CN109192047A - A kind of simulation customization production practice system and method based on industrial robot - Google Patents
A kind of simulation customization production practice system and method based on industrial robot Download PDFInfo
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- CN109192047A CN109192047A CN201811175711.7A CN201811175711A CN109192047A CN 109192047 A CN109192047 A CN 109192047A CN 201811175711 A CN201811175711 A CN 201811175711A CN 109192047 A CN109192047 A CN 109192047A
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- 238000004088 simulation Methods 0.000 title claims abstract description 29
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- 239000000463 material Substances 0.000 claims abstract description 101
- 239000003550 marker Substances 0.000 claims abstract description 33
- 238000012549 training Methods 0.000 claims abstract description 19
- 238000003754 machining Methods 0.000 claims abstract description 12
- 238000012360 testing method Methods 0.000 claims abstract description 5
- 238000004026 adhesive bonding Methods 0.000 claims description 72
- 238000003848 UV Light-Curing Methods 0.000 claims description 29
- 238000007711 solidification Methods 0.000 claims description 26
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- 238000001723 curing Methods 0.000 claims description 6
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- 206010054949 Metaplasia Diseases 0.000 description 2
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Abstract
The present invention provides a kind of, and the simulation based on industrial robot customizes production practice system, and overall including guardrail and the real training surrounded by the guardrail, the real training generally includes the first automatic guided vehicle of conveying articles；Store the shelf of material；Material on the shelf is carried to the end cap industrial robot of first automatic guided vehicle；The laser sub-marker of Carving Machining is carried out to material；Material is carried to laser sub-marker from first automatic guided vehicle, the material carved is carried to from laser sub-marker to sighting device, the material that will test is carried to from sighting device the engraving end industrial robot of the first automatic guided vehicle again again；Detect the sighting device of the depiction of material.The present invention also provides a kind of, and the simulation based on industrial robot customizes production practice method.The beneficial effects of the present invention are: providing a kind of simulation customization production practice system based on industrial robot, it can be used for customizing production teaching.
Description
Technical field
The present invention relates to experience systems more particularly to a kind of simulation based on industrial robot to customize production practice system
And method.
Background technique
Customizing production management can be provided for enterprise including Manufacturing Data Management, plan scheduled production management, production scheduling pipe
It is flat to make a sturdy, reliable, comprehensive, feasible manufacture coordinated management for enterprise for the modules such as reason, stock control, quality management
Platform.Workshop Production Management is the important link that enterprise realizes that the management of production plan science, production cost effectively control.Lack science
Effective workshop management, enterprise just can not system, coordination, produced in an orderly manner.Customizing production is exactly according to customer demand
It is produced, to meet cybertimes Demand Individuation of Customers.Since the individual demand otherness of consumer is big, in addition consumption
The demand of person is again few, therefore enterprise carries out customized production and must manage, and supplies, and in production and dispatching links, all must
It must adapt to this small lot, multimodal sample, the production and selling variation of more specifications and multi items.Important set as personalized service
At part, being customized production according to customer demand is the citation form for meeting Demand Individuation of Customers now.
The production model of enterprise produces the future thrust that transfer is Chinese manufacturing from standardized production to customization,
Manufacturing development will move towards the new era of personalized customization.In traditional production model, the cost for customizing production is realized
It is very high, but with the continuous development of information technology, enterprise can the easier demand and order for obtaining user, pass through intelligent network
Network information system carries out the detailed industry cooperation division of labor, can be realized the networked coordination production of production line each link, so,
The development of intelligent industrial can not only allow personalized customization and production scale constantly to expand perfect fusion, moreover it is possible to guarantee enterprise
Under the premise of operation cost, production and operation system customer-centric is established.
Customized management is the specific management to object, is integrated use and benefit of other every specialized managements in production scene
Enterprise is filled in production activity, studies a science of people, object, place triadic relation.It is by arranging, in production process
Unwanted thing is disposed, and production scene condition is constantly improved, and is scientifically utilized place, is wanted benefit to space；By rectifying,
Promote people and object effective combination, make production in requirement it is easily available, benefit is wanted to the time, to realize production scene
The standardization of management with it is scientific.
Under the overall background that today's society real economy development speed gradually slows down, economic downstream pressure is gradually increased, in
The traditional manufacturing industry of state is being faced with formidable challenges and is being impacted, and either medium-sized and small enterprises or large multinational company are all in product
The searching new growth engines of pole.The development of the emerging technologies such as cloud computing, big data, Internet of Things manages mould to conventional industries
The development of formula generates deep effect, and enterprise production management mode is also gradually customized from routinizing management on a large scale to intelligence
Change management orientation transformation, with the continuous development of intelligent industrial, Chinese Enterprise by face industrial transformation upgrading immense pressure and
Challenge.And defect existing for domestic customization production management experience system has now:
(1) there are wasting phenomenons for customization resource；
(2) production technology diversification is customized there are limitation, and technology specific gravity needed for manufacturing product increases, and causes production efficiency
Decline；
(3) it needs to be continuously updated spare and accessory parts, to avoid the additional inventory burden in production process or after production；
(4) it increases diagnosis and repairs the difficulty of inferior goods.
In application aspect, domestic customization production management lags significantly behind developed country, does not form one completely
Standards system can't fully meet the production management demand of enterprise, that is to say, that domestic enterprise exists in realization technology
There is also risks on its systematic functional structrue, implementation.Must be from implementing ability, product quality, service level a series of problems, such as
Upper realization is broken through.Most of China manufacturing enterprise also depends on manpower unduly and is produced, therefore collects complete, reliable, data
It is more difficult to change information.Due to manufacturing process and the complexity and monopoly of process control objects, compare so that system configuration has
Big difference, application model may also be entirely different, these factors objectively cause the diversity in product and service market, fixed
Market has already appeared biggish demand to inhibition and generation product at home.
And industrial robot in production using more and more extensive, industrial robot replaces manpower to be applied to customization
The developing direction that intelligence manufacture is industry 4.0 is carried out in production system.Therefore a large amount of operating technology personnel are needed: such as machine
Device people debugging and Maintenance Engineer, the Automation Design engineer, robot vision engineer etc..But relative to demand for talent by
Year increase, the culture of industrial robot professional still in the state of relatively lagging behind, the main reason is that domestic universities and colleges and
Related training organization can only provide the robot teaching of unification mostly, as either simplex makees each model industrial robot real training of standing posture
Platform lacks a kind of simulation customization production practice system based on industrial robot, can either meet customization demand,
It is able to achieve integrated producing line formula production again and is suitble to the real case and teaching equipment of teaching.
Therefore, a kind of simulation customization production practice system based on industrial robot how is provided, for customizing metaplasia
Teaching is produced, is those skilled in the art's technical problem urgently to be resolved to customize production to provide professional.
Summary of the invention
In order to solve the problems in the prior art, the present invention provides a kind of, and the simulation based on industrial robot customizes metaplasia
Produce experience system and method.
The simulation that the present invention provides a kind of based on industrial robot customizes production practice system, including guardrail and by institute
The real training totality that guardrail is surrounded is stated, the real training generally includes the first automatic guided vehicle of conveying articles；Store the goods of material
Frame；Material on the shelf is carried to the end cap industrial robot of first automatic guided vehicle；Material is carved
Carve the laser sub-marker of processing；Material is carried to laser sub-marker, again object that will carve from first automatic guided vehicle
Expect that the material that is carried to sighting device from laser sub-marker, will test again is carried to the first automatic guided vehicle from sighting device
Carve end industrial robot；Detect the sighting device of the depiction of material；Material is worked from the first automatic guided vehicle, gluing
It stands the gluing end industrial robot carried back and forth；The gluing work station of gluing processing is carried out to material；By the good object of gluing
Material is carried to UV curing oven from the first automatic guided vehicle and carries out solidified forming, again removes the good material of solidified forming from UV curing oven
It is transported to the solidification end industrial robot of the second automatic guided vehicle；The material good to gluing carries out the UV curing oven of solidified forming；It will
The good material of solidified forming is carried to the second automatic guided vehicle of discharge end.
As a further improvement of the present invention, the real training totally further includes guiding the first guiding of the first automatic guided vehicle
Second guided path of the second automatic guided vehicle of route and guiding.
As a further improvement of the present invention, the end cap industrial robot, laser sub-marker, engraving end industrial machine
People, sighting device, gluing end industrial robot, gluing work station are arranged along the first guided path sequence.
As a further improvement of the present invention, the solidification end industrial robot is located at first guided path, second
Between guided path.
As a further improvement of the present invention, the UV curing oven is located at first guided path, the second guided path
Between.
The present invention also provides a kind of, and the simulation based on industrial robot customizes production practice method, including following step
It is rapid:
S1, it enables end cap industrial robot take out material from shelf and is placed on the first automatic guided vehicle；
S2, it enables the first automatic guided vehicle that material is delivered to engraving end industrial robot position, enables engraving end industrial machine
Material is carried in laser sub-marker by people from the first automatic guided vehicle, is enabled laser sub-marker transfer picture and is carved to material
Processing；
S3, after laser sub-marker completes Carving Machining, enable engraving end industrial robot that will complete the material of engraving from laser
Whether internal carving machine is carried to sighting device, enable the depiction on sighting device identification material qualified, after identification is completed, enable carving
It carves end industrial robot and the material for completing identification is carried to the first automatic guided vehicle from sighting device, enable the first automatic guided vehicle
Material is delivered to gluing end industrial robot position；
S4, when the first automatic guided vehicle reach gluing end industrial robot position when, enable gluing end industrial robot by object
Material is carried to gluing work station from the first automatic guided vehicle, and gluing work station is enabled to carry out gluing processing to material, and gluing completes it
Afterwards, it enables gluing end industrial robot that material is carried to the first automatic guided vehicle from gluing work station, enables the first automatic guided vehicle
Material is delivered to solidification end industrial robot position；
S5, when the first automatic guided vehicle reaches solidification end industrial robot position, enable solidification end industrial robot by object
Material is carried to UV curing oven from the first automatic guided vehicle, and UV curing oven is enabled to carry out curing molding to material, and curing molding completes it
Afterwards, it enables solidification end industrial robot that material is carried to the second automatic guided vehicle from UV curing oven, enables the second automatic guided vehicle will
Material is delivered to discharge end.
As a further improvement of the present invention, in step s 4, gluing work station is controlled by gluing end industrial robot
Gluing processing is carried out to material.
The beneficial effects of the present invention are: through the above scheme, providing a kind of simulation customization based on industrial robot
Production practice system can be used for customizing production teaching.
Detailed description of the invention
Fig. 1 is the schematic diagram that a kind of simulation based on industrial robot of the present invention customizes production practice system.
Fig. 2 is the stereoscopic schematic diagram that a kind of simulation based on industrial robot of the present invention customizes production practice system.
Specific embodiment
The invention will be further described for explanation and specific embodiment with reference to the accompanying drawing.
As shown in Figure 1 to Figure 2, a kind of simulation based on industrial robot customizes production practice system, including guardrail 12
With the real training totality surrounded by the guardrail 12, the real training generally includes the first automatic guided vehicle of conveying articles (also known as
AGV trolley) 3；Store the shelf 1 of material；Material on the shelf 1 is carried to the shelf of first automatic guided vehicle 3
Hold industrial robot 2；The laser sub-marker 4 of Carving Machining is carried out to material；Material is carried from first automatic guided vehicle 3
To laser sub-marker 4, again by the material carved from laser sub-marker 4 be carried to sighting device 6, again the material that will test from
Sighting device 6 is carried to the engraving end industrial robot 5 of the first automatic guided vehicle 3；Detect the vision dress of the depiction of material
Set 6；The gluing end industrial robot 7 that material is carried back and forth from the first automatic guided vehicle 3, gluing work station 8；To material
Carry out the gluing work station 8 of gluing processing；The good material of gluing is carried to UV curing oven 10 from the first automatic guided vehicle 3 to carry out
Solidified forming, the solidification end industrial machine that the good material of solidified forming is carried to the second automatic guided vehicle 11 from UV curing oven 10 again
Device people 9；The material good to gluing carries out the UV curing oven 10 of solidified forming；The good material of solidified forming is carried to discharge end
Second automatic guided vehicle (also known as AGV trolley) 11.
As shown in Figure 1 to Figure 2, the real training totally further includes the first guided path 13 for guiding the first automatic guided vehicle 3
With the second guided path 14 of the second automatic guided vehicle 11 of guiding.
As shown in Figure 1 to Figure 2, the end cap industrial robot 2, laser sub-marker 4, engraving end industrial robot 5, view
Feel that device 6, gluing end industrial robot 7, gluing work station 8 are sequentially arranged along first guided path 13.
As shown in Figure 1 to Figure 2, solidification end industrial robot 9 is located at first guided path 13, second guiding road
Between line 14.
As shown in Figure 1 to Figure 2, the UV curing oven 10 be located at first guided path 13, the second guided path 14 it
Between.
As shown in Figure 1 to Figure 2, the end cap industrial robot 2 and gluing end industrial robot 7 are mounted on the first folder
Tool 101, engraving end industrial robot 5 are equipped with the second fixture 102, and solidification end industrial robot 9 is equipped with third fixture 103.
As shown in Figure 1 to Figure 2, a kind of simulation based on industrial robot customizes production practice method, including following step
It is rapid:
S1, it enables end cap industrial robot 2 take out material from shelf 1 and is placed on the first automatic guided vehicle 3；
S2, it enables the first automatic guided vehicle 3 that material is delivered to engraving 5 position of end industrial robot, enables engraving end industrial machine
Material is carried in laser sub-marker 4 by device people 5 from the first automatic guided vehicle 3, enable laser sub-marker 4 transfer picture to material into
Row Carving Machining；
S3, when laser sub-marker 4 complete Carving Machining after, enable engraving end industrial robot 5 will complete engraving material from swash
Light internal carving machine 4 is carried to sighting device 6, and sighting device 6 is enabled to identify whether the depiction on material is qualified, identification completion
Afterwards, it enables engraving end industrial robot 5 that the material for completing identification is carried to the first automatic guided vehicle 3 from sighting device 6, enables first
Material is delivered to 7 position of gluing end industrial robot by automatic guided vehicle 3；
S4, when the first automatic guided vehicle 3 reach gluing end 7 position of industrial robot when, enable gluing end industrial robot 7 will
Material is carried to gluing work station 8 from the first automatic guided vehicle 3, and gluing work station 8 is enabled to carry out gluing processing to material, and gluing is complete
At later, enabling gluing end industrial robot 7 that material is carried to the first automatic guided vehicle 3 from gluing work station 8, enable first nobody
Material is delivered to solidification 9 position of end industrial robot by carrier 3；
S5, when the first automatic guided vehicle 3 reach solidification 9 position of end industrial robot when, enable solidification end industrial robot 9 will
Material is carried to UV curing oven 10 from the first automatic guided vehicle 3, and UV curing oven 10 is enabled to carry out curing molding, curing molding to material
After completion, enables solidification end industrial robot 9 that material is carried to the second automatic guided vehicle 11 from UV curing oven 10, enable the second nothing
Material is delivered to discharge end by people's carrier 11.
As shown in Figure 1 to Figure 2, in step s 4, gluing work station 8 is controlled to material by gluing end industrial robot 7
Carry out gluing processing.
As shown in Figure 1 to Figure 2, a kind of simulation based on industrial robot provided by the invention customizes production practice system
And method, using laser sub-marker 4 to crystal block carry out Carving Machining as case, by the Carving Machining of crystal block craftwork, gluing,
The production model that techniques are integrated into automatic assembly line formula such as solidify, and is realized under customization by host computer and vision system
The overall-in-one control schemas such as list, intelligent visual detection, robot tracking.Different robot workstations can complete independently religion in system
Real training task is learned, and Collaboration can be carried out with laser sub-marker 4, UV curing oven 10 etc..System covers industrial robot and answers
With field typical case and more complex application operating, while the system is based on modularized design mode, no matter mechanical between work station
Or electric part is owned by independent interface, when replacing work station, need to only connect corresponding interface.
A kind of simulation based on industrial robot provided by the invention customizes production practice system and method, in laser
It is case that carving machine 4, which carries out Carving Machining to crystal block, and shelf 1 are used for the storage of crystal block and pedestal material；End cap industrial machine
Device people 2, engraving end industrial robot 5, gluing end industrial robot 7, solidification end industrial robot 9 are for completing to carry accordingly
Work；Four sleeve clamps are separately mounted in different robots, meet the needs of different station；First automatic guided vehicle 3 is for producing
The flowing water transport of material in line；Laser sub-marker 4 is for the Carving Machining inside crystal block；Sighting device 7 is carved for crystal block
The observation and quality testing of needle drawing case；Gluing work station 8 be used for and gluing end industrial robot 7 cooperate carry out crystal block and
The gluing of pedestal is processed；UV curing oven 10 is used for the solidified forming of product；Second automatic guided vehicle 11 is for conveying finished product to Gu
Visitor.
A kind of simulation based on industrial robot provided by the invention customizes production practice system and method, in laser
It is case that carving machine 4, which carries out Carving Machining to crystal block, and specific workflow is as follows:
1. people be give a commencing signal enable end cap industrial robot 2 from shelf 1 carry out pickup, be placed in first nobody remove
It completes to give signal on fortune vehicle 3 and placing, the first automatic guided vehicle 3 is allowed to carry out cargo conveying；
2. the first automatic guided vehicle 3 reaches the position where engraving end industrial robot 5, signal is given, enables engraving end industrial machine
Device people 5 carries shipping into laser sub-marker 4, completes placing, gives signal, enable laser sub-marker 4 transfer picture and carved
Carve operation；
3. the engraving of laser sub-marker 4, which is completed to give, gives engraving 5 signal of end industrial robot, enables it grab object block and be placed in vision dress
Set 7(and be also known as vision-based detection station), whether identification icon is complete clear, if wrong.Identification complete be placed in again first nobody
On carrier 3, gives signal it is enabled to leave and transport 7 position of gluing end industrial robot to；
4. the first automatic guided vehicle 3 reaches 7 position of gluing end industrial robot and sends signal, gluing end industrial robot is enabled
7 cooperate with gluing work station 8, carry out dispensing operation.Excellent gluing work station 8 is Manual dispenser, and Manual dispenser is by gluing end
I/O port connection relay on industrial robot 7 manipulate its glue amount is how many and speed.After the completion of dispensing, it is placed on
On the pedestal of one automatic guided vehicle 3.Giving signal enables it be moved to the position for solidifying end industrial robot 9；
5. 3 trolley of the first automatic guided vehicle reaches, gives signal and the solidification crawl material of end industrial robot 9 is enabled to be placed on UV solidification
It on furnace 10, gives UV curing oven 10 signal, allows the belt of UV curing oven 10 to rotate, stopping when moving to ultraviolet radiator position
Solidified.After the completion of solidification, solidification end industrial robot 9 gives signal again enables belt rotate.It is filled in 10 end of UV curing oven
Have to optocoupler is penetrated, when product moves to this position, belt stops, and solidification end industrial robot 9 carries out grasping manipulation, is placed into
On second automatic guided vehicle 11, gives signal and it is enabled to be moved to the ground at client place.
The multidisciplinary technology of the actual training device integrated application, be suitable for theory of mechanics, Automatic Control Theory, electrical control with
The practice religion of the courses such as programmable controller, Sensors & Testing Technology, Computer Control Technology, industrial robot and application
It learns.Occupied area is 54m2, wherein including four industrial robots, can be used as mutually independent experience system, when robot is assisted
When with work, production management producing line formula Practical Training Teaching-Platform can be used as.
Make standing posture tutoring system compared to traditional industrial robot either simplex, the experience system have following function with it is excellent
Point:
(1) functional diversity.The system covers the use function of robot in most of true factories, and such as crawl is carried, applied
Glue, intelligent visual detection, robot tracking etc.；And has information visualization management function, including order information, facility information pipe
Reason, workflow management information, Production scheduling management information, production process data information and field working conditions information etc..
(2) manufacturing management system of automatic production wire type.The system can real-time tracking manufacturing schedule, inventories, work
Progress and the relevant information flow of other operational administratives.It can integrate robot charge control, robot and laser sub-marker 4,
Communication between UV curing oven 10, AGV forms complete control system, supports pipeline system integration production.
(3) professional domain being related to is wide.The system relate to industrial robot, Production scheduling management, intelligent vision system,
The multiple technologies such as automatic control, programmable controller cover a variety of professional domains such as automation control, computer application.It can
The theory and practical operation teaching and matched guiding book and programming example for being no less than for 100 class hours are provided.
(4) customization production and processing is supported.System can realize the customization of prominent example product place an order, automatic material
Supply, Intelligent Machining, the complete process flow function of detection, automatic assembling and dispatching automatically are shown.Also support that user is fixed simultaneously
Inhibition and generation processing.
The experience system uses annular layout, takes up an area 6m × 9m, surrounding is with guardrail and there are obtain finished product for user
Opening, inside is by four six-joint robots, two AGV trolleies, a laser sub-marker 4, UV curing ovens 10, an a set of visions
The clamping fixture and corresponding electrical and software controlled unit composition of system, four sets of designed, designeds and processing.System three-dimensional view
Figure is as shown in Figure 1, system global structure is as shown in Figure 2.
A kind of simulation based on industrial robot provided by the invention customizes production practice system and method, has following
Advantage:
1. the real case that craftwork is processed is designed as with the producing line formula simulation factory's real training for customizing industrial management function
Platform.
2. student can either be made to understand the work of factory automation producing line using more robot integration producing line formula layouts
Mode, and student can be trained to automate comprehensive application ability.
3. whole production line uses more robots and process equipment, robot practice-training teaching content has been expanded.
A kind of simulation based on industrial robot provided by the invention customizes production practice system and method, is applied to base
Industrial robot skills practice training in customization production practice, the teaching and scientific research of industrial robot, suitable for light industry.This
Invention is cooperated by industrial robot and vision system, in conjunction with motion control and Combining soft control software, can not only realize each AGV
Trolley cooperates to the carrying of material, each industrial robot and UV curing oven 10, laser sub-marker 4, can also further realize
The advanced application and development function of the typical industries such as vision-based detection, motion tracking robot.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (7)
1. a kind of simulation based on industrial robot customizes production practice system, it is characterised in that: including guardrail and described
The real training that guardrail is surrounded is overall, and the real training generally includes the first automatic guided vehicle of conveying articles；Store the shelf of material；
Material on the shelf is carried to the end cap industrial robot of first automatic guided vehicle；Engraving is carried out to material to add
The laser sub-marker of work；By material from first automatic guided vehicle be carried to laser sub-marker, again by the material carved from
The material that laser sub-marker is carried to sighting device, will test again is carried to the engraving of the first automatic guided vehicle from sighting device
Hold industrial robot；Detect the sighting device of the depiction of material；By material from the first automatic guided vehicle, gluing work station into
The gluing end industrial robot that row is carried back and forth；The gluing work station of gluing processing is carried out to material；By the good material of gluing from
First automatic guided vehicle is carried to UV curing oven and carries out solidified forming, is again carried to the good material of solidified forming from UV curing oven
The solidification end industrial robot of second automatic guided vehicle；The material good to gluing carries out the UV curing oven of solidified forming；It will solidification
The material shaped is carried to the second automatic guided vehicle of discharge end.
2. the simulation according to claim 1 based on industrial robot customizes production practice system, it is characterised in that: institute
Stating real training totally further includes guiding the first guided path of the first automatic guided vehicle and guiding the second of the second automatic guided vehicle to lead
It leads the way line.
3. the simulation according to claim 2 based on industrial robot customizes production practice system, it is characterised in that: institute
State end cap industrial robot, laser sub-marker, engraving end industrial robot, sighting device, gluing end industrial robot, gluing
Work station is arranged along the first guided path sequence.
4. the simulation according to claim 2 based on industrial robot customizes production practice system, it is characterised in that: institute
Solidification end industrial robot is stated between first guided path, the second guided path.
5. the simulation according to claim 2 based on industrial robot customizes production practice system, it is characterised in that: institute
UV curing oven is stated between first guided path, the second guided path.
6. a kind of simulation based on industrial robot customizes production practice method, which comprises the following steps:
S1, it enables end cap industrial robot take out material from shelf and is placed on the first automatic guided vehicle；
S2, it enables the first automatic guided vehicle that material is delivered to engraving end industrial robot position, enables engraving end industrial machine
Material is carried in laser sub-marker by people from the first automatic guided vehicle, is enabled laser sub-marker transfer picture and is carved to material
Processing；
S3, after laser sub-marker completes Carving Machining, enable engraving end industrial robot that will complete the material of engraving from laser
Whether internal carving machine is carried to sighting device, enable the depiction on sighting device identification material qualified, after identification is completed, enable carving
It carves end industrial robot and the material for completing identification is carried to the first automatic guided vehicle from sighting device, enable the first automatic guided vehicle
Material is delivered to gluing end industrial robot position；
S4, when the first automatic guided vehicle reach gluing end industrial robot position when, enable gluing end industrial robot by object
Material is carried to gluing work station from the first automatic guided vehicle, and gluing work station is enabled to carry out gluing processing to material, and gluing completes it
Afterwards, it enables gluing end industrial robot that material is carried to the first automatic guided vehicle from gluing work station, enables the first automatic guided vehicle
Material is delivered to solidification end industrial robot position；
S5, when the first automatic guided vehicle reaches solidification end industrial robot position, enable solidification end industrial robot by object
Material is carried to UV curing oven from the first automatic guided vehicle, and UV curing oven is enabled to carry out curing molding to material, and curing molding completes it
Afterwards, it enables solidification end industrial robot that material is carried to the second automatic guided vehicle from UV curing oven, enables the second automatic guided vehicle will
Material is delivered to discharge end.
7. the simulation according to claim 6 based on industrial robot customizes production practice method, it is characterised in that:
In step S4, gluing work station is controlled by gluing end industrial robot, gluing processing is carried out to material.
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