CN215157998U - Feeding and discharging control system and detection assembly line - Google Patents
Feeding and discharging control system and detection assembly line Download PDFInfo
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- CN215157998U CN215157998U CN202121250681.9U CN202121250681U CN215157998U CN 215157998 U CN215157998 U CN 215157998U CN 202121250681 U CN202121250681 U CN 202121250681U CN 215157998 U CN215157998 U CN 215157998U
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Abstract
The utility model discloses a go up unloading control system and detection assembly line, the last unloading control system of one of them embodiment includes: the automatic loading and unloading device comprises a controller, an loading and unloading device, an image acquisition device and a robot, wherein the loading and unloading device comprises a loading and unloading channel and a transfer device, the loading and unloading channel respectively comprises a plurality of trays for bearing materials, and the transfer device carries distribution trays between the loading and unloading channels; the controller is used for generating a production flow according to the received production signal, controlling the image acquisition device to acquire material images according to the production flow, determining a tray carrying flow according to the material images, controlling the transfer equipment to carry the tray according to the tray carrying flow, and determining a material taking and placing flow according to the material images to control the robot to grab or place materials from the material loading and unloading channel. The utility model provides an embodiment can support the automatic unloading of going up of multichannel, effectively improves production efficiency, has extensive application prospect.
Description
Technical Field
The utility model relates to an automatic control technical field especially relates to an go up unloading control system and detection assembly line.
Background
With the development of electronic technology, display modules are increasingly being developed toward a light and thin scheme. And various detections need to be accomplished on the production line before the display module leaves the factory, and in order to facilitate transportation and storage, the tray needs to be used as a bearing piece to complete the feeding and discharging process of the display module.
In the current technology, the mode of manual inspection and feeding and discharging is often adopted, the workload is large, and the production efficiency is very low. Therefore, a feeding and discharging control system capable of supporting multi-channel feeding and discharging is needed.
SUMMERY OF THE UTILITY MODEL
In order to solve at least one of the above problems, the utility model discloses the first aspect provides a go up unloading control system, include: controller, loading and unloading device, image acquisition device and robot, wherein
The loading and unloading device comprises at least one loading channel, at least one unloading channel, at least one empty channel and a transfer device, wherein the loading channel, the unloading channel and the empty channel respectively comprise at least one bin, the bin is used for placing a tray, the tray is used for placing materials, and the transfer device is used for carrying and distributing the tray among the loading channel, the unloading channel and the empty channel;
the image acquisition device is used for acquiring material images of the loading and unloading device, and the material images comprise the loading channel, the unloading channel and an empty material channel;
the robot is used for grabbing the materials from the feeding channel to a detection device and placing the detected materials to the discharging channel;
the controller is used for generating a production flow according to the received production signal, controlling the image acquisition device to acquire the material image according to the production flow, determining a tray carrying flow according to the material image so as to control the transfer equipment to carry the tray according to the tray carrying flow, and determining a material taking flow according to the material image so as to control the robot to grab the material from the feeding channel or determine a material placing flow according to the material image so as to place the material to the material placing channel.
Further, the loading channel comprises x layers of m rows and n columns of bins, the unloading channel comprises y layers of p rows and q columns of bins, the empty channel comprises z layers of a rows and b columns of bins, and x, m, n, y, p, q, z, a and b are positive integers.
Furthermore, the feeding channel, the discharging channel and the empty channel are all located on the same side of the detection device.
Further, the controller determines the values of x, m, n, y, p, q, z, a and b according to the material images, and obtains the number and position of the trays and the number and position of the materials according to the material images to determine a tray carrying flow, a material taking flow and a material placing flow, and then controls the transfer equipment to carry the trays according to the carrying flow, or calculates a material taking position according to the material taking flow to control the robot to grab the materials from the feeding channel, or calculates a material placing position according to the material placing flow to control the robot to place the materials to the material placing channel.
Further, the blanking channel comprises a first blanking channel and a second blanking channel, wherein
The first blanking channel comprises y1 layers of p1 rows and q1 columns and is used for placing qualified materials for detection in the materials, wherein y1, p1 and q1 are positive integers;
the second blanking channel comprises y2 layers of p2 rows of q2 storage bins for placing unqualified materials detected in the materials, wherein y2, p2 and q2 are positive integers;
the controller determines a material placing flow according to the received material detection information, and calculates a material placing position according to the material placing flow so as to control the robot to place the detected qualified materials in the first material placing channel or control the robot to place the detected unqualified materials in the second material placing channel.
Further, the feeding channel also comprises a feeding lifter, the blanking channel also comprises a blanking lifter, the empty channel also comprises an empty lifter,
and the controller determines a tray carrying process according to the material image, controls the loading lifter, the unloading lifter and the empty lifter to move the tray according to the tray carrying process, and controls the transfer equipment to carry the tray according to the tray carrying process.
Further, the transfer equipment comprises a transfer arm and a slide rail, and the transfer arm moves the tray through the slide rail.
Furthermore, the controller comprises a plurality of servo controllers which are respectively connected with the loading lifter, the unloading lifter, the empty lifter and the transfer arm, and the controller controls the loading lifter, the unloading lifter, the empty lifter and the transfer arm to move through the servo controllers.
Further, the image acquisition device is a wide-angle camera or a line-scan camera;
the image acquisition device is arranged on the loading and unloading device or the robot.
The utility model discloses the second aspect provides a display device's detection assembly line, including detection device and first aspect last unloading control system.
The utility model has the advantages as follows:
the utility model discloses to present problem, formulate a go up unloading control system and detection assembly line, the controller is through controlling image collector to gather unloader's material image, according to material image determination tray transport flow in order to carry the flow control according to this tray carry the equipment transport the tray, again according to material image determination gets the blowing flow in order to control the robot is followed go up the unloading passageway and snatch or place the material. The utility model provides an embodiment can support the automatic feeding and the unloading of multichannel, and is very much can also support the last unloading passageway that has different quantity trays to compensate the problem among the prior art, and effectively improve production efficiency, have extensive application prospect.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Fig. 1 shows a block diagram of a feeding and discharging control system according to an embodiment of the present invention;
fig. 2 shows a schematic structural diagram of a flow line according to an embodiment of the present invention;
fig. 3 shows a block diagram of a feeding and discharging control system according to another embodiment of the present invention.
Detailed Description
In order to explain the present invention more clearly, the present invention will be further described with reference to the preferred embodiments and the accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a feeding and discharging control system, including: controller, loading and unloading device, image acquisition device and robot, wherein
The loading and unloading device comprises at least one loading channel, at least one unloading channel, at least one empty channel and a transfer device, wherein the loading channel, the unloading channel and the empty channel respectively comprise at least one bin, the bin is used for placing a tray, the tray is used for placing materials, and the transfer device is used for carrying and distributing the tray among the loading channel, the unloading channel and the empty channel;
the image acquisition device is used for acquiring material images of the loading and unloading device, and the material images comprise the loading channel, the unloading channel and an empty material channel;
the robot is used for grabbing the materials from the feeding channel to a detection device and placing the detected materials to the discharging channel;
the controller is used for generating a production flow according to the received production signal, controlling the image acquisition device to acquire the material image according to the production flow, determining a tray carrying flow according to the material image so as to control the transfer equipment to carry the tray according to the tray carrying flow, and determining a material taking flow according to the material image so as to control the robot to grab the material from the feeding channel or determine a material placing flow according to the material image so as to place the material to the material placing channel.
In the embodiment, the controller collects the material images of the feeding and discharging device by controlling the image collector, determines the tray carrying process according to the material images to control the transfer equipment to carry the tray according to the tray carrying process, and determines the material taking and placing process according to the material images to control the robot to grab or place the materials from the feeding and discharging channel, so that multi-channel automatic feeding and discharging can be supported, the problems in the prior art are solved, the production efficiency is effectively improved, and the multi-channel automatic feeding and discharging robot has a wide application prospect.
In a specific embodiment, as shown in fig. 1 and fig. 2, fig. 2 is a detection assembly line for testing a display device, and includes a detection device 13 and a loading and unloading control system, where the loading and unloading control system includes a controller, where the controller preferably employs a PLC (not shown), a loading and unloading device 11, an image acquisition device (not shown) and a robot 12, and the loading and unloading device 11 includes at least one loading channel 112, at least one unloading channel 113, at least one empty channel 111 and a transfer device 115; the detection device 13 comprises a material receiving platform 132, a material discharging platform 131 and an unidentified material belt line 133.
Specifically, the feeding channel 112 includes a plurality of feeding bins, each feeding bin is used for placing a tray, the tray is used for bearing materials, when feeding, the trays bearing the materials are sequentially placed into the arranged bins, the controller controls the image collector to collect images of the materials, so as to determine a first tray position with the materials in the feeding channel 112, and then the robot 12 is controlled to grab the materials borne by the trays from the first tray position with the materials to the material receiving platform 132 of the detection device 13; the receiving platform 132 identifies the material and transmits the identified material to the back end test station, and transmits the unidentified material to the unidentified material belt line 133 for manual handling. Similarly, when discharging, the discharging platform 131 of the detecting device 13 outputs the detected material, and the controller controls the image collector to collect the material image, so as to determine that no material in the discharging channel has the second tray position of the tray, and then the robot 12 is controlled to place the detected material output by the discharging platform 131 in the second tray position, thereby completing the discharging operation.
In this embodiment, the image capturing device is a wide-angle camera to capture an image of the material in a wide field of view, or a line scan camera to capture an image of the material in, for example, a row and a column of each channel.
In an optional embodiment, the image acquisition device is arranged on the loading and unloading device or the robot.
It is worth mentioning that, the setting position of the image acquisition device is not limited in the application, and the image acquisition device can be arranged on the feeding and discharging device and also on the robot, and a person skilled in the art should select a proper setting position of the image acquisition device according to the actual application requirement, so that the material image can be clearly shot as the design criterion, and the description is omitted here.
In an optional embodiment, the loading channel comprises x layers of m rows and n columns of bins, the unloading channel comprises y layers of p rows and q columns of bins, and the emptying channel comprises z layers of a rows and b columns of bins, wherein x, m, n, y, p, q, z, a, and b are positive integers.
In this embodiment, the movement beat and the movement speed of the robot are considered, and the feeding channel, the discharging channel and the empty channel with different numbers of the bins are arranged, so that the production efficiency is effectively improved. Specifically, the material loading passageway includes 10 layers of 3 rows and 2 columns of feed bins, the material unloading passageway includes 10 layers of 3 rows and 2 columns of feed bins, the empty material passageway includes 2 layers of 3 rows and 2 columns of feed bins, and the material loading passageway includes the feed bin of the quantity the most in order to provide material loading operation many times promptly, and the feed bin quantity of material unloading passageway can be less relatively in order to provide material unloading operation many times, and the feed bin quantity of empty material passageway is minimum.
In an optional embodiment, the loading channel further includes a loading elevator, the unloading channel further includes an unloading elevator, the empty channel further includes an empty elevator, the controller determines a tray carrying process according to the material image, controls the loading elevator, the unloading elevator and the empty elevator to move the tray according to the tray carrying process, and controls the transfer device to carry the tray according to the tray carrying process.
In this embodiment, the controller includes a plurality of servo controllers, connects respectively material loading lift, unloading lift and empty material lift, the controller passes through servo controller control material loading lift, unloading lift and empty material lift action.
Specifically, the controller firstly judges whether a tray exists on a bin of the loading channel, and if the tray does not exist, the servo controller connected with the loading elevator controls the bin of the loading elevator to descend and prompts a worker or a feeding and discharging device to place materials on the bin of the loading channel so as to finish feeding; otherwise, the PLC controls the image collector to collect material images including the feeding channel, the material taking process is determined according to the material images, for example, the position of the material is determined according to the material images, the robot is controlled to grab the material to the tray at the position of the material and place the material to the material receiving platform 132 of the detection device 13, the material is identified by the material receiving platform 132, if the material is identified, subsequent detection is carried out, so that the feeding process is completed, and if not, the material is transmitted to the unidentified material belt line 133 so as to be convenient for manual processing.
In an alternative embodiment, the transfer apparatus includes a transfer arm and a slide rail, and the transfer arm moves the tray by the slide rail.
In the embodiment, the controller controls the transfer arm to grab an empty tray from a designated bin of the feeding channel through a servo controller connected with the transfer arm of the transfer device, and places the empty tray into the discharging channel through the traction of the slide rail.
In this embodiment, in the feeding process, the controller controls the robot to take away the materials in the trays in the bins of the feeding channel to leave empty trays, and then the servo controller connected with the transfer equipment controls the transfer equipment to transfer the empty trays to the discharging channel; when the loading channel is not provided with an empty tray and the unloading channel is not provided with an empty tray, the servo controller connected with the transfer equipment controls the transfer equipment to transfer the empty tray from the empty tray channel to the unloading channel, so that the robot can conveniently transfer the detected empty tray of the unloading channel to the unloading channel; when the detected materials are placed on the trays of all the bins of the discharging channel, the working personnel is prompted or the discharging device is thrown to take away the materials placed on the bins of the discharging channel so as to complete discharging.
In view of the consistency of the actions of the feeding and discharging control system, in an alternative embodiment, the feeding channel, the discharging channel and the empty channel are all located on the same side of the detection device.
In this embodiment, through with material loading passageway, unloading passageway, empty material passageway setting in one side of detection device, can simplify and lead to moving the complicated problem of equipment action because of each channel position difference, effectively improve and go up unloading efficiency.
In the material taking or discharging process, the controller determines the values of x, m, n, y, p, q, z, a and b according to the material image, acquires the number and the position of the tray and the number and the position of the material according to the material image to determine a tray carrying flow, a material taking flow and a material discharging flow, and controls the transfer equipment to carry the tray according to the carrying flow, or calculates the material taking position according to the material taking flow to control the robot to grab the material from the feeding channel, or calculates the material discharging position according to the material discharging flow to control the robot to place the material to the discharging channel.
It is worth noting that the above embodiments are only used for illustrating specific embodiments of the present application, the number and the structure of the bins of the feeding channel, the discharging channel and the empty channel are not limited, the number of the bins of the feeding channel, the discharging channel and the empty channel may be the same or different, and the structures of the feeding channel, the discharging channel and the empty channel may be the same or different. Those skilled in the art should select an appropriate number according to the actual application requirement to realize the efficient loading and unloading function as a design criterion, and details are not described herein.
In an alternative embodiment, the blanking channel comprises a first blanking channel and a second blanking channel, wherein
The first blanking channel comprises y1 layers of p1 rows and q1 columns and is used for placing qualified materials for detection in the materials, wherein y1, p1 and q1 are positive integers;
the second blanking channel comprises y2 layers of p2 rows of q2 storage bins for placing unqualified materials detected in the materials, wherein y2, p2 and q2 are positive integers;
the controller determines a material placing flow according to the received material detection information, and calculates a material placing position according to the material placing flow so as to control the robot to place the detected qualified materials in the first material placing channel or control the robot to place the detected unqualified materials in the second material placing channel.
In this embodiment, considering that the detected material is unqualified, a first discharging channel for placing qualified material and a second discharging channel for placing unqualified material are provided, after the controller receives the material information of the detected material output by the discharging platform 131 of the detecting device, the controller determines that the material is qualified material or unqualified material according to the material information, determines the discharging flow and calculates the discharging position, so as to control the robot to place the material in the corresponding discharging channel, thereby realizing the differentiated discharging of the detected material, effectively improving the generation efficiency, and having a wide application prospect.
Based on above-mentioned last unloading control system, as shown in fig. 2, another embodiment of the utility model also provides a display device's detection assembly line, including detection device and the above-mentioned unloading control system of going up. The detection device comprises a material receiving platform and a material discharging platform which are arranged side by side, the feeding and discharging control system is located on the same side of the detection device, materials are grabbed to the material receiving platform through the material feeding channel, and after the detection is finished, the materials flow back to the material discharging platform and grab the materials to the material discharging channel.
In this embodiment, can realize through last unloading control system and detection device that the detection assembly line that is used for detecting display device has the function of automatic feeding and unloading to can support the last unloading passageway that has different quantity trays according to the removal beat and the translation rate of robot, can also realize distinguishing qualified material and unqualified material's automation simultaneously, effectively improve production efficiency, have extensive application prospect.
The specific implementation manner of this embodiment is similar to the embodiment of the feeding and discharging control system, and is described in detail in the foregoing embodiments, and will not be described herein again.
It should be understood that the above examples are only examples for better understanding of the technical solutions of the embodiments of the present invention, and are not to be taken as the only limitation of the embodiments of the present invention.
The utility model discloses to present problem, formulate a go up unloading control system and detection assembly line, the controller is through controlling image collector to gather unloader's material image, according to material image determination tray transport flow in order to carry the flow control according to this tray carry the equipment transport the tray, again according to material image determination gets the blowing flow in order to control the robot is followed go up the unloading passageway and snatch or place the material. The utility model provides an embodiment can support the automatic feeding and the unloading of multichannel, and is very much can also support the last unloading passageway that has different quantity trays to compensate the problem among the prior art, and effectively improve production efficiency, have extensive application prospect.
Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it is obvious for those skilled in the art to make other variations or changes based on the above descriptions, and all the embodiments cannot be exhausted here, and all the obvious variations or changes that belong to the technical solutions of the present invention are still in the protection scope of the present invention.
Claims (10)
1. The utility model provides a go up unloading control system which characterized in that includes: controller, loading and unloading device, image acquisition device and robot, wherein
The loading and unloading device comprises at least one loading channel, at least one unloading channel, at least one empty channel and a transfer device, wherein the loading channel, the unloading channel and the empty channel respectively comprise at least one bin, the bin is used for placing a tray, the tray is used for placing materials, and the transfer device is used for carrying and distributing the tray among the loading channel, the unloading channel and the empty channel;
the image acquisition device is used for acquiring material images of the loading and unloading device, and the material images comprise the loading channel, the unloading channel and an empty material channel;
the robot is used for grabbing the materials from the feeding channel to a detection device and placing the detected materials to the discharging channel;
the controller is used for generating a production flow according to the received production signal, controlling the image acquisition device to acquire the material image according to the production flow, determining a tray carrying flow according to the material image so as to control the transfer equipment to carry the tray according to the tray carrying flow, and determining a material taking flow according to the material image so as to control the robot to grab the material from the feeding channel or determine a material placing flow according to the material image so as to place the material to the material placing channel.
2. The feeding and discharging control system according to claim 1, wherein the feeding channel comprises x layers of m rows and n columns of bins, the discharging channel comprises y layers of p rows and q columns of bins, and the emptying channel comprises z layers of a rows and b columns of bins, wherein x, m, n, y, p, q, z, a, and b are positive integers.
3. The feeding and discharging control system as claimed in claim 2, wherein the feeding channel, the discharging channel and the empty channel are all located on the same side of the detection device.
4. The feeding and discharging control system according to claim 2, wherein the controller determines the values of x, m, n, y, p, q, z, a, and b according to the material images, obtains the number and position of the trays and the number and position of the materials according to the material images to determine a tray carrying flow, a material taking flow and a material discharging flow, and controls the transfer equipment to carry the trays according to the carrying flow, or calculates a material taking position according to the material taking flow to control the robot to grab the materials from the feeding channel, or calculates a material discharging position according to the material discharging flow to control the robot to place the materials to the discharging channel.
5. The loading and unloading control system of claim 4, wherein the unloading channel comprises a first unloading channel and a second unloading channel, wherein
The first blanking channel comprises y1 layers of p1 rows and q1 columns and is used for placing qualified materials for detection in the materials, wherein y1, p1 and q1 are positive integers;
the second blanking channel comprises y2 layers of p2 rows of q2 storage bins for placing unqualified materials detected in the materials, wherein y2, p2 and q2 are positive integers;
the controller determines a material placing flow according to the received material detection information, and calculates a material placing position according to the material placing flow so as to control the robot to place the detected qualified materials in the first material placing channel or control the robot to place the detected unqualified materials in the second material placing channel.
6. The loading and unloading control system as recited in claim 1, wherein the loading channel further comprises a loading elevator, the unloading channel further comprises an unloading elevator, the empty channel further comprises an empty elevator,
and the controller determines a tray carrying process according to the material image, controls the loading lifter, the unloading lifter and the empty lifter to move the tray according to the tray carrying process, and controls the transfer equipment to carry the tray according to the tray carrying process.
7. The loading and unloading control system according to claim 6, wherein the transfer device includes a transfer arm and a slide rail, and the transfer arm moves the tray via the slide rail.
8. The loading and unloading control system as claimed in claim 7, wherein the controller includes a plurality of servo controllers respectively connected to the loading elevator, the unloading elevator, the empty elevator and the transferring arm, and the controller controls the loading elevator, the unloading elevator, the empty elevator and the transferring arm to operate through the servo controllers.
9. The feeding and discharging control system according to any one of claims 1 to 8,
the image acquisition device is a wide-angle camera or a line scan camera;
the image acquisition device is arranged on the loading and unloading device or the robot.
10. A detection assembly line of a display device, comprising a detection device and the loading and unloading control system of any one of claims 1 to 9.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026017A (en) * | 2022-06-30 | 2022-09-09 | 苏州浪潮智能科技有限公司 | Integrated circuit board AOI detecting system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026017A (en) * | 2022-06-30 | 2022-09-09 | 苏州浪潮智能科技有限公司 | Integrated circuit board AOI detecting system |
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