfer unit can be quickly replenished with materials after waste discharge, so as to ensure that the first material transfer unit can always reach the adjustment station 1b in a state full of qualified materials. The whole process is beneficial to ensuring the production yield rate, and can also shorten the movement path of the first material transfer unit and speed up the production progress.

[0064] Further, after step S30, the following steps are also included: Step S40, controlling the flipping platform 31 to convert from the first position to the second position to drive the rotation of multiple qualified materials; It should be noted that the flipping platform 31 rotates 90°, so that the materials can be driven to change from the first posture to the second posture. For example, when the flipping platform 31 is in the first position, the materials are placed vertically. After the flipping platform 31 is converted to the second position, the materials rotate 90° and thus change from vertical to horizontal.

[0065] Step S50, if the second vision detection device detects that the postures of at least some of the qualified materials are abnormal; Ideally, all materials can ensure the same posture when following the rotation of the flipping platform 31. Specifically, the postures of the products are consistent and the edges are aligned. This is because multiple materials need to be synchronously picked up for synchronous installation in the subsequent process after posture adjustment. Multiple materials may be placed on different products respectively, or may be synchronously installed on the same product. The main purpose of the adjustment process is to adjust the postures of the materials to facilitate the assembly in the subsequent process. Therefore, the consistency of multiple materials after adjustment needs to be ensured.

[0066] The second vision detection is the detection by the second vision detection device when the materials maintain the second posture. If at least one material does not meet the posture adjustment requirements, that is, is inconsistent with other materials, in the second detection result, it may be that the inclination amplitude does not meet the requirements or the orientation does not meet the requirements. At this time, it is determined that the material posture is abnormal; if all materials meet the requirements and are consistent in the second detection result, it is determined that the material posture is correct.

[0067] Step S60, controlling the second material transfer part to pick up the qualified materials with abnormal postures, and controlling the second material transfer part to rotate to correct the postures of the materials until the materials maintain the second posture and then putting them back on the flipping platform 31.

[0068] When the material posture is abnormal, the materials need to be corrected. Specifically, the second material transfer part picks up the qualified materials with abnormal postures, and realizes the correction of the posture by relying on rotation and movement adjustment until the posture of the materials meets the requirements and then puts them back on the flipping platform 31.

[0069] It should be noted that when there are multiple materials with abnormal postures, the second material transfer part should pick up and correct one material each time, and then pick up the next one after putting it back.

[0070] If the second material transfer part still fails to meet the correction requirements after debugging for a certain time, the material will be scrapped.

[0071] Further, after step S40, the following steps are also included: Step S50A, if the second vision detection device detects that the state of at least some of the qualified materials is abnormal; When the second vision detection device is working, it can not only detect the posture of the materials, but also detect the surface defects of the materials. That is to say, the detection purpose of the second vision detection is not single. In addition to determining whether there are materials with abnormal postures, it is also necessary to determine whether there are materials with abnormal states. The materials with abnormal states may have quality defects such as burrs on the surface, and the materials with abnormal postures are those that are not in the second posture.

[0072] Step S60A, control the second material transfer part to remove the qualified materials with abnormal states, and control the second material transfer part to move the stored materials on the second storage table 4 to the flipping platform 31, or control the second material transfer part to move the remaining qualified materials in the second posture on the flipping platform 31 to the empty second storage tank 41.

[0073] It should be noted that before the equipment works, it is necessary to take out qualified materials in the previous process, adjust them manually to the second posture and then place them in the second storage tank 41 of the second storage table 4 for use as supplementary materials. After the equipment works officially, there is no more manual intervention. After the flipping platform 31 is flipped to the second position, when it is detected that there are materials with abnormal states, the materials with abnormal states need to be discharged as waste and the corresponding number of materials need to be taken from the second storage table 4 for supplementation. Therefore, the number of materials stored on the second storage table 4 will gradually decrease. Therefore, a corresponding judgment mechanism needs to be set. When the number of materials stored on the second storage table 4 is sufficient, the second material transfer part replenishes materials on the second storage table 4. When the number of materials stored on the second storage table 4 is insufficient, the second storage table 4 needs to be supplemented. Specifically, the remaining materials on the flipping platform 31 after waste discharge are all moved to the empty second storage tank 41 to ensure stable subsequent replenishment.

[0074] It should be understood that if there are no materials on the flipping platform 31, just wait for the first material transfer part to transfer new materials again.

[0075] Based on the above embodiments, step S60A includes: Step S61, control the second material transfer part to remove the qualified materials with abnormal states; Step S62, obtain the number N1 of the second storage tanks 41 full of materials on the current second storage table 4, and compare it with the number n1 of the empty placement slots 32 on the flipping table; Specifically, a total of multiple materials are placed on the flipping platform 31. After discharging n1 materials in step S61, n1 empty spaces will appear on the flipping platform 31. The number N1 of the second storage table 4 is different in different production stages. Therefore, it is necessary to compare N1 and n1 to determine whether the materials currently stored on the second storage table 4 can meet the replenishment requirements.

[0076] Step S63A, when 0 ≤ N1 < n1, control the second material transfer part to move the remaining qualified materials in the second posture on the turning platform 31 to the empty second material storage tank 41; It should be noted that if 0 ≤ N1 < n1, it means that the number of empty spaces on the turning platform 31 is more than the number of materials on the second material storage table 4. At this time, even if the materials stored on the second material storage table 4 are supplemented, the turning platform 31 still cannot be fully loaded. This will cause the equipment to be in a deadlock, neither being able to meet the full configuration to be taken away by the second material transfer part for assembly, nor being able to load materials when the first material transfer part arrives again with multiple materials. Therefore, all the remaining materials on the turning platform 31 after waste discharging are directly transferred to the empty spaces on the second material storage table 4 to supplement the second material storage table 4, so as to facilitate the realization of the subsequent replenishment function.

[0077] Step S63B, when N1 ≥ n1, control the second material transfer part to move the stored materials on the second material storage table 4 to the turning platform 31.

[0078] It should be noted that if N1 ≥ n1, it means that the number of empty spaces on the turning platform 31 matches the number of materials on the second material storage table 4, and the materials on the second material storage table 4 can be directly supplemented to the turning platform 31 to make the turning platform 31 fully loaded.

[0079] Further, step S20 includes: Step S21, control the first material transfer part to release the defective materials and let them fall into the first waste discharge channel 22; Step S22, obtain the number N2 of the empty first material storage slots 211 on the current first material storage table 21, and compare it with the number n2 of materials picked up by the first material transfer part each time; Specifically, the replenishment ability of the first material storage table 21 is related to the remaining material quantity on the first material storage table 21 and the empty spaces to be replenished by the first material transfer part. During the whole processing process, as time goes by, the material quantity on the first material storage table 21 decreases. If the material quantity is insufficient, it will affect the continuity of production. Therefore, the number N2 of empty spaces on the first material storage table 21 is associated and compared with the single transfer quantity n2 of the first material transfer part, so as to monitor the replenishment ability of the first material storage table 21.

[0080] Step S23A, when N2 ≥ n2 - 1, control the first material transfer part to release the remaining qualified materials and let them fall into the empty first material storage slots 211; It should be noted that if N2 ≥ n2 - 1, it means that there is a risk of insufficient replenishment ability of the first material storage table 21. At this time, all the remaining qualified materials on the first material transfer part are transferred to the first material storage slots 211 to supplement the first material storage table 21.

[0081] For example, when n2 = 4, if defective materials appear in the first material transfer unit, the minimum number of defective materials is 1. That is, after waste discharging, the first material transfer unit can have at most 3 qualified materials remaining. When N2≥3, the maximum replenishment quantity of the first material transfer unit can match the minimum number of empty spaces on the first storage table 21, thus ensuring the smooth progress of material replenishment.

[0082] Step S23B: When N2 < n2 - 1, control the first material transfer unit to move and pick up the materials stored on the first storage table 21 so that the first material transfer unit is fully loaded.

[0083] It should be noted that if N2≥n2 - 1, it means that the replenishment capacity of the first storage table 21 is sufficient. At this time, the first material transfer unit can directly pick up the materials on the first storage table 21 for replenishment to ensure full load.

[0084] It should be noted that after receiving the signal of the end of processing, after the first material transfer unit has transferred all the materials it is currently carrying, the first material transfer unit and the second material transfer unit need to cooperate to empty the materials stored on the first storage table 21 and the second storage table 4, and then stop the relevant equipment. The corresponding materials are replenished before the next production.

[0085] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A product assembly line, characterized in that, Including: A base, the base having a waste discharging and replenishing station and an adjusting station spaced along the horizontal direction; A material transferring device, including a first material transferring part, the moving stroke of the first material transferring part passing through the waste discharging and replenishing station and the adjusting station, a first vision detection device being provided on the first material transferring part, and the first material transferring part being capable of picking up a plurality of materials; A waste discharging and replenishing device, located at the waste discharging and replenishing station, the waste discharging and replenishing device including a first storage table and a first waste discharging channel spaced along the horizontal direction, the first waste discharging channel being used for receiving and discharging defective materials detected by the first vision detection device, the upper end surface of the first storage table forming a plurality of first storage grooves, the plurality of first storage grooves being used for storing qualified materials for the first material transferring part to pick up; and, An adjusting device, located at the adjusting station, the adjusting device including a flipping platform provided on the base, the flipping platform rotating about an axis extending in the horizontal direction, the flipping platform being used for receiving a plurality of qualified materials transferred by the first material transferring part and adjusting the plurality of qualified materials from a first posture to a second posture during rotation.

2. The product assembly line according to claim 1, wherein The flipping platform includes an adjacent first side surface and a second side surface. During the rotation of the flipping platform, the flipping platform has a first position with the first side surface facing upwards and a second position with the second side surface facing upwards. A plurality of placement grooves are formed on the flipping platform, each of the placement grooves penetrating through the first side surface and the second side surface. The plurality of placement grooves are used for placing a plurality of materials, and the flipping platform is converted from the first position to the second position to drive the plurality of materials to be adjusted from a first posture to a second posture.

3. The product assembly line according to claim 2, characterized in that, The first side surface is provided with a plurality of through grooves spaced along the horizontal direction and penetrating through the second side surface; The adjusting device further includes: A plurality of push rods, respectively movably installed in the plurality of through grooves, a notch being provided at the end of each push rod facing the second side surface, and the notch and the side wall of the corresponding through groove jointly defining one of the placement grooves; and, A driving part, drivingly connected to the plurality of push rods through an adapter plate, for driving the plurality of push rods to move synchronously to adjust the size of the placement grooves.

4. The product assembly line according to claim 2, characterized in that The adjusting device further includes a pushing part provided on the side of the flipping platform, the pushing part having a moving stroke of approaching or departing from the flipping platform, a plurality of convex blocks being provided on the side of the pushing part facing the flipping platform. At the first position, the plurality of convex blocks can movably extend into the plurality of placement grooves respectively to push each material to abut against the wall surface of the corresponding placement groove.

5. The product assembly line according to claim 1, characterized in that, The product assembly line body further includes: A second storage table, the second storage table being provided on the side of the flipping platform, the upper end surface of the second storage table forming a plurality of second storage grooves, the plurality of second storage grooves being used for storing qualified materials maintaining the second posture; The second material transfer part is located at the adjustment station. A second vision detection device is arranged on the second material transfer part. The second material transfer part is used to remove the materials with abnormal postures detected by the second vision detection device, and can pick up and drive the materials in the second storage tank to be transferred onto the flipping platform.

6. The product assembly line according to claim 5, characterized in that, The second material transfer part is rotatably arranged along an axis extending in the vertical direction, so that after the second material transfer part picks up the materials with abnormal postures, the postures of the materials can be corrected by rotation.

7. The product assembly line according to claim 5, characterized in that, The adjustment device further includes a pushing part arranged on the side of the flipping platform. The pushing part has a moving stroke of approaching or departing from the flipping platform. The product assembly line body further includes a moving table. The moving table is arranged on the side of the flipping platform and has a moving stroke of approaching or departing from the flipping platform. The upper end of the moving table is for installing the pushing part and the second storage table.

8. The product assembly line according to claim 5, wherein, The second material transfer part has a moving stroke in the vertical direction. An active seat moving in the horizontal direction is arranged on the base. The flipping platform and the second storage table are arranged on the active seat.

9. A control method for a product assembly line body, based on the product assembly line body according to any one of claims 1 to 8, characterized in that, The control method of the product assembly line body includes the following steps: When there are defective materials among the multiple materials on the first material transfer part, control the first material transfer part to move to the waste discharging and replenishing station. Control the first material transfer part to release the defective materials and let them fall into the first waste discharging channel, control the first material transfer part to move and pick up the stored materials on the first storage table, or control the first material transfer part to release the qualified materials and let them fall into the empty first storage tank. When all the multiple materials on the first material transfer part are qualified materials, control the first material transfer part to place the multiple qualified materials in the adjustment station in a first posture.

10. The control method of the product assembly line body according to claim 9, characterized in that, The flipping platform includes an adjacent first side and a second side. During the rotation of the flipping platform, there is a first position where the first side faces upward and a second position where the second side faces upward. A plurality of placement grooves are formed on the first side of the flipping platform. All the plurality of placement grooves penetrate through the second side. The plurality of placement grooves are used for placing a plurality of materials. The flipping platform is converted from the first position to the second position to drive the plurality of materials to be adjusted from a first posture to a second posture. The product assembly line body includes a second storage table and a second material transfer part. The second storage table is arranged on the side of the flipping platform. The upper end surface of the second storage table is recessed to form a plurality of second storage grooves. The plurality of second storage grooves are used for storing the qualified materials maintaining the second posture. The second material transfer part is located at the adjustment station and is rotatable along an axis extending in the vertical direction. A second vision detection device is arranged on the second material transfer part. The second material transfer part is used to remove the materials with abnormal postures detected by the second vision detection device, and can pick up and drive the materials in the second storage grooves to be transferred onto the flipping platform. After the step of controlling the first material transfer part to place the multiple qualified materials in the adjustment station in a first posture when all the multiple materials on the first material transfer part are qualified materials, it further includes: Control the flipping platform to convert from the first position to the second position to drive multiple qualified materials to rotate; If the second vision detection device detects that the postures of at least some of the qualified materials are abnormal; Control the second material transfer part to pick up the qualified materials with abnormal postures, and control the second material transfer part to rotate to correct the material postures until the materials maintain the second posture, and then place them back on the flipping platform.

11. The control method of the product assembly line body according to claim 10, characterized in that, After the step of controlling the flipping platform to convert from the first position to the second position to drive multiple qualified materials to rotate, the following steps are further included: If the second vision detection device detects that the states of at least some of the qualified materials are abnormal; Control the second material transfer part to remove the qualified materials with abnormal states, and control the second material transfer part to move to transfer the stored materials on the second storage table to the flipping platform, or control the second material transfer part to move to transfer the remaining materials maintaining the second posture on the flipping platform to the empty second storage slot.

12. The control method of the product assembly line according to claim 11, characterized in that, The step of controlling the second material transfer part to remove the qualified materials with abnormal states, and control the second material transfer part to move to transfer the stored materials on the second storage table to the flipping platform, or control the second material transfer part to move to transfer the remaining materials maintaining the second posture on the flipping platform to the empty second storage slot includes: Control the second material transfer part to remove the qualified materials with abnormal states; Obtain the number N1 of the second storage slots full on the current second storage table and compare it with the number n1 of the empty placement slots on the flipping platform; When 0≤N1<n1, control the second material transfer part to move to transfer the remaining materials maintaining the second posture on the flipping platform to the empty second storage slot; When N1≥n1, control the second material transfer part to move to transfer the stored materials on the second storage table to the flipping platform.

13. The control method of the product assembly line according to claim 9, characterized in that, The step of controlling the first material transfer part to release the defective materials and let them fall into the first waste discharge channel, control the first material transfer part to move and pick up the stored materials on the first storage table, or control the first material transfer part to release the qualified materials and let them fall into the empty first storage slot includes: Control the first material transfer part to release the defective materials and let them fall into the first waste discharge channel; Obtain the number N2 of the empty first storage slots on the current first storage table and compare it with the number n2 of the materials picked up by the first material transfer part each time; When N2≥n2 - 1, control the first material transfer part to release the remaining qualified materials and let them fall into the empty first storage slot; When N2<n2 - 1, control the first material transfer part to move and pick up the stored materials on the first storage table to make the first material transfer part full.

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