Automatic material collecting wire body and method, terminal equipment and computer readable medium

Abstract

The invention relates to an automatic material receiving line body and method, terminal equipment and a computer readable medium, and aims to solve the problems that manual material receiving is high in cost, low in efficiency, insufficient in sorting precision and lack of caching capacity. The line body comprises a conveying main line, a transfer mechanism, a reading device, a grabbing unit, a detection unit, a stop assembly and a control system. The conveying main line conveys a material frame loaded with products; the detection unit detects the position of the material frame, and the stop assembly accurately blocks or releases the material frame according to a signal; the transferring mechanism moves the products from the material taking station to the reading device to obtain identification information, and the control system puts the products into the matched material frame of the material placing station or temporarily stores the products in the grabbing unit according to the information. Therefore, full-automatic circulation and accurate sorting are achieved, the online caching capacity is achieved, production line congestion is effectively relieved, and the production efficiency and the equipment adaptability are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic production lines, in particular to an automatic material receiving line body, method, terminal device and computer readable medium. BACKGROUND

[0002] In the automatic production and assembly line, especially in the field of electronic manufacturing, precision part processing, etc., products are usually carried by material frames or trays, and flow between stations along the conveying line to complete the corresponding process. The material receiving link is a key step for buffering at the end or intermediate of the production line, and the automation degree directly affects the operation efficiency and reliability of the whole production line.

[0003] At present, the common material receiving method is mostly manual operation or semi-automatic equipment. Manual operation has the problems of high labor intensity, low efficiency and easy to make mistakes, especially in the scene of processing multiple specifications of products or needing to sort according to product attributes, which is prone to mixing.

[0004] A conveying line automatic material receiving device is disclosed in Chinese patent CN220165127U; it includes a conveying line body, a material receiving push cylinder, a material pushing assembly and a material guiding slope group; the material pushing assembly is arranged at the end of the conveying line body, the material receiving push cylinder is installed through a support frame plate, and the telescopic end of the material receiving push cylinder is connected with the material pushing assembly, the material guiding slope group is arranged at the corresponding position of the material pushing of the material pushing assembly and located at the side of the conveying line body; by using the present application, the overall structure is optimized, the adjustable material pushing assembly cooperates with the material guiding slope group to realize the adaptation and adaptation of the conveying line of multiple types, sizes and heights, improve the applicability and application range of the product, and through the specially designed push frame, efficient and stable pushing of the product is realized, avoiding splashing and deviation during the pushing process at the end of the product, ensuring the efficiency and quality of material receiving, and reducing the danger and labor cost of manual operation.

[0005] Although the automatic material receiving of the product is realized by the material pushing assembly in the above-mentioned scheme, to a certain extent, the manual operation is reduced, however, in actual application, due to the inconsistent production rhythm of the front and rear stations or temporary failure, the upstream product is continuously produced while the downstream material frame is not timely positioned, resulting in the blocking of the conveying line or the waiting of the mechanical hand, causing the production line to stop. In addition, the positioning and sorting of the product in the existing scheme is usually rough, it is difficult to accurately put according to the product individual identification (such as serial number, model number, etc.), and it cannot meet the requirements of fine production management.

[0006] Therefore, an automatic material receiving line body, method, terminal device and computer readable medium are needed, which can realize full-automatic flow, have a buffering function to balance the production rhythm, and can accurately sort according to the product identification information.

[0007] The above description is only used to assist in understanding the technical solutions of the present application and does not mean that the above description is prior art. SUMMARY

[0008] The present application provides an automatic material receiving line, method, terminal device and computer readable medium, aiming to solve the problems of high labor cost and low efficiency in the prior art, insufficient product identification and sorting precision, limited buffer capacity and lack of online quality detection capability.

[0009] To achieve the above-mentioned purpose, the present application provides an automatic material receiving line, comprising: a conveying main line for conveying product-carrying material frames in a first direction; at least one transfer mechanism arranged beside the conveying main line, whose movement path covers the conveying main line and an externally arranged material stacking machine; a grabbing unit arranged on the movement path of the conveying main line for temporarily grabbing and storing products; a reading device arranged on the movement path of the conveying main line and located below the grabbing unit for obtaining the identification information of the products; a plurality of detection units arranged at intervals along the conveying main line for detecting the positions of the material frames; a plurality of stop components arranged at intervals along the conveying main line and in communication connection with the detection units for selectively blocking or releasing the material frames according to the positions of the material frames; and a control system electrically connected with the transfer mechanism, the reading device, the grabbing unit, the detection units and the stop components; wherein the control system controls the transfer mechanism to transfer the products from the conveying main line to the material stacking machine according to the identification information obtained by the reading device.

[0010] As a preferred, the power output end of the transfer mechanism is provided with a pickup part, the pickup part can move in at least two mutually perpendicular directions with the transfer mechanism; the pickup part is a vacuum suction cup assembly; the reading window of the reading device is obliquely upward toward the moving track of the grabbing unit.

[0011] As a preferred, the grabbing unit comprises: a base fixed to the side of the conveying main line; a translation mechanism mounted on the base, comprising a horizontally extending guide rail and a sliding seat slidingly mounted on the guide rail; a plurality of grabbing suction cups connected with the sliding seat and arranged at intervals in the horizontal direction; and at least one lifting mechanism connected between the grabbing suction cup and the sliding seat for driving the grabbing suction cup to vertically lift.

[0012] As a preferred, the stop component comprises: stop portion; a driving member, arranged at intervals along the long axis direction of the stop portion; and a positioning block, adjustably mounted on the driving member, used to abut against the side wall of the material frame when the output end of the driving member is extended, so as to realize accurate positioning.

[0013] As a preferred, it further comprises a material frame guide portion, arranged at one end of the stop portion away from the transfer mechanism, used to guide the transportation of the material frame.

[0014] As a preferred, it further comprises a stacking machine and a material tray, arranged on the movement path of the main conveying line, used to output finished products or store empty material trays.

[0015] As a preferred, it further comprises a stacking machine and a material tray, arranged on the movement path of the main conveying line, used to output finished products or store empty material trays.

[0016] To achieve the above-mentioned purpose, the present application further provides a material collecting control method of the automatic material collecting line body as claimed in any one of the above, characterized in that, comprising: S1, detecting the material frame arrival signal upstream of the material taking station by the detection unit, and controlling the corresponding stop component to release the material frame to the material taking station according to the arrival signal; S2, controlling the grabbing unit to pick up the product from the material frame of the material taking station; S3, controlling the grabbing unit to move the picked-up product to the reading device to obtain the identification information of the product; S4, controlling the system to judge whether there is a matching material frame in the material releasing station according to the identification information: if yes, controlling the grabbing unit to directly put the product into the material frame; if no, controlling the grabbing unit to temporarily suspend above the reading device, and issuing a prompt signal or waiting for the appearance of a matching material frame in the material releasing station before carrying out the material releasing operation; S5, controlling the stop component upstream of the material releasing station to release the next material frame to the material releasing station; S6, when the material releasing station has a new material frame and the grabbing unit has a temporarily stored product, putting the product on the grabbing unit into the new material frame.

[0017] To achieve the above-mentioned purpose, the present application further provides a terminal device, comprising a processor, a memory and an image sensor; The memory stores a computer program; The image sensor is used to collect imaging data of the product to be measured; The processor is used to execute the computer program to realize the automatic material collecting line body as claimed in any one of the above.

[0018] To achieve the above object, the application further provides a computer readable medium, wherein the computer readable medium stores a computer program, and the computer program is executed by a processor to realize the automatic material collecting line body as any one of the above.

[0019] The application has the following beneficial effects: Through the cooperation of the transfer mechanism, the detection unit, the stop component and the control system, the automatic flow of the product from the material taking station to the material placing station is realized, without manual intervention, which significantly reduces the labor cost and improves the production efficiency. The setting of the grabbing unit enables the product of the upstream station to be temporarily stored in the buffer area, and then be put in when the downstream station has the receiving condition, which effectively solves the mismatching problem between the upstream and downstream stations, avoids the production line stop caused by temporary blockage, and improves the overall capacity utilization.

[0020] The detection unit detects the position of the material frame in real time, and the stop component selectively blocks or releases the material frame according to the detection signal, so as to realize the accurate stopping of the material frame in the material taking station and the material placing station. The positioning block on the stop component can further accurately position the material frame, so as to ensure that the transfer mechanism can accurately pick up and place the product.

[0021] The reading device obtains the identification information (such as bar code, two-dimensional code, RFID tag, etc.) of the product, and the control system judges whether there is a matching material frame in the material placing station according to the identification information, so as to realize the accurate sorting based on the product attribute, and effectively avoid the mixing and wrong material problems.

[0022] The grabbing unit adopts the modular design of the combination of the translation mechanism and the lifting mechanism, and the number of grabbing suction cups can be flexibly increased according to the actual capacity demand. The stop component adopts the adjustable positioning block design, which is convenient for quick adaptation according to different specifications of the material frame, and the equipment maintenance and line expansion are more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 Fig. 1 is a structural schematic diagram of the automatic material collecting line body of the application; Figure 2 Fig. 2 is an axonometric view of the automatic material collecting line body of the application; Figure 3 Fig. 3 is a partial structural schematic diagram of the automatic material collecting line body of the application; Figure 2 Fig. 4 is a local structure enlarged view of area A in Fig. 3; Figure 4 Fig. 5 is a schematic block diagram of the internal structure of the terminal equipment of the application.

[0024] The realization of the object, functional characteristics and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0025] With reference to the drawings of the embodiments of the present application, the solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0026] It should be noted that all directional indications, such as upper, lower, left, right, front, back, and the like, used in the embodiments of the present application are only used to explain the relative position relationship, movement condition and the like between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0027] It should also be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or can have a middle element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or can have a middle element.

[0028] In addition, if the present application involves "first", "second" and the like, it is only for the purpose of description (such as for distinguishing the same or similar elements), and cannot be understood as indicating or implying the relative importance of the indicated technical features or implying the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of those of ordinary skill in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present application.

[0029] Referring to Figure 1 The present application provides an automatic material collecting line, which comprises a conveying main line 100 for carrying and conveying a material frame, a transfer mechanism 200 for transferring products from a material taking station to a material placing station or a grabbing unit 400, a reading device 300 for obtaining product identification information, a grabbing unit 400 for temporarily grabbing products when there is no matching material frame in the material placing station, a detection unit 500, a stop assembly 600 and a control system 700.

[0030] Specifically, the conveying main line 100 is used to continuously convey the product-carrying frame in a first direction and forms a taking station and a placing station thereon. The transfer mechanism 200 is arranged beside the conveying main line 100, and a movement path thereof covers the taking station and the placing station, and is used to perform the transfer of the product between the stations. The reading device 300 is arranged on the movement path of the transfer mechanism 200 and is used to acquire the unique identification information of the product during the movement of the product. The grabbing unit 400 is arranged in the coverage range of the movement path of the transfer mechanism 200. A plurality of detection units 500 are arranged at intervals along the conveying main line 100 and are used to monitor the position state of the frame in real time. A plurality of stop components 600 cooperate with the detection units 500 and are used to selectively block or release the frame according to a control instruction, so as to realize the accurate positioning and orderly flow of the frame.

[0031] The control system 700 is electrically connected with the above-mentioned functional components and is configured to: according to the product identification information acquired by the reading device 300, judge whether there is a matched target frame in the placing station in real time; if there is, control the grabbing unit 400 to directly transfer the product from the taking station to the target frame in the placing station, so as to realize the "scan and place immediately"; if there is not, control the grabbing unit 400 to temporarily store the product, and continuously monitor the state of the placing station, and then take out the temporarily stored product from the grabbing unit 400 and place it into the frame when the matched frame is in place, so as to realize the "temporary storage for placing".

[0032] In the embodiment, when there is a matched frame in the placing station, the product can be directly transferred and placed, that is, the product is scanned and placed immediately, which greatly shortens the transfer path and improves the receiving efficiency. When there is no matched frame in the placing station, the product is automatically temporarily stored in the grabbing unit 400, and then taken out and placed into the frame when the matched frame is in place, which effectively avoids the production line stagnation caused by the non-arrival of the frame, and ensures the continuity and smoothness of the production.

[0033] In addition, the reading device 300 acquires the identification information of the product during the movement of the transfer mechanism 200, without the need for additional stop or the setting of a special code scanning station, which further improves the overall operation efficiency. The detection units 500 and the stop components 600 cooperate to realize the accurate positioning and orderly flow of the frame, and ensure the accuracy and reliability of the receiving.

[0034] In one of the embodiments, the conveying main line 100 can adopt a roller type, a belt type or a chain plate type conveying line. The frame carrying the product is driven by a driving device to sequentially pass through the taking station and the placing station in a predetermined direction. In addition, the taking station and the placing station are arranged on the conveying main line 100.

[0035] The picking station is where the product is picked up, and the dispensing station is where the product is placed. The picking and dispensing stations are spaced apart along the conveying direction of the main conveyor line 100, and the distance between them can be set according to actual production needs. To achieve precise positioning, the running speed of the main conveyor line 100 is adjustable, and in conjunction with the stop assembly 600, it ensures that the material frame stops accurately at the designated station.

[0036] In one preferred embodiment, the transfer mechanism 200 employs a multi-axis manipulator (such as an IRS-manipulator).

[0037] In this embodiment, through multi-axis linkage control, the picking unit 201 set at its power output end is driven to move in three-dimensional space, thereby covering the material picking station, the reading device 300 position, and the gripping unit 400.

[0038] In one more preferred embodiment, the pickup unit 201 preferably adopts a vacuum suction cup assembly, which generates negative pressure to adsorb the product and has a built-in vacuum degree detection function to ensure reliable adsorption before transfer, thereby preventing the product from falling.

[0039] In one embodiment, the reading device 300 may be a QR code reader, an RFID reader / writer, or a vision camera.

[0040] In this embodiment, when the gripping unit 400 carries the product past the preset reading position, the reading window of the reading device 300 automatically captures the identification information on the product, decodes it, and transmits it to the control system 700.

[0041] See Figure 2 In one embodiment, the gripping unit 400 includes a base 401, a translation mechanism 402, a plurality of gripping suction cups 403, and at least one lifting mechanism 404. It is used to provide temporary storage space for products that cannot be temporarily placed at the unloading station, and to quickly release the temporarily stored products to the production line when needed.

[0042] The base 401 is fixed to the side of the main conveyor line 100, providing structural support for the entire gripping unit 400.

[0043] The translation mechanism 402 is mounted on the base 401 and includes a horizontal guide rail and a slide block slidably mounted on the guide rail. It is used to drive multiple gripping suction cups 403 to move horizontally, so as to selectively align the target gripping suction cup 403 with the transfer mechanism 200 at the junction position. The translation mechanism 402 is implemented by using a servo motor to drive the lead screw, ensuring that the movement position is precise and controllable.

[0044] Multiple gripping suction cups 403 are connected to the slide and arranged at intervals along the horizontal direction, providing independent temporary storage areas for products of different batches and specifications. Each gripping suction cup 403 has a support surface for carrying the product and can independently hold one product.

[0045] The lifting mechanism 404 is connected between the gripping suction cup 403 and the slide block. By driving the gripping suction cup 403 to rise and fall vertically, its height is adjusted so that it meets the pickup part 201 of the transfer mechanism 200 at the same horizontal plane. When a product needs to be stored, the lifting mechanism 404 raises the gripping suction cup 403 to the meeting height; after storage, it returns to its original position to avoid other actions of the transfer mechanism 200.

[0046] Furthermore, when the control system 700 determines that a product needs to be temporarily stored, it sends instructions to the translation mechanism 402 and the lifting mechanism 404. The translation mechanism 402 moves the designated idle gripping suction cup 403 to the handover position, and the lifting mechanism 404 raises it. After the transfer mechanism 200 places the product into the gripping suction cup 403, the lifting mechanism 404 lowers, completing the buffering process. When it is necessary to retrieve the temporarily stored product, the translation mechanism 402 moves the gripping suction cup 403 containing the product to the handover position, the lifting mechanism 404 raises, and the transfer mechanism 200 picks up the product and places it into the unloading station.

[0047] See Figure 3 In one embodiment, the stop assembly 600 includes a stop portion 602; a drive member 601 spaced apart along the long axis of the stop portion 602; and a positioning block 603 adjustablely mounted on the drive member 601 for abutting against the side wall of the material frame when the output end of the drive member 601 extends out, so as to achieve precise positioning.

[0048] The driving component 601 is a power source, which can be a pneumatic cylinder or an electric cylinder, driving the positioning block 603 to switch between an extended blocking position and a retracted releasing position. The positioning block 603 is connected to the driving component 601 and is used to physically intervene in the movement path of the material frame when it extends, preventing it from continuing to move forward. The positioning block 603 is adjustablely mounted on the stop part 602. When the stop part 602 extends, the positioning block 603 abuts against the side wall of the material frame. Utilizing its adjustable position characteristics, it provides precise lateral positioning for material frames of different widths, providing an accurate positional reference for subsequent clamping positioning or product handling.

[0049] The guide portion 604 is located at one end of the stop portion 602 away from the transfer mechanism 200, and is used to guide the transport of the material frame.

[0050] Specifically, when the detection unit 500 detects that the material frame has reached the upstream of the station, the control system 700 instructs the stop assembly 600 to extend, and the positioning block 603 pushes the material frame to a precise lateral position; the material frame continues to move forward until it is stopped by the stop part 602; then the clamping arm of the material frame guide part 604 moves to clamp the material frame from both sides, completing the final precise positioning; after the product is picked up and placed, the clamping arm is released, the stop part 602 retracts, and the material frame is released to the next station.

[0051] In one embodiment, the Bowing measuring machine is integrated within the movement path of the transfer mechanism 200 to detect the curvature of the product. When the transfer mechanism 200 places the product at the measuring station of the Bowing measuring machine, the machine's built-in laser displacement sensor or contact probe automatically scans the product surface, generates curvature data, and uploads it to the control system 700. Based on this data, the control system 700 performs quality judgment on the product and separates qualified and unqualified products to different unloading stations or gripping suction cups 403, achieving closed-loop control of detection and receiving.

[0052] In one preferred embodiment, the palletizing and trays are positioned within the movement path of the transfer mechanism 200, serving as the final output port for finished products and a collection point for empty material frames. After the product completes all material receiving processes, the transfer mechanism 200 can place the finished product onto the pallet at the palletizing location; simultaneously, when all the products in the material frame are removed, the empty material frame can be transported to the palletizing area for centralized recycling, facilitating reuse.

[0053] The stacking machine 800 is located downstream of the main conveyor line 100 and automatically stacks product-filled frames into stacks. The stacking machine 800 uses a clamping device to fix the frames and a lifting device to raise new frames to the stacking height, stacking them layer by layer for easy subsequent packaging or transportation.

[0054] In one embodiment, the control system 700 is integrated into an electrical control cabinet, and includes a central processing unit (such as a PLC or industrial computer), a communication interface, and a data storage unit. Its specific functional implementation process is as follows: The detection unit 500 detects that a material frame has arrived upstream of the material handling station and sends an arrival signal to the control system 700. The control system 700 controls the stop component 600 corresponding to the material picking station to release the material frame to the material picking station; The material frame is stopped by the stop component 600 after it reaches the material picking station; The control system 700 controls the gripping unit 400 to move above the material handling station, and the picking part 201 descends and picks up the product; The control system 700 controls the gripping unit 400 to move the product to the reading device 300, and the reading device 300 reads the product identification information and transmits it to the control system 700; The control system 700 determines whether a matching material frame exists at the feeding station based on the identification information. If a matching material frame exists, the gripping unit 400 is controlled to place the product into the material frame at the unloading station. If no matching material frame is found, the control gripping unit 400 is temporarily suspended above the reading device 300 and issues a prompt signal or waits for a matching material frame to appear at the feeding station before performing the feeding operation. The control system 700 controls the stop assembly 600 upstream of the feeding station to release the next material frame to the feeding station; When a new material frame arrives at the feeding station and the gripping unit 400 has a product temporarily stored, the product from the gripping unit 400 is placed into the new material frame.

[0055] This invention provides a material receiving control method applied to the above-mentioned automatic material receiving line, comprising the following steps; Step S1: Detect the arrival signal of the material frame upstream of the material picking station, and control the corresponding stop component 600 to release the material frame to the material picking station.

[0056] The detection unit 500 is positioned at an appropriate location upstream of the material picking station (e.g., one meter upstream) to detect whether the material frame has arrived. When the detection unit 500 detects that the material frame has arrived, it sends a detection signal to the control system 700. Upon receiving the signal, the control system 700 controls the corresponding stop assembly 600 (in a retracted state) at the material picking station to remain in place, and the material frame continues to move to the material picking station under the drive of the main conveyor line 100. When the detection unit 500 detects that the material frame has reached the material picking station position, it sends a positioning signal to the control system 700. The control system 700 controls the drive component 601 of the stop assembly 600 to actuate, causing the stop part 602 to extend and block the material frame from continuing to move forward, achieving precise positioning.

[0057] Step S2: Control the gripping unit 400 to pick up and remove products from the material frame at the material removal station.

[0058] After the material frame stops and positions itself at the picking station, the control system 700 controls the gripping unit 400 to move above the picking station. The X, Y, and Z axes of the gripping unit 400 are linked to move the pickup unit 201 (vacuum suction cup assembly) directly above the product. Subsequently, the Z-axis drive unit drives the pickup unit 201 to descend, bringing the suction cup into contact with the product surface; the vacuum generator starts, generating negative pressure, and the suction cup adsorbs the product; the vacuum sensor detects the adsorption status, and after confirming reliable adsorption, the Z-axis drive unit drives the pickup unit 201 to rise, completing the pickup action.

[0059] Step S3: Control the gripping unit 400 to move the product to the reading device 300 to obtain the identification information.

[0060] The control system 700 controls the gripping unit 400 to move the product to the reading position of the reading device 300. The reading window of the reading device 300 faces diagonally upwards toward the movement trajectory of the pickup unit 201. When the product passes the reading position, the reading device 300 reads the identification information (such as a QR code) on the product surface and transmits it to the control system 700. The identification information may include product model, batch number, production date, specifications, etc.

[0061] Step S4: Determine whether there is a matching material frame at the feeding station based on the identification information.

[0062] After receiving the identification information, the control system 700 compares it with the preset product-material frame matching rules. The matching rules may include: the correspondence between product model and material frame type, the correspondence between batch number and material frame batch, etc.

[0063] If a matching frame exists at the unloading station (i.e., the matching result is "yes"), then step S4-1 is executed: the gripping unit 400 is controlled to place the product into the frame at the unloading station. The gripping unit 400 moves above the unloading station, the Z-axis drive unit drives the pickup unit 201 to descend, and the product is placed into the frame; the vacuum generator is turned off, releasing the product; the pickup unit 201 rises, completing the unloading process.

[0064] If there is no matching material frame at the feeding station that matches the product identifier (i.e., the matching result is "no"), then step S4-2 is executed: the gripping unit 400 is adjusted to the handover position and the product is stored in the gripping unit 400. The control system 700 determines the target gripping suction cup 403 according to the product identifier (e.g., selects the corresponding gripping suction cup 403 according to the product model), controls the translation mechanism 402 to move the slide to the position of the target gripping suction cup 403, and at the same time controls the lifting mechanism 404 to raise the target gripping suction cup 403; the gripping unit 400 moves above the gripping suction cup 403 and places the product in; after the delivery is completed, the lifting mechanism 404 lowers the gripping suction cup 403 back.

[0065] Step S5: Control the stop assembly 600 upstream of the feeding station to release the next material frame to the feeding station.

[0066] After step S4-1 or step S4-2 is completed, the control system 700 controls the stop assembly 600 (assuming it is the second stop assembly 600) upstream of the feeding station to release the material. Specifically, the control system 700 first detects whether a material frame has arrived at the feeding station (by detecting it through the detection unit 500 located downstream of the feeding station). When it is detected that the material frame has arrived at the feeding station and has been stopped by the second stop assembly 600, the second stop assembly 600 remains in the blocking state, waiting for the product to be fed.

[0067] At the same time, the control system 700 controls the stop assembly 600 of the material picking station to retract, releasing the material frame of the material picking station so that it leaves the material picking station and prepares for the next round of material picking.

[0068] Step S6: When a new material frame arrives at the feeding station and the gripping unit 400 has a product temporarily stored, control the gripping unit 400 to put the product from the gripping unit 400 into the new material frame.

[0069] During subsequent operation, when a new material frame arrives at the feeding station, the control system 700 first reads the identification information of the new material frame through the reading device 300 to determine whether there is a matching product in the gripping unit 400. Specifically, the control system 700 queries the product identification information stored in each gripping suction cup 403 in the gripping unit 400. If a matching product exists, step S6 is executed, the specific process of which is as follows: The control system 700 controls the translation mechanism 402 to move the gripping suction cup 403 containing the matching product to the handover position, and the lifting mechanism 404 raises the gripping suction cup 403; the gripping unit 400 moves above the gripping suction cup 403 and picks up the product; the gripping unit 400 carries the product to the unloading station and puts the product into the newly arrived material frame; after completion, the lifting mechanism 404 lowers the gripping suction cup 403 back.

[0070] If there is no product matching the new material frame in the gripping unit 400, the gripping unit 400 continues to execute the process of picking up the material from the picking station, and the new material frame waits for the arrival of the matching product at the unloading station.

[0071] In summary, by cyclically executing steps S1 to S6, the continuous operation of the automatic material receiving line is achieved.

[0072] Furthermore, this application embodiment also provides a terminal device, the internal structure of which can be as follows: Figure 4As shown, the terminal device includes a processor, memory, communication interface, and database connected via a system bus. The processor provides computing and control capabilities. The terminal device's memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The terminal device's database stores data called by the computer programs. The terminal device's communication interface is used for data communication with external terminals. The terminal device's input device receives signals from external devices. When the computer program is executed by the processor, it implements a fuel pump idling protection method as described in the above embodiment.

[0073] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the solution of this application, and does not constitute a limitation on the terminal device to which the solution of this application is applied.

[0074] Furthermore, this application also proposes a readable storage medium comprising a computer program, which, when executed by a processor, implements the steps of the fuel pump idling protection method described in the above embodiments. It is understood that the readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0075] Those skilled in the art will understand that implementing all or part of the processes in the above-described fuel pump idling protection methods can be accomplished by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above-described fuel pump idling protection methods. Any references to memory, storage, databases, or other media used in this application and in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-speed SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0076] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or fuel pump idling protection method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, apparatus, article, or fuel pump idling protection method. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or fuel pump idling protection method that includes that element.

[0077] The above are only some or preferred embodiments of the present invention. Neither the text nor the drawings should limit the scope of protection of the present invention. All equivalent structural transformations made using the content of the present invention's specification and drawings under the overall concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. An automatic material receiving line, characterized in that, include: The main conveyor line (100) is used to convey the material frame carrying the product along the first direction; At least one transfer mechanism (200) is installed on the side of the main conveyor line (100), and its movement path covers the main conveyor line (100) and the stacker (800) installed outside. A gripping unit (400) is disposed on the movement path of the main conveyor line (100) for temporarily gripping and storing products; A reading device (300) is disposed on the movement path of the main conveyor line (100) and located below the gripping unit (400) for acquiring product identification information; Several detection units (500) are arranged at intervals along the main conveyor line (100) for detecting the position of the material frame; A number of stop components (600) are arranged at intervals along the main conveyor line (100) and are communicatively connected to the detection unit (500) for selectively blocking or releasing the material frame according to the position of the material frame; The system (700) is electrically connected to the transfer mechanism (200), the reading device (300), the gripping unit (400), the detection unit (500), and the stop assembly (600), respectively; wherein, the control system (700) controls the transfer mechanism (200) to transfer the product from the main conveyor line (100) to the stacker (800) according to the identification information obtained by the reading device (300).

2. The automatic take-up line according to claim 1, characterized in that, The power output end of the transfer mechanism (200) is provided with a pickup part (201), which can move with the transfer mechanism (200) in at least two mutually perpendicular directions; the pickup part (201) is a vacuum suction cup assembly; the reading window of the reading device (300) is obliquely upward toward the movement trajectory of the gripping unit (400).

3. An automatic take-up line according to claim 1, characterized in that, The grasping unit (400) includes: The base (401) is fixed to the side of the main conveyor line (100); Translation mechanism (402), mounted on the base (401), includes a horizontally extending guide rail and a slide mounted on the guide rail; Several gripping suction cups (403) are connected to the slide block and are arranged at intervals in the horizontal direction; And at least one lifting mechanism (404) connected between the gripping suction cup (403) and the slide, for driving the gripping suction cup (403) to rise and fall vertically.

4. An automatic take-up line according to claim 1, characterized in that, The stop assembly (600) includes: Stop (602); The driving member (601) is spaced apart along the long axis direction of the stop portion (602); And a positioning block (603), which is adjustablely mounted on the drive member (601) and is used to abut against the side wall of the material frame when the output end of the drive member (601) extends out, so as to achieve precise positioning.

5. An automatic take-up line according to claim 1, characterized in that, It also includes a material frame guide (604), which is disposed at one end of the stop (602) away from the transfer mechanism (200) and is used to guide the transport of the material frame.

6. An automatic take-up line according to claim 1, characterized in that, It also includes a Bowing measuring machine, whose output end is located within the motion path of the transfer mechanism (200), for measuring the curvature of the product.

7. An automatic take-up line according to claim 1, characterized in that, It also includes a palletizer and a tray, which are set on the movement path of the main conveyor (100) for outputting finished products or storing empty trays.

8. A method for controlling the take-up of an automatic take-up line as described in any one of claims 1 to 7, characterized in that, include: S1. The detection unit (500) detects the arrival signal of the material frame upstream of the material picking station, and the control system (700) controls the corresponding stop component (600) to release the material frame to the material picking station according to the arrival signal. S2, The control gripping unit (400) picks up the product from the material box at the picking station; S3. The control gripping unit (400) moves the picked-up product to the reading device (300) to obtain the product's identification information; S4. The control system (700) determines whether there is a matching material frame at the feeding station based on the identification information: if yes, the control gripping unit (400) will directly put the product into the material frame; if no, the control gripping unit (400) will temporarily suspend above the reading device (300) and issue a prompt signal or wait for a matching material frame to appear at the feeding station before performing the feeding operation. S5. Control the stop assembly (600) upstream of the feeding station to release the next material frame to the feeding station; S6. When a new material frame arrives at the feeding station and the gripping unit (400) has a product temporarily stored, the control transfer mechanism (200) puts the product on the gripping unit (400) into the stacking machine (800).

9. A terminal device, characterized in that, This includes the processor, memory, and image sensor; The memory stores computer programs; The image sensor is used to acquire imaging data of the product under test; The processor is used to execute the computer program to implement the automatic take-up line as described in any one of claims 1 to 7.

10. A computer-readable medium, characterized in that, The computer-readable medium stores a computer program that, when executed by a processor, implements the automatic take-up line as described in any one of claims 1 to 7.

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