阅读说明：本技术 一种地脚板的装配系统、地脚板的装配方法及存储介质 (Assembling system of floor foot plate, assembling method of floor foot plate and storage medium ) 是由 雷学初 邓友良 孙明 杨洪福 吴保帅 于 2020-06-03 设计创作，主要内容包括：本发明实施例公开了一种地脚板的装配系统、地脚板的装配方法及存储介质。该地脚板的装配系统包括：沿洗衣机流水线安装方向,图像采集模块、第一协作机器人和第二协作机器人在流水线上依次设置；控制模块用于接收图像采集模块获取到的洗衣机图像信息,还用于根据洗衣机图像确定第一协作机器人的第一装配信息,以及第二协作机器人的第二装配信息；第一协作机器人用于在洗衣机运动在流水线上时,根据第一装配信息装配洗衣机的地脚板；第二协作机器人用于在洗衣机运动在流水线上时,根据第二装配信息锁付地脚板的地脚螺钉。本发明实施例的技术方案,以实现在洗衣机处于运动状态中自动完成地脚板的装配。(The embodiment of the invention discloses an assembly system of a base plate, an assembly method of the base plate and a storage medium. This assembly system of footing board includes: along the installation direction of the washing machine assembly line, the image acquisition module, the first cooperative robot and the second cooperative robot are sequentially arranged on the assembly line; the control module is used for receiving the washing machine image information acquired by the image acquisition module, and is also used for determining first assembly information of the first cooperative robot and second assembly information of the second cooperative robot according to the washing machine image; the first cooperation robot is used for assembling a base plate of the washing machine according to the first assembling information when the washing machine moves on the production line; and the second cooperative robot is used for locking the foundation screws of the foundation plate according to the second assembling information when the washing machine moves on the production line. The technical scheme of the embodiment of the invention realizes that the assembly of the base plate is automatically completed when the washing machine is in a moving state.)

1. An assembly system for a footing plate, comprising:

the system comprises an image acquisition module, a first cooperative robot, a second cooperative robot and a control module;

the image acquisition module, the first cooperative robot and the second cooperative robot are sequentially arranged on the assembly line along the assembly line installation direction of the washing machine;

the control module is respectively connected with the image acquisition module, the first cooperative robot and the second cooperative robot, and is used for receiving the image information of the washing machine acquired by the image acquisition module and determining first assembly information of the first cooperative robot and second assembly information of the second cooperative robot according to the image of the washing machine;

the first cooperation robot is used for assembling a base plate of the washing machine according to the first assembling information when the washing machine moves on the assembly line;

and the second cooperative robot is used for locking and fixing the anchor screws of the ground foot plates according to the second assembling information when the washing machine moves on the assembly line.

2. The mounting system of claim 1, further comprising a position measurement module;

the position measurement module is arranged between the image acquisition module and the first cooperative robot and is connected with the control module; the position measuring module is used for recording the number of the rotary pulses output by the washing machine on the production line;

the control module is also used for determining the linear speed of the assembly line according to the number of the rotating pulses.

3. The mounting system of claim 2, wherein the position measurement module comprises a bearing, a coupler, and a rotary encoder;

the rotary encoder is connected with a belt pulley on the production line through the bearing and the coupler.

4. The mounting system of claim 2, wherein the first mounting information includes position information and angle information of the washing machine on the assembly line;

the first cooperation robot is used for determining the assembling position of the base plate according to the linear speed of the production line, the position information and the angle information.

5. The mounting system of claim 2, wherein the second mounting information includes position information of the washing machine on the assembly line;

and the second cooperative robot is used for determining the assembling position of the foundation screw according to the linear speed of the assembly line and the position information.

6. A method of assembling a footing plate for use in the assembly system of a footing plate as defined in any one of claims 1-5, comprising:

acquiring image information of the washing machine on the current assembly line through an image acquisition module arranged on the washing machine assembly line;

determining first assembly information of a first cooperative robot arranged on a washing machine assembly line and second assembly information of a second cooperative robot arranged on the washing machine assembly line according to the washing machine image;

and when the washing machine moves on the assembly line, controlling the first cooperative robot to assemble the floor plate of the washing machine according to the first assembly information, and controlling the second cooperative robot to lock the foundation screw of the floor plate according to the second assembly information.

7. The assembly method of claim 6, wherein the obtaining of the image information of the washing machine on the current assembly line by the image acquisition module arranged on the washing machine assembly line comprises:

and after the washing machine enters the assembly area, acquiring the washing machine image information of the washing machine on the current assembly line through the image acquisition module.

8. The assembling method according to claim 6, wherein after the image information of the washing machine on the current assembly line is acquired by the image acquisition module arranged on the washing machine assembly line, the method further comprises the following steps:

determining exclusive information of the washing machine according to the washing machine image, and determining the baseboard and the foundation screw corresponding to the exclusive information based on the exclusive information;

and controlling the first cooperative robot to grab the baseboard, and controlling the second cooperative robot to obtain the foundation screw.

9. The assembly method of claim 6, further comprising:

and after the washing machine is determined to finish the locking operation of the foundation screws, controlling the washing machine to output an assembly area.

10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of assembling a footing plate as claimed in any one of claims 6-9.

Technical Field

The embodiment of the invention relates to the technical field of workpiece installation, in particular to an assembly system of a base plate, an assembly method of the base plate and a storage medium.

Background

The assembly is an important link in product manufacture, the final quality, the manufacturing cost and the production period of the product are determined to a great extent, and the quality of the assembly work plays an important role in the efficiency of the product, the repair period, the labor and the cost of the work and the like.

At present, in the links of installing the base plate and locking the screw in the washing machine, the washing machine production enterprises generally adopt the mode of manually installing the base plate and then completing the locking of the screw, and the existing screw locking mechanisms all need corresponding workpieces to keep static and have high requirements on the positioning of the stop positions of the workpieces.

Disclosure of Invention

The embodiment of the invention provides an assembly system of a base plate, an assembly method of the base plate and a storage medium, which are used for automatically completing the assembly of the base plate when a washing machine is in a motion state.

In a first aspect, an embodiment of the present invention provides an assembly system for a footing plate, where the assembly system includes:

the system comprises an image acquisition module, a first cooperative robot, a second cooperative robot and a control module;

the image acquisition module, the first cooperative robot and the second cooperative robot are sequentially arranged on the assembly line along the assembly line installation direction of the washing machine;

the control module is respectively connected with the image acquisition module, the first cooperative robot and the second cooperative robot, and is used for receiving the image information of the washing machine acquired by the image acquisition module and determining first assembly information of the first cooperative robot and second assembly information of the second cooperative robot according to the image of the washing machine;

the first cooperation robot is used for assembling a base plate of the washing machine according to the first assembling information when the washing machine moves on the assembly line;

and the second cooperative robot is used for locking and fixing the anchor screws of the ground foot plates according to the second assembling information when the washing machine moves on the assembly line.

Optionally, the assembling system further comprises a position measuring module;

the position measurement module is arranged between the image acquisition module and the first cooperative robot and is connected with the control module; the position measuring module is used for recording the number of the rotary pulses output by the washing machine on the production line;

the control module is also used for determining the linear speed of the assembly line according to the number of the rotating pulses.

Optionally, the position measurement module comprises a bearing, a coupler and a rotary encoder;

the rotary encoder is connected with a belt pulley on the production line through the bearing and the coupler.

Optionally, the first assembly information includes position information and angle information of the washing machine on the production line;

the first cooperation robot is used for determining the assembling position of the base plate according to the linear speed of the production line, the position information and the angle information.

Optionally, the second assembly information includes position information of the washing machine on the production line;

and the second cooperative robot is used for determining the assembling position of the foundation screw according to the linear speed of the assembly line and the position information.

In a second aspect, an embodiment of the present invention further provides an assembly method of a footing plate, which is applied to the assembly system of a footing plate claimed in any one of the embodiments of the present invention, and the assembly method includes:

acquiring image information of the washing machine on the current assembly line through an image acquisition module arranged on the washing machine assembly line;

determining first assembly information of a first cooperative robot arranged on a washing machine assembly line and second assembly information of a second cooperative robot arranged on the washing machine assembly line according to the washing machine image;

and when the washing machine moves on the assembly line, controlling the first cooperative robot to assemble the floor plate of the washing machine according to the first assembly information, and controlling the second cooperative robot to lock the foundation screw of the floor plate according to the second assembly information.

Optionally, the obtaining of the image information of the washing machine on the current assembly line by the image acquisition module arranged on the assembly line of the washing machine includes:

and after the washing machine enters the assembly area, acquiring the washing machine image information of the washing machine on the current assembly line through the image acquisition module.

Optionally, after the image information of the washing machine on the current assembly line is acquired by the image acquisition module arranged on the washing machine assembly line, the method further includes:

determining exclusive information of the washing machine according to the washing machine image, and determining the baseboard and the foundation screw corresponding to the exclusive information based on the exclusive information;

and controlling the first cooperative robot to grab the baseboard, and controlling the second cooperative robot to obtain the foundation screw.

Optionally, the assembling method further includes:

and after the washing machine is determined to finish the locking operation of the foundation screws, controlling the washing machine to output an assembly area.

In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for assembling a footing plate according to any of the embodiments of the present invention.

According to the technical scheme of the embodiment of the invention, the assembly system of the base plate comprises an image acquisition module, a first cooperative robot, a second cooperative robot and a control module; the image acquisition module, the first cooperative robot and the second cooperative robot are sequentially arranged on the assembly line along the assembly line installation direction of the washing machine; the control module is respectively connected with the image acquisition module, the first cooperative robot and the second cooperative robot, and is used for receiving the image information of the washing machine acquired by the image acquisition module and determining first assembly information of the first cooperative robot and second assembly information of the second cooperative robot according to the image of the washing machine; the first cooperation robot is used for assembling a base plate of the washing machine according to the first assembling information when the washing machine moves on the assembly line; and the second cooperative robot is used for locking and fixing the anchor screws of the ground foot plates according to the second assembling information when the washing machine moves on the assembly line. The problem of among the prior art accomplish after the manual work installs the skirting board that the locking screw needs the work piece that corresponds to keep static to the stop position location of work piece requires very high is solved to realize accomplishing the assembly of skirting board automatically when washing machine is in the motion state.

Drawings

FIG. 1 is a schematic structural diagram of a mounting system for a footing plate provided in an embodiment of the invention;

FIG. 2 is a schematic diagram of a position measurement module connected to a pipeline according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart of a method for assembling a footing plate provided by an embodiment of the invention;

fig. 4 is a schematic flow chart of an assembling method of a baseboard according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.

It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.

Fig. 1 is a schematic structural diagram of an assembly system of a floor board according to an embodiment of the present invention, which is applicable to a situation where a floor board of a washing machine is automatically installed and a floor board screw is automatically locked without stopping an assembly line, where a specific structure of the assembly system 100 of the floor board includes the following:

an image acquisition module 110, a first cooperative robot 120, a second cooperative robot 130, and a control module (not shown in the figure);

the image capturing module 110, the first cooperative robot 120, and the second cooperative robot 130 are sequentially disposed on the assembly line 150 along the assembly line 150 installation direction of the washing machine 140;

the control module is respectively connected with the image acquisition module 110, the first cooperative robot 120 and the second cooperative robot 130, and is configured to receive the washing machine image information acquired by the image acquisition module 110, and determine first assembly information of the first cooperative robot 120 and second assembly information of the second cooperative robot 130 according to the washing machine image;

the first cooperative robot 120 is configured to assemble the footing plate of the washing machine 140 according to the first assembly information while the washing machine 140 moves on the flow line 150;

the second cooperative robot 130 is configured to lock the anchor screws of the footing plates according to the second assembly information when the washing machine 140 moves on the flow line 150.

The image capturing module may be, but is not limited to, an industrial camera or other devices capable of capturing images.

It can be understood that after the washing machine is arranged on the assembly line of the assembly area, the current washing machine is shot by the image acquisition module to obtain the washing machine image information of the current washing machine, and the washing machine image information is fed back to the control module.

The control module can be but is not limited to an industrial computer, and the control module can be in communication connection with the image acquisition module, the first cooperative robot and the second cooperative robot to realize data transmission.

Specifically, the control module determines the specific information of the washing machine according to the washing machine image information fed back by the image acquisition module, and the specific information of the washing machine may include the model of the washing machine and the size of the washing machine corresponding to the model of the washing machine.

After the exclusive information of the washing machine is determined, the exclusive information of the washing machine can be fed back to the first cooperation robot, the first cooperation robot grabs the floor board corresponding to the exclusive information of the washing machine from the tooling vehicle according to the exclusive information of the washing machine, and then the first cooperation robot carries the current floor board to return to the floor board to-be-assembled area where the floor board corresponding to the washing machine moves on the assembly line so as to wait for the washing machine to move to the area.

After the exclusive information of the washing machine is determined, the exclusive information of the washing machine can be fed back to the second cooperative robot, the second cooperative robot determines the foundation screws of the foundation plates corresponding to the exclusive information of the washing machine according to the exclusive information of the washing machine, and then the second cooperative robot carries the current foundation screws to return to the foundation screw to-be-assembled area where the foundation screws corresponding to the washing machine move on the assembly line so as to wait for the washing machine to move to the area.

It can be understood that the ground screws are placed in a special vibration disc, the ground screws can be sorted through vibration of the vibration disc, and then the needed ground screws are sent to the second cooperative robot in an air blowing mode.

Specifically, the position information and the angle information of the washing machine are calculated according to the image information of the washing machine, and the first cooperative robot achieves that the first cooperative robot completes the assembly of a washing machine base plate along with the movement of the washing machine when the washing machine is in the assembly line movement according to the position information and the angle information of the washing machine and the linear speed of the assembly line; and the second cooperative robot realizes that the second cooperative robot completes the assembly of the foundation screws of the floor plates of the washing machine along with the movement of the washing machine when the washing machine is in the assembly line movement according to the position information and the angle information of the washing machine and the linear speed of the assembly line.

It should be noted that the linear velocity of the assembly line can obtain the rotation pulse in real time through the encoder to determine the position of the washing machine on the assembly line, and other components capable of providing the linear velocity of the assembly line can also be provided in the prior art, which is not limited in this embodiment.

The working principle of the assembly system of the floor foot plate is as follows:

the image acquisition module shoots the washing machine in the assembly area to be entered to obtain image information of the washing machine, the model of the washing machine is determined according to the image information of the washing machine, and the position information and the angle information of the washing machine relative to the assembly line are calculated, namely the assembly position of the ground feet of the washing machine is determined. And calculating the relative position of the washing machine on the assembly line and the linear speed of the assembly line in real time through an encoder component arranged on the conveying chain, and transmitting the relative position to the first cooperative robot and the second cooperative robot. When the first cooperative robot and the second cooperative robot respectively assemble the ground screws of the ground plates and the ground plates in the process of moving on the production line, the first cooperative robot and the second cooperative robot superpose the linear speed of the production line in real time based on the vector speed in the direction of the production line, so that the relative rest between the cooperative robot and the washing machine can be realized, and the purpose of speed matching is achieved.

According to the technical scheme of the embodiment of the invention, the assembly system of the base plate comprises an image acquisition module, a first cooperative robot, a second cooperative robot and a control module; the image acquisition module, the first cooperative robot and the second cooperative robot are sequentially arranged on the assembly line along the assembly line installation direction of the washing machine; the control module is respectively connected with the image acquisition module, the first cooperative robot and the second cooperative robot, and is used for receiving the image information of the washing machine acquired by the image acquisition module and determining first assembly information of the first cooperative robot and second assembly information of the second cooperative robot according to the image of the washing machine; the first cooperation robot is used for assembling a base plate of the washing machine according to the first assembling information when the washing machine moves on the assembly line; and the second cooperative robot is used for locking and fixing the anchor screws of the ground foot plates according to the second assembling information when the washing machine moves on the assembly line. The problem of among the prior art accomplish after the manual work installs the skirting board that the locking screw needs the work piece that corresponds to keep static to the stop position location of work piece requires very high is solved to realize accomplishing the assembly of skirting board automatically when washing machine is in the motion state.

With continued reference to fig. 1, based on the above embodiment, the assembly system 100 further includes a position measurement module 160;

the position measurement module 160 is disposed between the image acquisition module 110 and the first cooperative robot 120, and the position measurement module 160 is connected to the control module; the position measuring module 160 is used for recording the number of rotation pulses output by the washing machine 140 on the production line 150;

the control module is further configured to determine a linear speed of the pipeline 150 according to the number of the rotation pulses.

Specifically, in this embodiment, the washing machine on the assembly line is positioned by the image acquisition module, and the position measurement module mounted on the conveying assembly line calculates the position of the washing machine and the linear velocity of the assembly line in real time, so that the two cooperative robots mount the floor plates and the foundation screws in the movement process of the assembly line of the washing machine.

Fig. 2 is a schematic structural diagram of a position measurement module provided by an embodiment of the present invention, referring to fig. 2 and fig. 1, on the basis of the above embodiment, the position measurement module 160 includes a bearing 161, a coupler 162, and a rotary encoder 163;

the rotary encoder 163 is connected to the pulley 151 on the line 150 via the bearing 161 and the coupler 162.

Wherein, rotary encoder is a device that can record rotatory pulse, drives rotary encoder through installing on the belt pulley of assembly line and rotates, detects the rotatory pulse feedback of rotary encoder output to control module, and control module calculates the linear velocity of assembly line through software system to send this linear velocity in real time to first cooperation robot and second cooperation robot.

On the basis of the above embodiment, the first fitting information includes position information and angle information of the washing machine on the line;

the first cooperation robot is used for determining the assembling position of the base plate according to the linear speed of the production line, the position information and the angle information.

The assembly position of the base plate is the corresponding position of the washing machine when the washing machine moves on a production line and passes through the base plate assembly area where the first cooperation robot is located.

Specifically, after the washing machine enters the mounting area of the base plate, the first cooperative robot starts to place the base plate on the washing machine, and at the moment, the vector speed of the first cooperative robot in the assembly line direction of the washing machine is superposed with the real-time linear speed of the assembly line of the washing machine, so that the washing machine and the first cooperative robot are kept relatively static, and the first cooperative robot realizes the assembly of the base plate of the washing machine in motion.

On the basis of the above embodiment, the second fitting information includes position information of the washing machine on the line;

and the second cooperative robot is used for determining the assembling position of the foundation screw according to the linear speed of the assembly line and the position information.

And the assembly positions of the foundation screws are corresponding positions for assembling the foundation screws on the washing machine when the washing machine moves on the production line and passes through the foundation screw assembly area where the second cooperative robot is located.

Specifically, after the washing machine enters the anchor screw assembly area, the second cooperative robot starts to move to the position of an anchor screw to be locked, the locking anchor screw mechanism starts to operate the locking anchor screw at the position of the anchor screw of the washing machine to the corresponding position, and at the moment, the vector speed of the second cooperative robot in the assembly line direction of the washing machine is superposed with the real-time linear speed of the assembly line of the washing machine, so that the washing machine and the second cooperative robot are kept relatively static, and the second cooperative robot realizes the locking of the anchor screw in the movement of the washing machine.

Fig. 3 is a schematic flow chart of an assembly method of a base plate according to an embodiment of the present invention, which is applicable to a situation where the base plate installation of a washing machine and the base plate screw locking are automatically completed without stopping an assembly line, and the method can be performed by an assembly system of the base plate. The method specifically comprises the following steps:

and S110, acquiring the image information of the washing machine on the current assembly line through an image acquisition module arranged on the washing machine assembly line.

The method for acquiring the image information of the washing machine on the current assembly line through the image acquisition module arranged on the assembly line of the washing machine comprises the following steps: and after the washing machine enters the assembly area, acquiring the washing machine image information of the washing machine on the current assembly line through the image acquisition module.

Specifically, all the models and other information of the washing machine can be stored through the industrial computer, when the washing machine on the assembly line arrives, the image acquisition module shoots a picture of the washing machine to obtain image information of the washing machine, the image information of the washing machine is transmitted to the industrial computer, and the industrial computer matches the current picture of the washing machine with the stored models and other information of the industrial computer through a software system to confirm the corresponding models and other information of the washing machine on the assembly line of the current assembly area.

And S120, determining first assembling information of a first cooperative robot arranged on the washing machine assembly line and second assembling information of a second cooperative robot arranged on the washing machine assembly line according to the washing machine image.

After determining information such as the model of the washing machine on the current assembly line, the industrial computer determines the motion characteristics of the washing machine on the assembly line according to the picture of the washing machine, and further calculates the position and the relative angle of the washing machine on the assembly line, wherein the first assembly information comprises the position information and the angle information of the washing machine on the assembly line, and the second assembly information comprises the position information of the washing machine on the assembly line.

It should be noted that a position measuring module is further arranged between the image acquisition module on the assembly line and the first cooperative robot, the linear speed of the assembly line is obtained through the position measuring module, and the linear speed of the assembly line is fed back to the first cooperative robot and the second cooperative robot through the industrial computer, so that the first cooperative robot and the second cooperative robot can realize matching with the accurate assembly position of the moving washing machine according to the linear speed of the assembly line.

Further, after the image information of the washing machine on the current assembly line is acquired by the image acquisition module arranged on the washing machine assembly line, the method further comprises the following steps: determining exclusive information of the washing machine according to the washing machine image, and determining the baseboard and the foundation screw corresponding to the exclusive information based on the exclusive information; and controlling the first cooperative robot to grab the baseboard, and controlling the second cooperative robot to obtain the foundation screw.

S130, when the washing machine moves on the assembly line, the first cooperative robot is controlled to assemble the floor plate of the washing machine according to the first assembling information, and the second cooperative robot is controlled to lock the foundation screw of the floor plate according to the second assembling information.

After the washing machine enters the assembly area of the first cooperative robot, the first cooperative robot assembles the base plate of the washing machine based on the position and the relative angle of the washing machine on the assembly line according to the position and the relative angle of the washing machine on the assembly line fed back by the industrial computer.

It can be understood that, in the process of assembling the base plate by the first cooperative robot, the velocity vector of the first cooperative robot in the moving direction of the assembly line is superposed with the real-time calculated linear velocity of the assembly line, so that the speed of the assembly line and the speed of the first cooperative robot in the moving direction of the assembly line are relatively static, and the base plate of the washing machine is assembled by the first cooperative robot a in the moving process.

After the floor boards of the washing machine are installed, the washing machine continues to move forwards along the assembly line, when the washing machine enters a foot screw locking area of the second cooperative robot, the second cooperative robot starts to lock foot screws on the basis of the position of the washing machine on the assembly line according to feedback of the industrial computer.

It can be understood that, in the process of locking the foundation screws by the second cooperative robot, the velocity vector of the second cooperative robot in the motion direction of the assembly line is superposed with the real-time calculated linear velocity of the assembly line, so that the relative rest of the assembly line and the velocity of the second cooperative robot B in the motion direction of the assembly line is realized, and the foundation screws are locked by the second cooperative robot in the motion.

Further, after the washing machine is determined to complete the locking operation of the foundation screws, the washing machine is controlled to output an assembly area.

According to the technical scheme of the embodiment of the invention, the image information of the washing machine on the current assembly line is obtained through the image acquisition module arranged on the washing machine assembly line; determining first assembly information of a first cooperative robot arranged on a washing machine assembly line and second assembly information of a second cooperative robot arranged on the washing machine assembly line according to the washing machine image; and when the washing machine moves on the assembly line, controlling the first cooperative robot to assemble the floor plate of the washing machine according to the first assembly information, and controlling the second cooperative robot to lock the foundation screw of the floor plate according to the second assembly information. The problem that the manual assembly of the floor plate and the locking anchor screws of the washing machine needs stopping and accurate positioning is solved, and the assembly operation of the floor plate and the locking anchor screws of the automatic washing machine is realized in the process of realizing assembly line movement.

Fig. 4 is a schematic flow chart of an assembling method of a footing plate according to an embodiment of the present invention, which is an alternative implementation manner based on the above embodiment.

Correspondingly, the method of the embodiment specifically includes:

the washing machine on the assembly line enters the assembly area.

The image acquisition module shoots a picture of the washing machine to obtain image information of the washing machine and transmits the image information of the washing machine to the industrial computer. The industrial computer matches the current picture of the washing machine with the information such as the model and the like stored in the industrial computer through a software system, confirms the information such as the model and the like corresponding to the washing machine on the assembly line of the current assembly area, determines the motion characteristics of the washing machine on the assembly line according to the picture of the washing machine, and further calculates the position and the relative angle of the washing machine on the assembly line.

Meanwhile, the industrial computer feeds back information such as the model and the like corresponding to the washing machine, the position and the relative angle on the assembly line to the first cooperation robot, the first cooperation robot grabs the floor board corresponding to the special information of the washing machine from the tooling vehicle according to the special information of the washing machine, and then the first cooperation robot carries the current floor board to return to the floor board to-be-assembled area where the floor board corresponding to the washing machine moves on the assembly line so as to wait for the washing machine to move to the area; the industrial computer feeds back information such as the model and the like corresponding to the washing machine and the position on the assembly line to the second cooperative robot, the second cooperative robot determines the foundation screws corresponding to the washing machine, and then the second cooperative robot carries the current foundation screws to return to the foundation screw assembling area where the foundation screws corresponding to the washing machine move on the assembly line so as to wait for the washing machine to move to the area.

And the linear speed of the assembly line is obtained through the position measuring module, and is fed back to the first cooperative robot and the second cooperative robot through the industrial computer.

When the washing machine reaches the position for assembling the base plate, the washing machine keeps running on the production line, and the first cooperative robot controls the washing machine to assemble the base plate in motion according to the linear speed of the production line by superposing the velocity vector in the direction of the production line. And after the first cooperative robot finishes the assembly of the base plate, returning to the position of the base plate to be assembled, and waiting for the next assembly of the base plate.

After the washing machine reaches the position of the anchor screws for assembling the ground foot plates, the washing machine keeps running on the production line, and the second cooperative robot superposes the linear speed of the production line according to the speed vector in the direction of the production line and controls the washing machine to lock the anchor screws in the running process. And after the second cooperative robot finishes the assembly of the foundation screws, returning to the positions of the foundation screws to be assembled, and waiting for the next instruction for assembling the foundation screws.

After the locking of the local foot screw is completed, the washing machine outputs the current assembly area through the production line.

Embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are used to perform a method for assembling a footing plate, where the method is applied to any one of the above-mentioned system for assembling a footing plate, and the method includes:

acquiring image information of the washing machine on the current assembly line through an image acquisition module arranged on the washing machine assembly line;

determining first assembly information of a first cooperative robot arranged on a washing machine assembly line and second assembly information of a second cooperative robot arranged on the washing machine assembly line according to the washing machine image;

and when the washing machine moves on the assembly line, controlling the first cooperative robot to assemble the floor plate of the washing machine according to the first assembly information, and controlling the second cooperative robot to lock the foundation screw of the floor plate according to the second assembly information.

Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the method for assembling the footing plate provided by any embodiment of the present invention.

From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.

It should be noted that, in the embodiment of the assembly system of the footing plate, the included units and modules are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.