CN108972521A - Standardize intelligent industrial flow line production method and device - Google Patents
Standardize intelligent industrial flow line production method and device Download PDFInfo
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- CN108972521A CN108972521A CN201810994541.9A CN201810994541A CN108972521A CN 108972521 A CN108972521 A CN 108972521A CN 201810994541 A CN201810994541 A CN 201810994541A CN 108972521 A CN108972521 A CN 108972521A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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Abstract
The invention discloses a kind of standardization intelligent industrial flow line production method and devices, belong to intelligent industrial pipelining field.The present invention sets up a unified reference axis in production space, and reference axis includes X-axis, Y-axis and Z axis, wherein X-axis and Y-axis are mutually perpendicular horizontal direction, and Z axis is the vertical direction perpendicular to X-axis and Y-axis；Running track is put and works in all devices installation of all step operations and the process units of the production method will be in strict accordance with the X-axis, Y-axis or Z axis parallel or perpendicular to the rectangular coordinate system in space.The present invention uses rectangular coordinate system to reduce the freedom degree in operating process as the standard of whole the flow work, is easy to implement unattended and can realize high control of product quality；In addition, workflow is carried out by unified multi-axis robot completely, facilitate management and change, reduces the cost of replacement product line.
Description
Technical field
The present invention relates to intelligent industrial assembly line field, in particular to a kind of standardization intelligent industrial flow line production method
And device.
Background technique
With the arrival that new technology is changed, the proposition of the strategic objectives such as made in China 2025 and German Industrial 4.0 is traditional
Manufacturing industry is inevitable to be developed towards more intelligent, more efficient direction.It is traditional based on manual labor, mating part Machinery Ministry
The industrial flow-line of part composition is faced with several big problems: first is that the wage of worker and training cost rise increasingly；Second is people
The control difficulty that the participation of work will cause product quality is larger；Third is the replacement that successive generations of products leads to assembly line, originally
Many objects on assembly line will scrap discarding, cause very big waste, but also the higher cost of successive generations of products.It is existing
A kind of unmanned, easily scalable transformation is needed in manufacturing industry, is easy to the industrial flow-line of new generation of product control.
Summary of the invention
(1) technical problems to be solved
In view of this, the purpose of the present invention is to provide a kind of standardization intelligent industrial flow line production method and device,
To solve the problems, such as manually-operated unstable quality and higher cost in the prior art.
(2) technical solution
According to an aspect of the present invention, a kind of standardization intelligent industrial flow line production method is provided, comprising:
A unified reference axis is set up in production space, reference axis includes X-axis, Y-axis and Z axis, and X-axis and Y-axis are mutual
Vertical horizontal direction, Z axis are the vertical direction perpendicular to X-axis and Y-axis；
Workpiece is transmitted by transmission belt along X-axis, Y-axis or Z-direction；
Multi-axis robot processes the workpiece according to reference axis setting processing line.
In a further embodiment, the production method further include: by clamping device along the reference axis side
It is fixed on conveyer belt or workbench to by workpiece.
In a further embodiment, the production method further include: workpiece pose is detected under unified reference axis
It is whether qualified, if pose qualification is processed, if pose is unqualified, it is adjusted by the clamping device；After adjustment again
Workpiece pose is detected, is processed if pose qualification；The workpiece pose qualification is the pose of each workpiece is consistent and and institute
State the positional relationship that the reference axis set up in assembly line is kept fixed.
In a further embodiment, the production method further include: after work pieces process, detect work pieces process knot
Fruit, if qualified carry out the next step, if unqualified exit from the product mouth of moving back, the workpiece of detection work pieces process result qualification with
The workpiece that the product mouth of moving back exits is carried out along the change in coordinate axis direction.
According to another aspect of the present invention, a kind of standardization intelligent industrial flow line production device is provided, comprising:
Transmission belt, for, along a unified reference axis transmission, reference axis to include X-axis, Y-axis and Z axis, and X-axis and Y-axis are by workpiece
Mutually perpendicular horizontal direction, Z axis are the vertical direction perpendicular to X-axis and Y-axis, and workpiece is passed by transmission belt along X-axis, Y-axis or Z axis
It is defeated；
Multi-axis robot sets in processing line according to the reference axis and processes to the workpiece, installation site
With processing line parallel or perpendicular to X-axis, Y-axis or Z axis.
In a further embodiment, the multi-axis robot includes working arm, working arm quantity >=1.
In a further embodiment, the process units further include: clamping device, for workpiece to be fixed on biography
It send on band or workbench；Processor, for controlling the work pace of multi-axis robot and the folder of running track and clamping device
State is held, the multi-axis robot and clamping device is made to work with running track parallel or perpendicular to the reference axis.
In a further embodiment, the process units further include: on-line measuring device, for detecting workpiece position
Whether appearance is qualified, and detection work pieces process result；Product mouth is moved back, for on-line measuring device to be detected processing result not by it
Qualified workpiece exits；The on-line measuring device and the installation site for moving back product mouth and working trajectory are all parallel or perpendicular to described
Reference axis.
In a further embodiment, the clamping device includes regulating device, for clamped workpiece into
Row is adjusted, and the installation site and working trajectory of the regulating device are all parallel or perpendicular to the reference axis.
In a further embodiment, the processor is also used to be controlled according to the testing result of on-line measuring device
Clamping device；The product mouth that moves back is also used to exit by it by the workpiece pose after adjusting is still underproof.
(3) beneficial effect
(1) present invention uses rectangular coordinate system as the standard of whole the flow work, reduces oneself in operating process
By spending, being easy to implement unattended and can realizing high control of product quality；
(2) workflow of the invention is carried out by unified multi-axis robot completely, facilitates management and change, reduces replacement
The cost of product line.
(3) present invention has on-line measuring device, detects the pose and processing result of workpiece to be machined in time, and pose does not conform to
The timely adjustment of lattice, still unqualified or processing result is underproof after adjustment exits in time, strict control workpiece quality.
Detailed description of the invention
Fig. 1 is a kind of standardization intelligent industrial flow line production method operational flowchart of the embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
It should be noted that a kind of standardization intelligent industrial flow line production method and device provided in an embodiment of the present invention
In, a unified reference axis is set up in production space, the initial level transmission direction of workpiece to be machined is defined as X-direction, hangs down
It directly is defined as Y-direction in the horizontal direction of X-direction, is defined as Z perpendicular to the vertical direction for the plane that X-direction and Y-direction are constituted
Direction.The installation of all devices of all step operations of heretofore described production method and the process units put and
Working running track will be in strict accordance with parallel or perpendicular in the X-axis, Y-axis or Z axis of the rectangular coordinate system in space.The present invention
In the pose mentioned refer to the position and direction of workpiece to be machined.Part pose qualification is that the pose of each workpiece is consistent and and the stream
The positional relationship that the reference axis set up in waterline is kept fixed.
In an example of the present invention embodiment, a kind of standardization intelligent industrial flow line production method is provided,
Include:
Workpiece is transmitted by transmission belt along X-axis, Y-axis or Z-direction.The conveyer belt of assembly line direction of initially getting in stocks is
X-direction, conveyer belt can turn round, and direction of transfer will be parallel or perpendicular to Y-direction or X-direction after turn.
Multi-axis robot processes the workpiece according to reference axis setting processing line.The work of multi-axis robot
Make arm and move along X-axis, Y-axis and Z-direction to be processed.The working arm traffic direction of multi-axis robot will strictly with workshop sky
Between rectangular coordinate system axis of reference it is parallel or perpendicular.
Preferably, production method further include: workpiece is fixed on along the change in coordinate axis direction by transmission by clamping device
On band or workbench.There is clamping device on conveyer belt and workbench, clamping device makes each work for fixing workpiece to be machined
The pose of part it is consistent and and assembly line in the positional relationship that is kept fixed of rectangular space coordinate axis.
Preferably, production method further include: whether detection workpiece pose is qualified under unified reference axis, if workpiece position
Appearance is qualified, and robot is processed；If workpiece pose is unqualified, clamping device is adjusted；Workpiece position is detected after adjusting again
Appearance, if pose qualification is processed, if unqualified exit from the product mouth of moving back.After workpiece is transmitted to workbench, on workbench
Line detector detects workpiece pose, on-line measuring device to workpiece pose carry out detection it is qualified after, on workbench by
The operating device of robot composition is processed.Clamping device has regulating device, when on-line measuring device carries out workpiece pose
When detecting unqualified, clamped workpiece can be adjusted.The product of moving back are provided on workbench beside on-line measuring device
Mouthful, the still underproof workpiece of pose is detected after adjusting again and is exited from the product mouth of moving back.
Preferably, production method further include: after work pieces process, detection work pieces process is as a result, if qualified carry out in next step
Process, if unqualified exit from the product mouth of moving back, the workpiece of detection work pieces process result qualification with to move back the workpiece that product mouth exits equal
It is carried out along the change in coordinate axis direction.On-line measuring device detects processing result after work pieces process is complete, if qualified carry out next step work
Sequence exits workpiece from the product mouth of moving back if unqualified.
The route that all positions for moving back product mouth and unqualified workpiece exit is equally in strict accordance with assembly line change in coordinate axis direction
It carries out, i.e., parallel or perpendicular to X-axis, Y-axis or Z axis.
In another example embodiments of the invention, a kind of standardization intelligent industrial flow line production dress is provided
It sets, comprising:
Transmission belt, for, along a unified reference axis transmission, reference axis to include X-axis, Y-axis and Z axis, and X-axis and Y-axis are by workpiece
Mutually perpendicular horizontal direction, Z axis are the vertical direction perpendicular to X-axis and Y-axis, and workpiece is passed by transmission belt along X-axis, Y-axis or Z axis
It is defeated；
Multi-axis robot sets in processing line according to the reference axis and processes to the workpiece, installation site
With processing line parallel or perpendicular to X-axis, Y-axis or Z axis.
Preferably, which includes working arm, the traffic direction of the working arm parallel or perpendicular to X-direction and
Y-direction.Multi-axis robot is made of several working arms, the rectangular coordinate system in space that the traffic direction of working arm will strictly with workshop
Axis of reference it is parallel or perpendicular.
Preferably, the process units further include: clamping device, for workpiece to be fixed on conveyer belt or workbench；Place
Device is managed, for controlling the work pace of multi-axis robot and the clamp position of running track and clamping device.Clamping device peace
Loaded in transmission belt and workbench, for fixing workpiece to be machined, keep the pose of each workpiece consistent and and assembly line in sky
Between the positional relationship that is kept fixed of rectangular coordinate system.Processor controls the work pace and running track of each multi-axis robot
And the clamp position of clamping device, processed product is changed, machine can be changed by resetting the program in processor
The clamp position of the work pace and running track of device people and clamping device is realized.
Preferably, the process units further include: on-line measuring device, for whether qualified, the Yi Jijian that detects workpiece pose
Survey work pieces process result；Product mouth is moved back, for exiting the on-line measuring device detection underproof workpiece of processing result by it.?
Line detector is installed on workbench, and after workpiece is transmitted on workbench, whether on-line measuring device detection workpiece pose is closed
Lattice.The product mouth of moving back is set to beside on-line measuring device, when on-line measuring device detects that the underproof workpiece of processing result is direct
It is exited from the product mouth of moving back.
Preferably, which includes regulating device, for clamped workpiece to be adjusted.Clamping device is by work
Part is fixed on the table, and on-line measuring device is carried out detecting underproof workpiece being adjusted to workpiece pose.
Preferably, which is also used to control clamping device according to the testing result of on-line measuring device；It is described to move back product
Mouth is also used to exit by it by the workpiece pose after adjusting is still underproof.The adjusting of clamping device operates and exits workpiece behaviour
Work is all controlled by processor, and clamping device is adjusted after receiving the regulating command that processor issues, and is detected again after adjusting
Pose, if still underproof workpiece processor control clamping device exits it from the product mouth of moving back.
Below in conjunction with specific embodiment, to a kind of standardization intelligent industrial flow line production method provided by the invention and dress
Set further explanation.
The assembly of mobile phone screen is needed there are two step, and first is gluing, and second is to fasten.In standardization intelligence
Production stage on industrial flow-line is: handset is on a moving belt by gripping apparatus grips, so that long side is parallel to the side Y
To short side is parallel to X-direction, transmits then along X-direction.First job platform is reached, detects two by on-Line Monitor Device
Index: 1, correct position whether it has been parked in；2, whether long side is strictly parallel to Y-direction.If detection does not pass through, pass through processing
It is adjusted in device feedback to clamping device.If do not passed through also, by moving back product opening's edge parallel or perpendicular to the direction of reference axis
It exits.If detection passes through, four working arms edge of multi-axis robot is moved to fuselage parallel or perpendicular to change in coordinate axis direction
Four angles then begin to carry out gluing work at four angles of fuselage.After gluing, on-line measuring device along parallel or perpendicular to
Change in coordinate axis direction is moved on the upside of fuselage, detects glue sites and whether glue-spread qualified, if unqualified, still by workpiece from
The product mouth of moving back exits.If qualified, the handset for being painted with glue continues along transmission belt to next workbench, the workbench it is online
Monitoring device detection continues to test above-mentioned two index, if unqualified, exits from the product mouth of moving back.It, should if detection is qualified
Multi-axis robot on station in X direction or Y-direction transport mobile phone screen to above mobile phone, then vertically put down along Z-direction into
Row fastens work, and by on-line measuring device detection mobile phone screen, whether installation qualification is moved back from the product mouth of moving back if unqualified later
Out, if it is qualified, continue to be transmitted to next workbench.
If can reprogram to processor with changing mounted mobile phone model, the clamping ruler of clamping device is changed
Very little, glue-spread and glue sites, the examination criteria of on-line measuring device, multi-axis robot motion profile.
Above embodiments can fully demonstrate: installation site, working trajectory when all devices of whole assembly line, and all
Operating process step is all carried out in strict accordance with the direction of same reference axis, and all process steps are all completed by robot,
Not only facilitate management and change, reduce costs, and realizes high control of product quality.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (10)
1. a kind of standardization intelligent industrial flow line production method characterized by comprising
A unified reference axis is set up in production space, reference axis includes X-axis, Y-axis and Z axis, wherein X-axis and Y-axis are mutual
Vertical horizontal direction, Z axis are the vertical direction perpendicular to X-axis and Y-axis；
Workpiece is transmitted by transmission belt along X-axis, Y-axis or Z-direction；
Multi-axis robot processes the workpiece according to reference axis setting processing line.
2. standardization intelligent industrial flow line production method according to claim 1, which is characterized in that the production method
Further include: workpiece is fixed on conveyer belt or workbench along the change in coordinate axis direction by clamping device.
3. standardization intelligent industrial flow line production method according to claim 2, which is characterized in that the production method
Further include: whether detection workpiece pose is qualified under unified reference axis, if pose qualification is processed, if pose is unqualified,
It is adjusted by the clamping device；Workpiece pose is detected after adjusting again, is processed if pose qualification；The workpiece
Pose qualification is the positional relationship that the pose of each workpiece is consistent and is kept fixed with the reference axis set up in the assembly line.
4. standardization intelligent industrial flow line production method according to claim 1, which is characterized in that the production method
Further include: after work pieces process, detection work pieces process is as a result, if qualified carry out the next step, if unqualified exit from the product mouth of moving back,
The workpiece of the detection work pieces process result qualification is carried out along the change in coordinate axis direction with the workpiece that product mouth exits is moved back.
5. a kind of standardization intelligent industrial flow line production device characterized by comprising
Transmission belt, for, along a unified reference axis transmission, reference axis to include X-axis, Y-axis and Z axis, wherein X-axis and Y-axis by workpiece
For mutually perpendicular horizontal direction, Z axis is the vertical direction perpendicular to X-axis and Y-axis, and workpiece is by transmission belt along X-axis, Y-axis or Z axis
Transmission；
Multi-axis robot, according to the reference axis setting processing line in the workpiece is processed, installation site and plus
Work line parallel or perpendicular to X-axis, Y-axis or Z axis.
6. standardization intelligent industrial flow line production device according to claim 5, which is characterized in that the multi-axis machine
People includes working arm, working arm quantity >=1.
7. standardization intelligent industrial flow line production device according to claim 5, which is characterized in that the process units
Further include: clamping device, for workpiece to be fixed on conveyer belt or workbench；Processor, for controlling multi-axis robot
The clamp position of work pace and running track and clamping device makes the multi-axis robot and clamping device work and run
Track is parallel or perpendicular to the reference axis.
8. standardization intelligent industrial flow line production device according to claim 7, which is characterized in that the process units
Further include: on-line measuring device, it is whether qualified for detecting workpiece pose, and detection work pieces process result；Product mouth is moved back, is used for
On-line measuring device detection underproof workpiece of processing result is exited by it；The on-line measuring device and the peace for moving back product mouth
Holding position and working trajectory are all parallel or perpendicular to the reference axis.
9. standardization intelligent industrial flow line production device according to claim 7 or 8, which is characterized in that the clamping
Device includes regulating device, for clamped workpiece to be adjusted, the installation site and working trajectory of the regulating device
All parallel or perpendicular to the reference axis.
10. standardization intelligent industrial flow line production device according to claim 9, which is characterized in that the processor
It is also used to control clamping device according to the testing result of on-line measuring device；It is described move back that product mouth is also used to will be after adjusting by it
Workpiece pose is still underproof to be exited.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810994541.9A CN108972521A (en) | 2018-08-29 | 2018-08-29 | Standardize intelligent industrial flow line production method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810994541.9A CN108972521A (en) | 2018-08-29 | 2018-08-29 | Standardize intelligent industrial flow line production method and device |
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| JP2000009741A (en) * | 1998-06-22 | 2000-01-14 | Hitachi Ltd | Tested body processor |
| CN103921971A (en) * | 2014-04-28 | 2014-07-16 | 山东农业大学 | Poultry egg conveying automatic positioning and packaging robot and working method thereof |
| CN104148241A (en) * | 2014-08-26 | 2014-11-19 | 昆山迈致治具科技有限公司 | PCB dispensing device |
| CN105182907A (en) * | 2015-10-20 | 2015-12-23 | 上海拓璞数控科技有限公司 | Robot gesture on-line correction system and correction method thereof |
| CN205392884U (en) * | 2016-02-26 | 2016-07-27 | 东莞市上合旺盈印刷有限公司 | Novel point is glued device |
-
2018
- 2018-08-29 CN CN201810994541.9A patent/CN108972521A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000009741A (en) * | 1998-06-22 | 2000-01-14 | Hitachi Ltd | Tested body processor |
| CN103921971A (en) * | 2014-04-28 | 2014-07-16 | 山东农业大学 | Poultry egg conveying automatic positioning and packaging robot and working method thereof |
| CN104148241A (en) * | 2014-08-26 | 2014-11-19 | 昆山迈致治具科技有限公司 | PCB dispensing device |
| CN105182907A (en) * | 2015-10-20 | 2015-12-23 | 上海拓璞数控科技有限公司 | Robot gesture on-line correction system and correction method thereof |
| CN205392884U (en) * | 2016-02-26 | 2016-07-27 | 东莞市上合旺盈印刷有限公司 | Novel point is glued device |
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Application publication date: 20181211 |