CN113909890A - Flexible assembly system and method for small and medium-sized complex products - Google Patents
Flexible assembly system and method for small and medium-sized complex products Download PDFInfo
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- CN113909890A CN113909890A CN202111318906.4A CN202111318906A CN113909890A CN 113909890 A CN113909890 A CN 113909890A CN 202111318906 A CN202111318906 A CN 202111318906A CN 113909890 A CN113909890 A CN 113909890A
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- 239000003086 colorant Substances 0.000 claims description 3
- 230000003993 interaction Effects 0.000 description 7
- 230000002452 interceptive effect Effects 0.000 description 5
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- 239000000463 material Substances 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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Abstract
The invention discloses a flexible assembly system for small and medium-sized complex products, which comprises: the product data module is used for acquiring assembly information of the components or parts to be assembled; the feeding module is used for conveying the components or parts to be assembled to the assembling robot; an assembly robot for assembling a product; the monitoring module is used for identifying the type, specification and assembly state of the component or part to be assembled; the output module is used for outputting the assembled product; the master control module is used for making an assembly plan for the assembly robot; the method comprises the following steps: s1, acquiring the specification and the assembly mode of components or parts in the product to be assembled, and issuing a service label; s2, respectively transmitting the components or parts with the service labels to a public assembling robot and a special assembling robot for assembling; and S3, outputting the product after the assembly is finished. The invention improves the assembly efficiency of small and medium-sized multi-product types, ensures the assembly consistency, improves the assembly flexibility and has high automation degree.
Description
Technical Field
The invention relates to the field of flexible automatic assembly, in particular to a flexible assembly system and a flexible assembly method for small and medium-sized complex products.
Background
In the assembly of the traditional robot assembly line, the oriented assembly object of each robot is fixed, so the assembly object cannot be well adapted to the influence caused by the change of the assembly product, and even if the assembly is carried out on products of the same type and different models, the relevant settings of the assembly robot, such as the adjustment of a robot control program, the change of the position of the robot, the change of the quantity and the change of relevant special fixtures, have to be adjusted due to part of the structural differences. These conventional robot line assemblies are not adaptable when small lot multi-item assemblies are made. Therefore, when assembling various products in small batches, the existing assembling elements must be integrated and optimized according to the assembling requirements of the assembled products, and meanwhile, the interaction mode among the elements is adjusted.
There is a need in the art for a solution to the problems of the prior art.
Disclosure of Invention
The invention aims to provide a flexible assembly system and a flexible assembly method for small and medium-sized complex products, which aim to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a flexible assembly system for small and medium-sized complex products, which comprises:
the product data module is used for acquiring assembly information of the components or parts to be assembled;
the feeding module is used for conveying the components or parts to be assembled to the corresponding assembling robots;
a plurality of assembly robots for assembling products;
the monitoring module is used for identifying the type, specification and assembly state of the component or part to be assembled;
the output module is used for outputting the assembled product;
the master control module is used for making an assembly plan for the assembly robot;
the product data module the monitoring module the pay-off module, a plurality of the assembly robot and the output module are all connected with the master control module, the product data module passes through the pay-off module and the plurality of the assembly robot is connected, and the monitoring module is respectively connected with the assembly robot and the pay-off module.
Preferably, the assembly information includes, but is not limited to: the type, specification, assembly mode, assembly quantity and assembly requirement of the components or parts to be assembled.
Preferably, the product data module is further configured to issue service tags to the components or parts to be assembled, where the service tags include public service tags and private service tags.
Preferably, the assembling robot includes a common assembling robot for assembling the components or parts to be assembled with a common service tag and a dedicated assembling robot for assembling the components or parts to be assembled with a dedicated service tag.
Preferably, the special assembly robot comprises a special fixture and a special tool for assembly, and is used for completing assembly tasks of various products needing to use the special fixture or the special tool; the public assembling robot is used for completing various products without using the special fixture or the special tool, and assembling tasks with the same assembling process or similar assembling processes are performed.
Preferably, the monitoring modules are installed on the assembly robots, monitor whether the components or parts to be assembled sent by the feeding modules are correct or not, and are further used for feeding back to the master control module after the assembly is completed, the monitoring modules perform identification based on a machine vision technology, and identification results comprise types, positions, colors and specifications of the components or parts.
Preferably, the general control module makes an assembly plan based on the assembly information acquired by the product data module, the type of the assembly robot and the monitoring information of the monitoring module.
A flexible assembling method for small and medium-sized complex products comprises the following steps:
s1, acquiring the specification and the assembly mode of the component or part in the product to be assembled, and issuing a service label to the component or part based on the acquired information;
s2, respectively transmitting the components or parts with the service labels to a public assembly robot and a special assembly robot for assembly;
and S3, outputting the product after assembly, updating data information, formulating the assembly scheme again and assembling until all assembly tasks are completed.
Preferably, the conditions to be considered for formulating the assembly plan include, but are not limited to: the position, orientation and type of the component or part, the assembly requirements, the assembly speed and the robots must not collide with each other.
Preferably, during the assembling process of the assembling robot, a mode of actively selecting the components or parts to be assembled for assembling also exists.
The invention discloses the following technical effects:
the invention decomposes the assembly task of small and medium-sized multi-product, divides the assembly task into a public assembly task and a special assembly task, the robot can complete some common assembly tasks of the multi-product through the public assembly task, the robot can complete some special assembly tasks of each product through the special assembly task, and simultaneously complete the whole assembly process through service information interaction between the robots and the master control module.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of the structural formula of the present invention.
Detailed Description
Reference will now be made in detail to various exemplary embodiments of the invention, the detailed description should not be construed as limiting the invention but as a more detailed description of certain aspects, features and embodiments of the invention.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Further, for numerical ranges in this disclosure, it is understood that each intervening value, between the upper and lower limit of that range, is also specifically disclosed. Every smaller range between any stated value or intervening value in a stated range and any other stated or intervening value in a stated range is encompassed within the invention. The upper and lower limits of these smaller ranges may independently be included or excluded in the range.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Although only preferred methods and materials are described herein, any methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention. All documents mentioned in this specification are incorporated by reference herein for the purpose of disclosing and describing the methods and/or materials associated with the documents. In case of conflict with any incorporated document, the present specification will control.
It will be apparent to those skilled in the art that various modifications and variations can be made in the specific embodiments of the present disclosure without departing from the scope or spirit of the disclosure. Other embodiments will be apparent to those skilled in the art from consideration of the specification. The specification and examples are exemplary only.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.
The "parts" in the present invention are all parts by mass unless otherwise specified.
Example 1
The invention provides a flexible assembly system for small and medium-sized complex products, which comprises:
the product data module is used for acquiring assembly information of the components or parts to be assembled;
the feeding module is used for conveying the components or parts to be assembled to the corresponding assembling robots;
a plurality of assembly robots for assembling products;
the monitoring module is used for identifying the type, specification and assembly state of the component or part to be assembled;
the output module is used for outputting the assembled product;
the master control module is used for making an assembly plan for the assembly robot;
the product data module the monitoring module the pay-off module, a plurality of the assembly robot and the output module are all connected with the master control module, the product data module passes through the pay-off module and the plurality of the assembly robot is connected, and the monitoring module is respectively connected with the assembly robot and the pay-off module.
Preferably, the assembly information includes, but is not limited to: the type, specification, assembly mode, assembly quantity and assembly requirement of the components or parts to be assembled.
Preferably, the product data module is further configured to issue service tags to the components or parts to be assembled, where the service tags include public service tags and private service tags.
Preferably, the assembling robot includes a common assembling robot for assembling the components or parts to be assembled with a common service tag and a dedicated assembling robot for assembling the components or parts to be assembled with a dedicated service tag.
Preferably, the special assembly robot comprises a special fixture and a special tool for assembly, and is used for completing assembly tasks of various products needing to use the special fixture or the special tool; the public assembling robot is used for completing various products without using the special fixture or the special tool, and assembling tasks with the same assembling process or similar assembling processes are performed.
Preferably, the monitoring modules are installed on the assembly robots, monitor whether the components or parts to be assembled sent by the feeding modules are correct or not, and are further used for feeding back to the master control module after the assembly is completed, the monitoring modules perform identification based on a machine vision technology, and identification results comprise types, positions, colors and specifications of the components or parts.
Preferably, the general control module makes an assembly plan based on the assembly information acquired by the product data module, the type of the assembly robot and the monitoring information of the monitoring module.
A flexible assembling method for small and medium-sized complex products comprises the following steps:
s1, acquiring the specification and the assembly mode of the component or part in the product to be assembled, and issuing a service label to the component or part based on the acquired information;
s2, respectively transmitting the components or parts with the service labels to a public assembly robot and a special assembly robot for assembly;
and S3, outputting the product after assembly, updating data information, formulating the assembly scheme again and assembling until all assembly tasks are completed.
Preferably, the conditions to be considered for formulating the assembly plan include, but are not limited to: the position, orientation and type of the component or part, the assembly requirements, the assembly speed and the robots must not collide with each other.
Preferably, during the assembling process of the assembling robot, a mode of actively selecting the components or parts to be assembled for assembling also exists.
For the similarity of the structures among different types of products in the same category, part of assembly tasks to be performed are the same and can be performed by the same assembly robot, and the assembly tasks of the type are called common tasks. However, there are individual differences between the models of products, and therefore some of the assembly tasks must be performed by specialized robots, and this type of assembly task is referred to herein as a proprietary task.
According to the assembly task attribute of the product, the invention provides a service-oriented collaborative assembly method, in the assembly process of a robot, an assembled component is an object for receiving a service, and an assembly robot is an object for providing the service. Due to the diversity and the universality of the service, the assembly component selects the corresponding robot through the service requirement by taking the service as a medium, and the robot can also select the corresponding assembly task according to the service content of the robot. According to different assembly tasks, services provided by the robot can be divided into public services and proprietary services, through the public services, the robot can complete some common assembly tasks of various products, and through the proprietary services, the robot can complete some proprietary assembly tasks of each product. Meanwhile, the whole assembly service process is realized through service information interaction between the robots and the task database.
To further illustrate the relationship between assembly components, robots, and services during assembly, the bax paradigm is applied herein to construct a formalized definition of a service-oriented assembly method, as follows:
< cooperative assembly > < assembly robot > < assembly component > < product data > < assembly service > < interaction information > [ interaction control ] [ interaction interface ] [ monitoring control ]
< assembly robot > < service provider > < robot ID > < service scope > < robot state > [ interactive interface ]
< product data > < product ID > < Assembly constraint relationship > < number of tasks > < requirement of tasks >
< assembly component > < task Carrier > < task ID > < service requirement > < task quantity > < task requirement > < component State > < service tag >
< service of assembly { < service attribute > < service release > < service quantity > < service state > }
< interaction information > < service State > < component State > < robot State > < product State > < service Label > }
< service tag > < service identification mark > < product ID > < robot ID > < task identification code > < task attribute >
< interactive interface > < interactive condition > < interactive content > < communication primitive > }
< communication primitive > < notification > < request > < receipt > < rejection > … … }
< interactive content > < sender > < information flow > [ receiver ]
According to the above definition, the correlation between the elements is shown in fig. 1. In the assembling process, the master control module issues corresponding assembling information according to the provided product information and the existing robot information, the product data module issues assembling service labels, the assembling robot judges and selects components and parts of corresponding products to assemble according to the obtained service labels and the received assembling information, and after the assembling service is completed by the robot, the assembling information is fed back to the master control module. And the master control module updates data information according to the obtained information and releases the updated assembly information again. And the robot selects the service label again according to the newly obtained assembly information and assembles again. And after the product is assembled, packaging and warehousing.
The monitoring module adopts a machine vision technology, monitors the type, position, posture, color and speed information of components or parts, transmits image information to the master control module through the Ethernet, comprises parts such as an industrial camera, a light screen and a support, and is placed on the support or the body of the robot for monitoring.
The general control module needs to make an assembly plan for a public assembly robot and a special assembly robot according to the position, the direction, the type and the service label of a component or a part and the requirement of no collision between the assembly demand and the robots, and the general control module is an industrial PC and transmits data through the Ethernet.
The feeding module is a belt conveyor, can bear and convey various small components and parts, is driven by a servo motor, and is stable and adjustable in speed and displacement.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (10)
1. The utility model provides a flexible assembly system towards middle-size and small-size complicated product which characterized in that: the method comprises the following steps:
the product data module is used for acquiring assembly information of the components or parts to be assembled;
the feeding module is used for conveying the components or parts to be assembled to the corresponding assembling robots;
a plurality of assembly robots for assembling products;
the monitoring module is used for identifying the type, specification and assembly state of the component or part to be assembled;
the output module is used for outputting the assembled product;
the master control module is used for making an assembly plan for the assembly robot;
the product data module the monitoring module the pay-off module, a plurality of the assembly robot and the output module are all connected with the master control module, the product data module passes through the pay-off module and the plurality of the assembly robot is connected, and the monitoring module is respectively connected with the assembly robot and the pay-off module.
2. The flexible assembly system for small and medium-sized complex products according to claim 1, characterized in that: the assembly information includes, but is not limited to: the type, specification, assembly mode, assembly quantity and assembly requirement of the components or parts to be assembled.
3. The flexible assembly system for small and medium-sized complex products according to claim 2, characterized in that: the product data module is also used for issuing service labels to the components or parts to be assembled, and the service labels comprise public service labels and special service labels.
4. The flexible assembly system for small and medium-sized complex products according to claim 3, characterized in that: the assembling robot comprises a public assembling robot and a special assembling robot, wherein the public assembling robot is used for assembling the components or parts to be assembled with public service labels, and the special assembling robot is used for assembling the components or parts to be assembled with special service labels.
5. The flexible assembly system for small and medium-sized complex products according to claim 4, characterized in that: the special assembly robot comprises a special fixture and a special tool for assembly, and is used for completing assembly tasks of the special fixture or the special tool in various products; the public assembling robot is used for completing various products without using the special fixture or the special tool, and assembling tasks with the same assembling process or similar assembling processes are performed.
6. The flexible assembly system for small and medium-sized complex products according to claim 1, characterized in that: the monitoring modules are installed on the assembly robots, monitor whether the components or parts to be assembled sent by the feeding modules are correct or not, and are also used for monitoring that the components or parts to be assembled are fed back to the master control module after the assembly is completed, the monitoring modules recognize based on a machine vision technology, and recognition results comprise types, positions, colors and specifications of the components or parts.
7. The flexible assembly system for small and medium-sized complex products according to claim 1, characterized in that: and the master control module makes an assembly plan based on the assembly information acquired by the product data module, the type of the assembly robot and the monitoring information of the monitoring module.
8. A flexible assembly method for small and medium-sized complex products is characterized in that: the method comprises the following steps:
s1, acquiring the specification and the assembly mode of the component or part in the product to be assembled, and issuing a service label to the component or part based on the acquired information;
s2, respectively transmitting the components or parts with the service labels to a public assembly robot and a special assembly robot for assembly;
and S3, outputting the product after assembly, updating data information, formulating the assembly scheme again and assembling until all assembly tasks are completed.
9. The flexible assembling method for small and medium-sized complex products according to claim 8, wherein: the conditions to be considered for formulating the assembly plan include, but are not limited to: the position, orientation and type of the component or part, the assembly requirements, the assembly speed and the robots must not collide with each other.
10. The flexible assembling method for small and medium-sized complex products according to claim 8, wherein: in the assembling process of the assembling robot, a mode of actively selecting components or parts to be assembled for assembling also exists.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111318906.4A CN113909890A (en) | 2021-11-09 | 2021-11-09 | Flexible assembly system and method for small and medium-sized complex products |
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| CN202111318906.4A CN113909890A (en) | 2021-11-09 | 2021-11-09 | Flexible assembly system and method for small and medium-sized complex products |
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2021
- 2021-11-09 CN CN202111318906.4A patent/CN113909890A/en active Pending
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