Product assembly line and product assembly line control method

Abstract

The present invention discloses a product assembly line and a control method for the product assembly line, which relate to the field of assembly technology. In the product assembly line, the base has a waste discharge and material replenishment station and an adjustment station spaced apart in a horizontal direction; the movable stroke of the first material moving part passes through the waste discharge and material replenishment station and the adjustment station, and the first material moving part is provided with a first visual inspection device; the waste discharge and material replenishment device is located at the waste discharge and material replenishment station, and the waste discharge and material replenishment device includes a first material storage table and a first waste discharge channel spaced apart in a horizontal direction, and the upper end surface of the first material storage table forms a plurality of first material storage troughs, and the plurality of first material storage troughs are used to store qualified materials for the first material moving part to pick up; the adjustment device is located at the adjustment station, and the adjustment device includes a flip platform provided on the base, and the flip platform rotates along an axis extending in a horizontal direction, and the flip platform is used to receive a plurality of qualified materials transferred by the first material moving part, and adjust the plurality of qualified materials from a first posture to a second posture during the rotation process.

Description

Technical Field

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

[0002] In the current flexible line assembly process, a robotic arm grabs a product and assembles it with another product on the production line. The product's appearance inspection and posture correction inspection are both performed through snapshot inspection. If unqualified products are found among the multiple products currently grabbed by the robotic arm, all products on the robotic arm need to be disposed of, and the robotic arm needs to return to grab again. The frequency of waste disposal is high and the production rhythm is slow. Summary of the Invention

[0003] The main purpose of the present invention is to propose a product assembly line and a control method for the product assembly line, which increases a material feeding position at the waste discharge point, thereby speeding up the production progress and avoiding material waste due to frequent waste discharge.

[0004] To achieve the above objectives, the present invention proposes a product assembly line, comprising:

[0005] A base having waste discharge and material replenishment stations and an adjustment station spaced apart in a horizontal direction;

[0006] The material moving device includes a first material moving part, wherein the movable travel of the first material moving part passes through the waste discharge and material replenishment station and the adjustment station, the first material moving part is provided with a first visual detection device, and the first material moving part is capable of picking up multiple materials;

[0007] a waste discharge and material replenishment device, located at the waste discharge and material replenishment station, comprising a first material storage platform and a first waste discharge channel spaced apart in the horizontal direction, wherein the first waste discharge channel is used to receive and guide out defective materials detected by the first visual inspection device, and a plurality of first material storage slots are formed on the upper end surface of the first material storage platform, wherein the plurality of first material storage slots are used to store qualified materials for pickup by the first material transfer unit; and

[0008] The adjustment device is located at the adjustment station, and the adjustment device includes a flip platform provided on the base. The flip platform rotates along an axis extending in the horizontal direction. The flip platform is used to receive multiple qualified materials transferred by the first material transfer part, and adjust the multiple qualified materials from the first posture to the second posture during the rotation process.

[0009] In one embodiment, the flipping platform includes a first side surface and a second side surface arranged adjacent to each other. During the rotation of the flipping platform, the flipping platform has a first position in which the first side surface faces upward, and a second position in which the second side surface faces upward. A plurality of placement grooves are formed on the flipping platform, and each of the placement grooves is arranged to pass through the first side surface and the second side surface. The plurality of placement grooves are used to accommodate a plurality of materials. The flipping platform is converted from the first position to the second position to drive the plurality of materials to adjust from the first posture to the second posture.

[0010] In one embodiment, the first side surface is provided with a plurality of through slots spaced apart in a horizontal direction and passing through the second side surface;

[0011] The adjusting device further comprises:

[0012] a plurality of push rods, movably mounted in the plurality of through slots, respectively; a notch is provided at the end of each push rod facing the second side surface; the notch and the corresponding sidewall of the through slot jointly define an accommodation slot; and

[0013] The driving part is connected to the plurality of push rods through an adapter plate and is used to drive the plurality of push rods to move synchronously so as to adjust the size of the placement groove.

[0014] In one embodiment, the adjustment device also includes a pushing portion provided on the side of the flipping platform, the pushing portion has a movable stroke approaching or moving away from the flipping platform, and the pushing portion is provided with a plurality of latching protrusions on the side facing the flipping platform. When in the first position, the plurality of latching protrusions can be movably extended into the plurality of placement grooves to push each material to press against the wall of the corresponding placement groove.

[0015] In one embodiment, the seating groove includes a first groove section and a second groove section sequentially arranged along a direction from the groove opening to the groove bottom, and the second groove section is adapted to the clamping protrusion.

[0016] In one embodiment, the product assembly line further comprises:

[0017] A second material storage platform is provided on the side of the turning platform, and a plurality of second material storage slots are formed on the upper end surface of the second material storage platform, and the plurality of second material storage slots are used to store qualified materials maintaining a second posture;

[0018] The second material moving part is located at the adjustment station. The second material moving part is provided with a second visual detection device. The second material moving part is used to remove materials with abnormal postures detected by the second visual detection device, and can pick up and drive the materials in the second material storage trough to be transferred to the flipping platform.

[0019] In one embodiment, the second material moving part can be rotatably arranged along an axis extending in the vertical direction, so that after the second material moving part picks up materials with abnormal postures, the posture of the materials can be corrected by rotation.

[0020] In one embodiment, the adjustment device further comprises a pushing portion provided on the side of the flip platform, and the pushing portion has a movable stroke that moves toward or away from the flip platform;

[0021] The product assembly line also includes a movable platform, which is arranged on the side of the flip platform and has a movable stroke approaching or moving away from the flip platform. The upper end of the movable platform is used for installing the pushing part and the second storage platform.

[0022] In one embodiment, the second material moving portion has a movable stroke in the up-down direction;

[0023] A movable seat movable in a horizontal direction is provided on the base, and the turning platform and the second material storage platform are provided on the movable seat.

[0024] In one embodiment, the first material moving portion includes:

[0025] The main body can be movably arranged; and

[0026] A plurality of suction nozzles are installed at intervals on the lower end of the main body.

[0027] The present invention further proposes a method for controlling a product assembly line. Based on the above-mentioned product assembly line, the method for controlling the product assembly line comprises the following steps:

[0028] When there is a defective material among the multiple materials on the first material moving part, controlling the first material moving part to move to the waste discharge and material replenishment station;

[0029] Controlling the first material moving part to release defective materials and make them fall into the first waste discharge channel, controlling the first material moving part to move and pick up stored materials on the first material storage table, or controlling the first material moving part to release qualified materials and make them fall into the empty first material storage trough;

[0030] When the plurality of materials on the first material moving part are all qualified materials, the first material moving part is controlled to place the plurality of qualified materials on the adjustment station in a first posture.

[0031] In one embodiment, the flip platform includes a first side surface and a second side surface that are adjacently arranged. During the rotation of the flip platform, it has a first position in which the first side surface is facing upward, and a second position in which the second side surface is facing upward. The first side surface of the flip platform is provided with a plurality of placement slots, and the plurality of placement slots are all provided through the second side surface. The plurality of placement slots are used for placing a plurality of materials. The flip platform is converted from the first position to the second position to drive the plurality of materials to be adjusted from the first posture to the second posture. The product assembly line includes a second material storage table and a second material moving part. The second material storage table is arranged on the side of the flip platform. The upper end surface of the second material storage table is recessed to form a plurality of second material storage slots. The plurality of second material storage slots are used to store qualified materials maintaining the second posture. The second material moving part is located at the adjustment station and can rotate along an axis extending in the up-down direction. The second material moving part is provided with a second visual detection device. The second material moving part is used to remove materials with abnormal postures detected by the second visual detection device, and can pick up and drive the materials in the second material storage slots to be transferred to the flip platform.

[0032] When the plurality of materials on the first material moving part are all qualified materials, after the step of controlling the first material moving part to place the plurality of qualified materials in the first posture on the adjustment station, the method further includes:

[0033] Controlling the turning platform to switch from the first position to the second position to drive the plurality of qualified materials to rotate;

[0034] If the second visual inspection device detects that at least part of the qualified materials have abnormal postures;

[0035] The second material moving part is controlled to pick up qualified materials with abnormal postures, and the second material moving part is controlled to rotate to correct the posture of the materials until the materials maintain the second posture and then put them back on the turning platform.

[0036] In one embodiment, after the step of controlling the turning platform to switch from the first position to the second position to drive the plurality of qualified materials to rotate, the step further includes:

[0037] If the second visual inspection device detects that the state of at least part of the qualified materials is abnormal;

[0038] Control the second material moving part to remove qualified materials in abnormal status, and control the second material moving part to transfer the stored materials on the second storage platform to the flip platform, or control the second material moving part to transfer the remaining qualified materials maintaining the second posture on the flip platform to the empty second storage trough.

[0039] In one embodiment, the step of controlling the second material moving part to remove qualified materials in abnormal conditions, and controlling the second material moving part to transfer the stored materials on the second material storage platform to the turning platform, or controlling the second material moving part to transfer the qualified materials remaining in the second posture on the turning platform to the empty second material storage trough includes:

[0040] Controlling the second material moving part to remove qualified materials in abnormal conditions;

[0041] Obtain the number N1 of fully loaded second storage slots on the current second storage table, and compare it with the number n1 of empty placement slots on the turning table;

[0042] When 0≤N1<n1, the second material transfer part is controlled to transfer the remaining qualified materials in the second posture on the turning platform to the empty second material storage trough;

[0043] When N1≥n1, the second material transfer part is controlled to transfer the stored material on the second material storage platform to the turning platform.

[0044] In one embodiment, the steps of controlling the first material moving part to release defective materials and drop them into the first waste discharge channel, controlling the first material moving part to move and pick up stored materials on the first material storage table, or controlling the first material moving part to release qualified materials and drop them into the empty first material storage trough include:

[0045] controlling the first material moving part to release the defective material and make it fall into the first waste discharge channel;

[0046] Obtain the current number N2 of empty first material storage slots on the first material storage platform, and compare it with the number n2 of materials picked up by the first material transfer unit in a single time;

[0047] When N2≥n2-1, the first material moving part is controlled to release the remaining qualified materials and make them fall into the empty first storage trough;

[0048] When N2<n2-1, the first material moving part is controlled to move and pick up the materials stored on the first material storage table, so that the first material moving part is fully loaded.

[0049] In the technical solution of the present invention, a first visual inspection device is provided on the first material moving part, which can detect after the first material moving part picks up multiple materials. According to the inspection results, when waste discharge is required, the movable stroke of the first material moving part is to first pass through the waste discharge and material replenishment station, and then pass through the adjustment device, so that the first material moving part collects defective materials through the first waste discharge channel at the waste discharge and material replenishment station. At this time, the vacant position on the first material moving part can be directly replenished by picking up qualified materials in the first storage tank, so that it can enter the adjustment station in a fully loaded state to adjust the posture of the material. By adding a first storage table at the waste discharge position, waste discharge and material replenishment can be completed in a relay manner during the production rhythm, shortening the movable path of the first material moving part, speeding up the production progress, and avoiding the waste of materials caused by frequent waste discharge. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0051] Figure 1 A schematic structural diagram of an embodiment of a product assembly line provided by the present invention;

[0052] Figure 2 for Figure 1 Schematic diagram of the structure of the adjustment device;

[0053] Figure 3 for Figure 2 A magnified schematic diagram of part A in the middle;

[0054] Figure 4 for Figure 2 A magnified schematic diagram of part B in the middle;

[0055] Figure 5 A schematic flow chart of a method for controlling a product assembly line provided by the present invention;

[0056] Figure 6 for Figure 5 Flow chart of the control method of the product assembly line.

[0057] Description of Figure Numbers:

[0058] 100. Product assembly line; 1. Base; 1a. Waste discharge and material replenishment station; 1b. Adjustment station; 11. Movable seat; 2. Waste discharge and material replenishment device; 21. First material storage table; 211. First material storage trough; 22. First waste discharge channel; 3. Adjustment device; 31. Turning platform; 311. First side surface; 312. Second side surface; 313. Through groove; 32. Accommodation groove; 321. First groove section; 322. Second groove section; 33. Push rod; 34. Driving part; 35. Pushing part; 351. Clamping cam; 4. Second material storage table; 41. Second material storage trough; 5. Moving platform; 6. Optical fiber.

[0059] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0060] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0061] It should be noted that if a directional indication is involved in an 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.

[0062] 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 for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that ordinary technicians in this field can 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.

[0063] In the current flexible line assembly process, a robotic arm grabs a 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 unqualified products are found among the multiple products currently grabbed by the robotic arm, all products on the robotic arm need to be disposed of, and the robotic arm needs to return to grab again. The frequency of waste disposal is high and the production rhythm is slow.

[0064] Based on the above situation, in the existing technology, due to the unreasonable layout of the production line, the robotic arm needs to move back and forth to grasp, resulting in a long process processing time. When discharging waste, qualified products are discharged and need to be re-sorted, which increases costs.

[0065] Therefore, the present invention proposes a product assembly line that 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.

[0066] Please refer to Figures 1 to 2 The product assembly line 100 includes a base 1, a waste discharge and material replenishment device 2 (not shown), and an adjustment device 3. The base 1 has a waste discharge and material replenishment station 1a and an adjustment station 1b spaced apart in the horizontal direction; the material transfer device includes a first material transfer part, the movable stroke of the first material transfer part passes through the waste discharge and material replenishment station 1a and the adjustment station 1b, and the first material transfer part is provided with a first visual inspection device. The first material transfer part can pick up multiple materials; the waste discharge and material replenishment device 2 is located at the waste discharge and material replenishment station 1a, and the waste discharge and material replenishment device 2 includes a first material storage table 21 and a first waste discharge channel 22 spaced apart in the horizontal direction. The first waste discharge channel 22 is used to receive and discharge defective materials detected by the first visual inspection device. The upper end surface of the first storage table 21 forms a plurality of first storage troughs 211. The plurality of first storage troughs 211 are used to store qualified materials for picking up by the first material transfer part. The adjustment device 3 is located at the adjustment station 1b. The adjustment device 3 includes a flip platform 31 provided on the base 1. The flip platform 31 rotates along an axis extending in the horizontal direction. The flip platform 31 is used to receive multiple qualified materials transferred by the first material transfer part, and adjust the multiple qualified materials from the first posture to the second posture during the rotation process.

[0067] In the technical solution of the present invention, a first visual inspection device is provided on the first material moving part, which can detect multiple materials after the first material moving part picks up them. According to the inspection results, when waste discharge is required, the movable stroke of the first material moving part is to first pass through the waste discharge and material replenishment station 1a, and then pass through the adjustment device 3, so that the first material moving part collects defective materials through the first waste discharge channel 22 at the waste discharge and material replenishment station 1a. At this time, the vacant position on the first material moving part can be replenished by picking up qualified materials in the first storage tank 211, so that it can enter the adjustment station 1b in a fully loaded state to adjust the posture of the material. By adding the first storage table 21 at the waste discharge position, waste discharge and material replenishment can be completed in a relay manner during the production cycle, shortening the movable path of the first material moving part, speeding up the production progress, and avoiding the waste of materials caused by frequent waste discharge.

[0068] It should be understood that the adjustment station 1b and the waste discharge and material replenishment station 1a are on the same straight line. Therefore, if the first visual inspection device detects that multiple materials on the first material transfer part are qualified materials, the first material transfer part does not need to stop when passing the waste discharge and material replenishment station 1a, and can directly reach the adjustment station 1b.

[0069] There is no limitation on the structural form of the material moving device, and the first material moving part can be driven to move by a multi-axis drive structure or a robotic arm. It should be understood that the first material moving part can pick up multiple materials at the same time, but each picking point of the first material moving part is independent of each other. For example, if the first material moving part picks up 4 materials, then when discharging waste, the first material moving part can only release 1 material for waste discharge, and the remaining 3 materials can remain on the first material moving part.

[0070] Based on the above embodiment, the first material moving part can be composed of multiple clamps. In this embodiment, the first material moving part includes a main body and multiple suction nozzles. The main body serves as a support and can provide a corresponding floating structure or air pipe arrangement. Multiple suction nozzles are installed at intervals at the lower end of the main body, and the air paths of the multiple suction nozzles are independent of each other, thereby controlling the adsorption or release of a single suction nozzle.

[0071] In some embodiments, the adjustment station 1b and the waste discharge and restocking station 1a are spaced apart along the first horizontal direction. In this case, the first waste discharge channel 22 and the first material storage platform 21 can be spaced apart along the first horizontal direction, that is, the first material moving unit can pass through the first waste discharge channel 22 first and then through the first material storage platform 21, so that the first material moving unit reciprocates in a straight line. The first waste discharge channel 22 and the first material storage platform 21 can also be spaced apart along the second horizontal direction. In this case, the first material moving unit needs to move horizontally at the waste discharge and restocking station 1a. However, this arrangement shortens the length of the linear body, which is conducive to a compact layout.

[0072] In this embodiment, a plurality of first storage troughs 211 are arranged along the second horizontal direction on the first storage platform 21. Each first storage trough 211 needs to store qualified materials in advance so that it can directly supply replenishment materials. Each first storage trough 211 is adapted to the shape of the materials to ensure stable support.

[0073] It should be noted that the first row of waste channels 22 is composed of a cylindrical structure or a pipe, and a material box should be placed correspondingly below it to facilitate the collection of waste.

[0074] For further information, please refer to Figures 2 to 3The turning platform 31 includes a first side surface 311 and a second side surface 312 disposed adjacent to each other. During its rotation, the turning platform 31 has a first position with the first side surface 311 facing upward, and a second position with the second side surface 312 facing upward. A plurality of placement grooves 32 are formed on the turning platform 31. Each placement groove 32 extends through the first side surface 311 and the second side surface 312. The placement grooves 32 are used to accommodate a plurality of materials. When the turning platform 31 transitions from the first position to the second position, the plurality of materials are adjusted from the first position to the second position. Specifically, the placement grooves 32 are formed at the side ends of the turning platform 31 and extend through two adjacent side surfaces. Initially, the materials are placed in the placement grooves 32 in a vertical first position. At this time, the first side surface 311 faces upward, and the placement grooves 32 serve primarily as a limiter, controlling the 90° rotation of the turning platform 31. At this time, the second side surface 312 faces upward, causing the materials to rotate to the horizontal second position. The placement grooves 32 serve primarily as a support.

[0075] Specifically, the turning platform 31 is driven by a rotary cylinder to achieve rotation. Specifically, the turning platform 31 is rotatably installed along an axis extending in the second horizontal direction.

[0076] In order to adapt to materials of different sizes, the size of the placement slot 32 is adjustable in this embodiment. Please refer to Figures 2 to 3 The first side surface 311 is provided with a plurality of through slots 313 spaced apart horizontally and extending through the second side surface 312. Specifically, each through slot 313 extends along the first horizontal direction and extends through the flip platform 31 on both sides of the first horizontal direction, thereby forming three adjacent open sides of each through slot 313, two of which are located on the first side surface 311 and the second side surface 312, respectively. The adjustment device 3 further includes a plurality of push rods 33 and a driving portion 34. The plurality of push rods 33 are movably mounted in the plurality of through slots 313, and each push rod 33 has a notch at its end facing the second side surface 312. The notch and the sidewall of the corresponding through slot 313 together define a receiving slot 32. The driving portion 34 is connected to the plurality of push rods 33 via an adapter plate, and is used to drive the plurality of push rods 33 to move synchronously to adjust the size of the receiving slot 32. The ends of multiple push rods 33 are connected by an adapter plate, so that a cylinder can drive the adapter plate to simultaneously drive multiple push rods 33 to move, thereby realizing synchronous adjustment of the sizes of multiple 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, thereby changing the size of the corresponding enclosed placement groove 32.

[0077] It should be understood that the design of the notch can provide both position limiting and support.

[0078] Moreover, due to the position change of the flipping platform 31, in order to ensure the matching effect of related parts, the adjustment device 3 also includes a fixed plate, and the fixed plate cover is arranged on the outside of the multiple through grooves 313 to limit the relative positions of the multiple push rods 33 and the flipping platform 31. It should be understood that there should be a gap between the fixed plate and the second side to avoid blocking the placement groove 32 and reserve a certain adjustment space for the placement groove 32.

[0079] Considering that the material may move in the placement groove 32 after the first material moving part releases the material, please refer to Figure 3 The adjustment device 3 also includes a pusher 35 disposed on the side of the turning platform 31. The pusher 35 has a movable range that allows it to move toward or away from the turning platform 31. A plurality of latching protrusions 351 are provided on the side of the pusher 35 facing the turning platform 31. In a first position, the latching protrusions 351 can be moved into the plurality of receiving grooves 32 to push each material into contact with the wall of the corresponding receiving groove 32. Initially, the pusher 35 is spaced away from the turning platform 31. After the material is placed in the receiving groove 32, the pusher 35 moves toward the turning platform 31, driving the latching protrusions 351 to extend into the receiving groove 32 from the second side, thereby contacting the material. This allows the material to be pressed against the side wall of the receiving groove 32 opposite the pusher 35, thereby ensuring that each material is positioned uniformly. The pusher 35 then moves in the opposite direction, moving away from the turning platform 31. During and after the turning platform 31 stops rotating, the material remains in contact with the corresponding wall, thereby improving the stability of the material's posture transition process.

[0080] Furthermore, each locking protrusion 351 is extended in a direction away from the pushing portion 35 , forming a trapezoidal structure, and the shape of the notch can be set accordingly.

[0081] Please refer to Figure 4 The placement groove 32 includes a first groove section 321 and a second groove section 322 arranged in sequence along the groove opening toward the groove bottom, and the second groove section 322 is adapted to the locking protrusion 351. Thus, the first groove section 321 still has sufficient space.

[0082] In order to improve the accuracy of the linear movement of the push rod 33 in the through slot 313, the through slot 313 is arranged in a stepped manner, and the push rod 33 is correspondingly arranged in a stepped manner, so as to perform guidance through the steps and improve the matching accuracy of the push rod 33 and the through slot 313.

[0083] The material also needs to be discharged in the adjustment station 1b. In some embodiments, please refer to Figure 2The product assembly line 100 also includes a second material storage table 4 and a second material transfer unit (not shown in the figure). The second material storage table 4 is arranged on the side of the flip platform 31. The upper end surface of the second material storage table 4 forms a plurality of second material storage slots 41. The plurality of second material storage slots 41 are used to store qualified materials maintaining a second posture. The second material transfer unit is located at the adjustment station 1b. A second visual inspection device is provided on the second material transfer unit. The second material transfer unit is used to remove materials with abnormal conditions detected by the second visual inspection device, and can pick up and drive the materials in the second material storage slots 41 to be transferred to the flip platform 31. The setting of the second material storage table 4 allows for material replenishment operations at the adjustment station 1b. The second visual inspection device is used to inspect the material after the flip platform 31 rotates. Since the material undergoes posture adjustment, the detection angle of the second visual inspection is different from the detection angle of the first visual inspection device. Therefore, it is possible that a product that passed the first inspection may have an abnormal state in the second inspection, that is, a new quality defect is discovered. At this time, waste can be discharged through the second material transfer part. After the waste is discharged, there is a shortage of material on the flip platform 31. The second material transfer part can directly pick up the material in the second material storage slot 41 to replenish the empty space on the flip platform 31, thereby ensuring that the flip platform 31 in the second position is fully loaded, thereby facilitating the overall material removal and assembly of the subsequent process.

[0084] It should be understood that there may be anomalies caused by material falling off after the turning platform 31 rotates. In this case, the second material transfer unit can also be used to replenish the material. In view of this, an optical fiber 6 is provided on the second material storage platform 4. The optical fiber 6 can determine the presence of material. The optical fiber 6 can detect the presence of material on the turning platform 31 and the presence of material in the second material storage trough 41, thereby realizing intelligent detection.

[0085] Moreover, the second material transfer part can be rotated along an axis extending in the up-down direction, and the second visual detection device can also detect whether the materials are in the second posture after the turning platform 31 is rotated. For materials with abnormal postures, after the second material transfer part picks up the materials with abnormal postures, it can correct the posture of the materials by rotating itself, thereby avoiding the discharge of good products simply because of inconsistent postures.

[0086] The second material transfer unit can be implemented in the same manner as the first material transfer unit, i.e., using multiple suction nozzles to pick up and release materials. The second material transfer unit can also be configured 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 into the adjustment station 1b, while 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.

[0087] To make the entire apparatus more compact, the adjustment device 3 further includes a pusher 35 located to the side of the flipping platform 31. The pusher 35 has a range of motion that allows it to move closer to or further from the flipping platform 31. The product assembly line 100 further includes a movable platform 5 located to the side of the flipping platform 31 and has a range of motion that allows it to move closer to or further from the flipping platform 31. The upper end of the movable platform 5 is used to mount the pusher 35 and the second storage platform 4. Specifically, the pusher 35 and the second storage platform 4 are mounted together. When the pusher 35 moves, the second storage platform 4 moves accordingly. However, the two operate in different sequences and therefore do not affect the production process.

[0088] In some embodiments, the second material moving part has a movable stroke in the up-down direction, and a movable seat 11 movable in the horizontal direction is provided on the base 1, and a flip platform 31 and a second material storage table 4 are provided on the movable seat 11. That is, the first material storage table 21 and the first waste discharge channel 22 remain fixed, and the second material storage table 4 can move in the horizontal direction. This is based on the production line layout considerations. The second material moving part is movable by lifting, so the waste discharge channel corresponding to the adjustment station and the production line of the material to be assembled are distributed up and down relative to the base 1. When the adjustment station 1b needs to replenish material, the movable seat 11 is moved to move the second material storage table 4 to face the second material moving part. After the material is completely taken, the flip platform 31 is then made to face the second material moving part, thereby ensuring the smooth progress of the production rhythm.

[0089] In the technical solution of the present invention, before the material enters the adjustment station 1b and after entering the adjustment station 1b, material replenishment is achieved through the first material storage table 21 and the second material storage table 4, so that the NG material information of the first visual inspection device and the second visual inspection device obtained by the control system can control the corresponding material transfer part to perform waste discharge and material replenishment actions, and corresponding detection parts can be set on the first material storage table 21 and the second material storage table 4 to detect the situation of stored materials, and reasonably arrange material replenishment of the first material storage table 21 and the second material storage table 4 according to the material retrieval situation.

[0090] Furthermore, product assembly line 100 also includes a control device, which can be an industrial computer. Specifically, the control device can include a processing unit (such as a central processing unit or graphics processing unit), which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) or programs loaded from a storage device into random access memory (RAM). RAM also stores various programs and data required for the operation of the control device. The processing unit, ROM, and RAM are interconnected via a bus. An input / output (I / O) interface is also connected to the bus. Typically, the following systems can be connected to the I / O interface: input devices such as a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices such as a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices such as magnetic tape and hard disk; and communication devices. The communication devices can allow the control device to communicate with other devices wirelessly or wired to exchange data. Although the figure shows a control device with various systems, it should be understood that implementation or presence of all the illustrated systems is not required. Greater or fewer systems may alternatively be implemented or provided.

[0091] Based on this, the embodiment of the present application provides a method for controlling a product assembly line. Figures 5 and 6 This is a flow chart of an embodiment of a method for controlling an assembly line of a product of the present application.

[0092] The control method of the product assembly line includes the following steps:

[0093] Step S10: When there is a defective material among the multiple materials on the first material moving part, control the first material moving part to move to the waste discharge and material replenishment station 1a;

[0094] It should be noted that after the first material transfer part picks up multiple materials, the first visual inspection device performs the first inspection. If at least one defective material is found in the first inspection result, it is determined that waste discharge is currently required, and the first material transfer part is controlled to be transferred to the waste discharge and material replenishment station 1a.

[0095] It should be noted that the materials picked up by the first material moving part have all been processed in the previous process, and may be attached with a film or gauze, or may be assembled with other components, and the present invention does not limit this.

[0096] For example, if the first material transfer unit picks up four materials at once and all four are found to be qualified in the first inspection, no waste removal is required and the first material transfer unit can be moved directly to the adjustment station 1b. If one of the four materials is defective (perhaps one, two, three, or even four), waste removal is determined to be necessary and the first material transfer unit is controlled to move to the waste removal and material replenishment station 1a.

[0097] Step S20: Control the first material moving part to release the defective material and make it fall into the first waste discharge channel 22, control the first material moving part to move and pick up the stored material on the first material storage table 21, or control the first material moving part to release the qualified material and make it fall into the empty first material storage slot 211;

[0098] It should be noted that before the equipment works, it is necessary to pre-place qualified materials taken out from the previous process in the first storage slot 211 of the first storage table 21 for use as replenishment. After the equipment officially works, no manual intervention is performed. When defective materials appear on the first material transfer part, the defective materials need to be discarded and materials need to be taken from the first storage table 21 for replenishment. Therefore, the amount of materials stored on the first storage table 21 will gradually decrease. Therefore, it is necessary to set a corresponding judgment mechanism. When the amount of materials stored on the first storage table 21 is sufficient, the first material transfer part replenishes the materials on the first storage table 21. When the amount 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 part releases the defective materials, the remaining qualified materials are replenished into the empty first storage slot 211 of the first storage table 21, thereby ensuring subsequent stable replenishment.

[0099] It should be understood that if there is no material on the first material moving part, it is necessary to return to the initial position and re-take the material for detection.

[0100] Step S30 , when the multiple materials on the first material moving part are all qualified materials, the first material moving part is controlled to place the multiple qualified materials in the first posture at the adjustment station 1 b.

[0101] For example, when the first material transfer part picks up the material, the material is in a vertical state, and the vertical state is the first posture. The adjustment device 3 at the adjustment station 1b can change the material from a vertical state to an inclined state or a horizontal state, and a reasonable design is made according to the assembly form of the material and the subsequent product.

[0102] The technical solution of the present invention mainly involves the detection, transfer and posture adjustment of materials. When defective materials are detected, the first material storage table 21 is set up so that the first material transfer part can quickly replenish materials after discharging waste, thereby ensuring that the first material transfer part can always reach the adjustment station 1b with full-matching material. The entire process is conducive to ensuring production yield, and can also shorten the activity path of the first material transfer part and speed up production progress.

[0103] Furthermore, after step S30, the following steps are further included:

[0104] Step S40, controlling the turning platform 31 to switch from the first position to the second position to drive the plurality of qualified materials to rotate;

[0105] It should be noted that the flip platform 31 rotates 90°, thereby driving the material to change from the first posture to the second posture. For example, when the flip platform 31 is in the first position, the material is placed vertically. After the flip platform 31 is converted to the second position, the material rotates 90° and changes from vertical to horizontal.

[0106] Step S50, if the second visual inspection device detects that the posture of at least part of the qualified materials is abnormal;

[0107] Ideally, all materials rotate with the turning platform 31 to maintain the same posture. Specifically, the product posture is consistent and the edges are aligned. This is because multiple materials need to be picked up simultaneously after posture adjustment for simultaneous installation in subsequent processes. Multiple materials may be placed on different products or installed simultaneously on the same product. The main purpose of the adjustment process is to adjust the material posture to facilitate assembly in subsequent processes, so it is necessary to ensure the consistency of multiple materials after adjustment.

[0108] The second visual inspection is carried out by the second visual inspection device when the material maintains the second posture. If the second inspection result shows that at least one material does not meet the posture adjustment requirements, that is, it is inconsistent with other materials, which may be due to the inconsistent tilt amplitude or orientation, then the material posture is judged to be abnormal. If the second inspection result shows that the postures of all materials meet the requirements and remain consistent, then the material posture is judged to be correct.

[0109] Step S60 , controlling the second material moving part to pick up qualified materials with abnormal postures, and controlling the second material moving part to rotate to correct the posture of the materials until the materials maintain the second posture, and then placing them back on the turning platform 31 .

[0110] When the material posture is abnormal, the material needs to be corrected. Specifically, the second material moving part picks up the qualified material with abnormal posture, and corrects the posture by rotating and moving adjustment until the posture of the material meets the requirements and is placed back on the turning platform 31.

[0111] It should be noted that when there are multiple materials with abnormal postures, the second material transfer unit should take out one material at a time for correction, put it back, and then take out the next one.

[0112] If the second material transfer part fails to meet the correction requirements after a certain period of debugging, the material will be discharged as waste.

[0113] Furthermore, after step S40, the following steps are further included:

[0114] Step S50A, if the second visual inspection device detects that the state of at least part of the qualified materials is abnormal;

[0115] When the second visual inspection device is working, it can not only detect the posture of the material, but also detect the surface defects of the material. That is, the purpose of the second visual inspection is not single. In addition to determining whether there is any material with abnormal posture, it is also necessary to determine whether there is any material with abnormal state. Materials with abnormal state may have quality defects such as burrs on the surface. Materials with abnormal posture are not in the second posture.

[0116] Step S60A, control the second material moving part to remove qualified materials in abnormal status, and control the second material moving part to transfer the stored materials on the second storage table 4 to the flip platform 31, or control the second material moving part to transfer the remaining qualified materials maintaining the second posture on the flip platform 31 to the empty second storage slot 41.

[0117] It should be noted that before the equipment works, it is necessary to take out qualified materials in the previous process in advance, manually adjust them to the second posture, and then place them in the second storage slot 41 of the second storage table 4 for use as replenishment. After the equipment is officially working, no manual intervention is performed. After the flip platform 31 flips to the second position, when the gear detection finds materials with abnormal status, the materials with abnormal status need to be discharged and the corresponding number of materials are taken from the second storage table 4 for replenishment. Therefore, the amount of materials stored on the second storage table 4 will gradually decrease. Therefore, it is necessary to set a corresponding judgment mechanism. When the amount of materials stored on the second storage table 4 is sufficient, the second material moving part replenishes the materials on the second storage table 4. When the amount of materials stored on the second storage table 4 is insufficient, the second storage table 4 needs to be replenished. Specifically, the remaining materials after the flip platform 31 is discharged are moved to the empty second storage slot 41, so as to ensure subsequent stable replenishment.

[0118] It should be understood that if there is no material on the turning platform 31, it is sufficient to wait for the first material moving part to move new material again.

[0119] Based on the above embodiment, step S60A includes:

[0120] Step S61, controlling the second material moving part to remove qualified materials in abnormal conditions;

[0121] Step S62, obtaining the number N1 of fully loaded second storage slots 41 on the current second storage table 4, and comparing it with the number n1 of empty placement slots 32 on the turning table;

[0122] Specifically, a total of multiple materials are placed on the turning platform 31. After n1 materials are discarded in step S61, n1 empty spaces appear on the turning platform 31. The number N1 of the second storage platform 4 varies at different production stages. Therefore, N1 and n1 need to be compared to determine whether the materials currently stored on the second storage platform 4 can meet the replenishment demand.

[0123] Step S63A, when 0≤N1<n1, controlling the second material transfer unit to transfer the remaining qualified materials in the second posture on the turning platform 31 to the empty second material storage trough 41;

[0124] It should be noted that if 0≤N1<n1, it means that there are more empty spaces on the turning platform 31 than materials on the second storage platform 4. In this case, even if the materials stored on the second storage platform 4 are replenished, the turning platform 31 still cannot be fully loaded. This will cause the equipment to enter a deadlock. It cannot meet the full load required by the second material transfer unit to remove and assemble, and the first material transfer unit cannot load materials when it arrives again with more materials. Therefore, all materials remaining on the turning platform 31 after being discharged are directly transferred to the empty spaces on the second storage platform 4 to replenish the second storage platform 4. This can facilitate the subsequent material replenishment function.

[0125] Step S63B: when N1≥n1, control the second material transfer unit to transfer the stored materials on the second material storage platform 4 to the turning platform 31.

[0126] It should be noted that if N1≥n1, it means that the empty space on the turning platform 31 matches the amount of materials on the second storage platform 4, and the materials on the second storage platform 4 can be directly added to the turning platform 31 to make the turning platform 31 fully loaded.

[0127] Furthermore, step S20 includes:

[0128] Step S21, controlling the first material moving part to release the defective material and make it fall into the first waste discharge channel 22;

[0129] Step S22, obtaining the number N2 of the empty first material storage slots 211 on the current first material storage platform 21, and comparing it with the number n2 of materials picked up by the first material transfer part in a single time;

[0130] Specifically, the replenishment capacity of the first material storage table 21 is related to the amount of remaining materials on the first material storage table 21 and the empty spaces to be replenished in the first material transfer section. During the entire processing process, as time goes by, the amount of materials on the first material storage table 21 decreases. If the amount of materials is insufficient, it will affect the continuity of production. Therefore, the number of empty spaces N2 on the first material storage table 21 is correlated and compared with the single transfer quantity n2 of the first material transfer section, so as to realize the monitoring of the replenishment capacity of the first material storage table 21.

[0131] Step S23A, when N2≥n2-1, control the first material moving part to release the remaining qualified materials and make them fall into the empty first storage trough 211;

[0132] It should be noted that if N2≥n2-1, it means that there is a risk of insufficient replenishment capacity of the first storage platform 21. At this time, the remaining qualified materials on the first material transfer part are transferred to the first storage trough 211 to replenish the first storage platform 21.

[0133] For example, n2=4, if defective materials appear in the first material transfer section, the number of defective materials is at least 1, that is, at most 3 qualified materials can remain in the first material transfer section after waste discharge. When N2≥3, the maximum replenishment quantity of the first material transfer section can match the minimum number of empty spaces in the first material storage table 21, thereby ensuring smooth replenishment.

[0134] Step S23B: when N2<n2-1, control the first material moving part to move and pick up the materials stored on the first material storage platform 21, so that the first material moving part is fully loaded.

[0135] It should be noted that if N2≥n2-1, it means that the replenishment capacity of the first material storage platform 21 is sufficient. At this time, the first material transfer unit can directly pick up the material on the first material storage platform 21 for replenishment to ensure full loading.

[0136] It should be noted that after receiving the processing end signal and the first material moving unit has completed transferring the currently carried material, the first and second material moving units need to cooperate to empty the materials stored on the first storage platform 21 and the second storage platform 4, and then shut down the relevant equipment. The corresponding materials will be replenished before resuming production.

[0137] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's description and drawings, or direct / indirect applications in other related technical fields, within the scope of the present invention are included in the patent protection scope of the present invention.

Claims

1. A product assembly line, characterized in that: include: A base having waste discharge and material replenishment stations and an adjustment station spaced apart in a horizontal direction; The material moving device includes a first material moving part, wherein the movable travel of the first material moving part passes through the waste discharge and material replenishment station and the adjustment station, the first material moving part is provided with a first visual detection device, and the first material moving part is capable of picking up multiple materials; a waste discharge and material replenishment device, located at the waste discharge and material replenishment station, comprising a first material storage platform and a first waste discharge channel spaced apart in the horizontal direction, wherein the first waste discharge channel is used to receive and guide out defective materials detected by the first visual inspection device, and a plurality of first material storage slots are formed on the upper end surface of the first material storage platform, wherein the plurality of first material storage slots are used to store qualified materials for pickup by the first material transfer unit; and An adjusting device is located at the adjusting station, and the adjusting device includes a turning platform provided on the base, and the turning platform rotates along an axis extending in the horizontal direction, and the turning platform is used to receive a plurality of qualified materials transferred by the first material moving part, and the turning platform includes a first side surface and a second side surface provided adjacent to each other. During the rotation of the turning platform, the turning platform has a first position in which the first side surface faces upward, and a second position in which the second side surface faces upward. A plurality of placement grooves are formed on the turning platform, and each placement groove is provided through the first side surface and the second side surface. The plurality of placement grooves are used for placing a plurality of materials. The turning platform is converted from the first position to the second position to drive the plurality of materials to adjust from the first posture to the second posture. The product assembly line also includes: A second material storage platform is provided on the side of the turning platform, and a plurality of second material storage slots are formed on the upper end surface of the second material storage platform, and the plurality of second material storage slots are used to store qualified materials maintaining a second posture; The second material moving part is located at the adjustment station. The second material moving part can be rotated along an axis extending in the up and down directions. The second material moving part is provided with a second visual detection device. The second material moving part is used to remove materials with abnormal postures detected by the second visual detection device, and can pick up and drive the materials in the second material storage trough to be transferred to the turning platform; the second material moving part is also used to pick up materials with abnormal postures and correct the posture of the materials by rotating itself.

2. The product assembly line according to claim 1, wherein: The first side surface is provided with a plurality of through slots spaced apart in the horizontal direction and passing through the second side surface; The adjusting device further comprises: a plurality of push rods, movably mounted in the plurality of through slots, respectively; a notch is provided at the end of each push rod facing the second side surface; the notch and the corresponding sidewall of the through slot jointly define an accommodation slot; and The driving part is connected to the plurality of push rods through an adapter plate and is used to drive the plurality of push rods to move synchronously so as to adjust the size of the placement groove.

3. The product assembly line according to claim 1, wherein: The adjustment device also includes a pushing portion arranged on the side of the flipping platform, and the pushing portion has a movable stroke approaching or moving away from the flipping platform. The pushing portion is provided with a plurality of latching protrusions on the side facing the flipping platform. When in the first position, the plurality of latching protrusions can be movably extended into the plurality of placement grooves to push each material to press against the wall of the corresponding placement groove.

4. The product assembly line according to claim 1, wherein: The adjustment device further includes a pushing portion provided on the side of the flip platform, wherein the pushing portion has a movable stroke that moves closer to or away from the flip platform; The product assembly line also includes a movable platform, which is arranged on the side of the flip platform and has a movable stroke approaching or moving away from the flip platform. The upper end of the movable platform is used for installing the pushing part and the second storage platform.

5. The product assembly line according to claim 1, wherein: The second material moving part has a movable stroke in the up and down direction; A movable seat movable in a horizontal direction is provided on the base, and the turning platform and the second material storage platform are provided on the movable seat.

6. A method for controlling a product assembly line, based on the product assembly line according to any one of claims 1 to 5, characterized in that: The control method of the product assembly line comprises the following steps: When there is a defective material among the multiple materials on the first material moving part, controlling the first material moving part to move to the waste discharge and material replenishment station; Controlling the first material moving part to release defective materials and make them fall into the first waste discharge channel, controlling the first material moving part to move and pick up stored materials on the first material storage table, or controlling the first material moving part to release qualified materials and make them fall into the empty first material storage trough; When the plurality of materials on the first material moving part are all qualified materials, the first material moving part is controlled to place the plurality of qualified materials on the adjustment station in a first posture.

7. The method for controlling a product assembly line according to claim 6, wherein: The turning platform includes a first side surface and a second side surface that are adjacently arranged. During the rotation of the turning platform, it has a first position in which the first side surface is facing upward, and a second position in which the second side surface is facing upward. The first side surface of the turning platform is provided with a plurality of placement slots, and the plurality of placement slots are all arranged through the second side surface. The plurality of placement slots are used to place a plurality of materials. The turning platform is converted from the first position to the second position to drive the plurality of materials to be adjusted from the first posture to the second posture. The product assembly line includes a second material storage table and a second material moving part. The second material storage table is arranged on the side of the turning platform. The upper end surface of the second material storage table is recessed to form a plurality of second material storage slots. The plurality of second material storage slots are used to store qualified materials maintaining the second posture. The second material moving part is located at the adjustment station and can rotate along an axis extending in the up-down direction. A second visual detection device is provided on the second material moving part. The second material moving part is used to remove materials with abnormal postures detected by the second visual detection device, and can pick up and drive the materials in the second material storage slots to be transferred to the turning platform. When the plurality of materials on the first material moving part are all qualified materials, after the step of controlling the first material moving part to place the plurality of qualified materials in the first posture on the adjustment station, the method further includes: Controlling the turning platform to switch from the first position to the second position to drive the plurality of qualified materials to rotate; If the second visual inspection device detects that at least part of the qualified materials have abnormal postures; The second material moving part is controlled to pick up qualified materials with abnormal postures, and the second material moving part is controlled to rotate to correct the posture of the materials until the materials maintain the second posture and then put them back on the turning platform.

8. The method for controlling a product assembly line according to claim 7, wherein: After the step of controlling the turning platform to be transformed from the first position to the second position to drive the plurality of qualified materials to rotate, the following step further comprises: If the second visual inspection device detects that the state of at least part of the qualified materials is abnormal; Control the second material moving part to remove qualified materials in abnormal status, and control the second material moving part to transfer the stored materials on the second storage platform to the flip platform, or control the second material moving part to transfer the remaining materials maintaining the second posture on the flip platform to the empty second storage trough.

9. The method for controlling a product assembly line according to claim 8, wherein: The step of controlling the second material moving part to remove qualified materials in abnormal conditions, and controlling the second material moving part to move the stored materials on the second material storage platform to the turning platform, or controlling the second material moving part to move the remaining materials in the second posture on the turning platform to the empty second material storage trough includes: Controlling the second material moving part to remove qualified materials in abnormal conditions; Obtain the number N1 of fully loaded second storage slots on the current second storage table, and compare it with the number n1 of empty placement slots on the turning table; When 0≤N1<n1, the second material transfer part is controlled to transfer the remaining materials in the second posture on the turning platform to the empty second material storage trough; When N1≥n1, the second material transfer part is controlled to transfer the stored material on the second material storage platform to the turning platform.

10. The method for controlling a product assembly line according to claim 6, wherein: The steps of controlling the first material moving part to release the defective material and make it fall into the first waste discharge channel, controlling the first material moving part to move and pick up the stored material on the first material storage table, or controlling the first material moving part to release the qualified material and make it fall into the empty first material storage slot include: controlling the first material moving part to release the defective material and make it fall into the first waste discharge channel; Obtain the current number N2 of empty first material storage slots on the first material storage platform, and compare it with the number n2 of materials picked up by the first material transfer unit in a single time; When N2≥n2-1, the first material moving part is controlled to release the remaining qualified materials and make them fall into the empty first storage trough; When N2<n2-1, the first material moving part is controlled to move and pick up the materials stored on the first material storage table, so that the first material moving part is fully loaded.

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