CN116300771A - Intelligent flexible assembly method, device and storage medium - Google Patents
Intelligent flexible assembly method, device and storage medium Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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Abstract
The invention discloses an intelligent flexible assembly method, a device and a storage medium, wherein the method comprises the following steps: determining a machining operation to be performed by the intelligent flexible assembly device; determining a target machining tool corresponding to the machining operation and a currently installed machining tool of the intelligent flexible assembly device; and when the processing tool is not matched with the target processing tool, controlling the intelligent flexible assembly device to execute the processing tool switching action. The invention aims to improve the production efficiency.
Description
Technical Field
The present invention relates to the field of control systems, and in particular, to an intelligent flexible assembly method, apparatus, and storage medium.
Background
The intelligent flexible assembly is based on continuous conveying assembly, and multiple products are assembled through multiple stations by means of programming, namely, a plurality of parts of the products are tightly matched, connected through threads, adhered, riveted and welded together, so that the intelligent and automatic assembly is realized, and the production efficiency is effectively improved.
In the related scheme, generally, before production starts, processing operations to be executed by the intelligent flexible assembling device on each station are set based on an assembling instruction, and processing tools of the intelligent flexible assembling device are replaced uniformly, but a great deal of manpower and time are consumed, so that production efficiency is too low.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide an intelligent flexible assembly method, an intelligent flexible assembly device and a storage medium, and aims to achieve the effect of improving production efficiency.
In order to achieve the above object, the present invention provides an intelligent flexible assembly method, which is applied to an intelligent flexible assembly device, and the intelligent flexible assembly method includes:
determining a machining operation to be performed by the intelligent flexible assembly device;
determining a target machining tool corresponding to the machining operation and a currently installed machining tool of the intelligent flexible assembly device;
and when the processing tool is not matched with the target processing tool, controlling the intelligent flexible assembly device to execute the processing tool switching action.
Optionally, the step of determining a machining operation to be performed by the intelligent flexible assembling device includes:
determining non-execution processing operation corresponding to a target product in an operation area of the intelligent flexible assembly device;
determining an executable operational combination of the intelligent flexible assembly device in the unexecuted machining operation;
and determining the machining operation according to the corresponding execution time of the executable operation combination.
Optionally, the step of determining the processing operation corresponding to the target product in the operation area of the intelligent flexible assembly device includes:
acquiring a panoramic image corresponding to the target product in the operation area;
determining a comparison result between the panoramic image and a target product image corresponding to the target product;
and determining the machining operation based on the comparison result.
Optionally, before the step of determining the machining operation according to the corresponding execution time of the executable operation combination, the method further includes:
determining the operation time of each operation in each executable operation combination;
determining the switching time of the switching machining tool corresponding to the adjacent operation of each executable operation combination;
and determining the execution time according to the operation time and the switching time.
Optionally, the step of determining the machining operation according to the corresponding execution time of the executable operation combination includes:
determining the maximum processing time of the intelligent flexible assembly device on the target product;
and determining the processing operation according to the executable operation combination with the execution time smaller than the maximum processing time.
Optionally, the step of determining the machining operation according to the combination of executable operations with the execution time less than the maximum machining time includes:
determining a number of operations in the combination of executable operations for which the execution time is less than the maximum processing time;
and taking the operation in the executable operation combination with the maximum operation number and the execution time smaller than the maximum processing time as the processing operation to be executed.
Optionally, the step of determining a maximum processing time of the intelligent flexible assembling apparatus for the target product includes:
determining the residual execution time of a processed product of the last intelligent flexible assembly device corresponding to the intelligent flexible assembly device;
acquiring the transmission time from the last intelligent flexible assembling device to the intelligent flexible assembling device;
and determining the maximum processing time according to the transmission time and the residual execution time.
Optionally, before the step of determining that the processing operation is not performed for the target product in the operation area of the intelligent flexible assembling device, the method further includes:
determining whether the serial number of a product being processed by the last intelligent flexible assembly device corresponding to the intelligent flexible assembly device is continuous with the serial number of the target product;
if so, executing the step of determining that the processing operation is not executed corresponding to the target product in the operation area of the intelligent flexible assembly device;
and if the intelligent flexible assembly device is discontinuous, transmitting the target product to the next intelligent flexible assembly device corresponding to the intelligent flexible assembly device.
In addition, in order to achieve the above object, the present invention also provides an intelligent flexible assembling apparatus, which includes a memory, a processor, and an intelligent flexible assembling program stored on the memory and executable on the processor, the intelligent flexible assembling program implementing the steps of the intelligent flexible assembling method as described above when executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon an intelligent flexible assembling program which, when executed by a processor, implements the steps of the intelligent flexible assembling method as described above.
The method is applied to the intelligent flexible assembly device, when the intelligent flexible assembly device executes production tasks, relevance is not generated between the intelligent flexible assembly device and other intelligent flexible assembly devices, only processing operation to be executed is determined, a target processing tool corresponding to the processing operation and a currently installed processing tool of the intelligent flexible assembly device are matched, when the current processing tool is not matched with the target processing tool, the intelligent flexible assembly device automatically executes processing tool switching action so as to switch to the target processing tool, so that the processing operation to be executed is conveniently executed, the execution action and the processing tool do not need to be configured in advance, and therefore the production efficiency of products can be improved.
Drawings
FIG. 1 is a schematic diagram of a terminal structure of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of an embodiment of the intelligent flexible assembly method of the present invention;
FIG. 3 is a flow chart of another embodiment of the smart flexible assembly method of the present invention;
fig. 4 is a schematic diagram of an intelligent flexible assembly line according to another embodiment of the intelligent flexible assembly method of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Since in the related art, generally, before production starts, processing operations to be performed by the intelligent flexible assembling device on each station are set based on the assembling instructions, processing tools of the intelligent flexible assembling device are replaced uniformly, but a lot of manpower and time are consumed, resulting in too low production efficiency.
In order to improve production efficiency, an embodiment of the invention provides an intelligent flexible assembly method, an intelligent flexible assembly device and a storage medium, wherein the method mainly comprises the following steps:
determining a machining operation to be performed by the intelligent flexible assembly device;
determining a target machining tool corresponding to the machining operation and a currently installed machining tool of the intelligent flexible assembly device;
and when the processing tool is not matched with the target processing tool, controlling the intelligent flexible assembly device to execute the processing tool switching action.
When the intelligent flexible assembly device executes a production task, the processing operation to be executed is determined, the target processing tool corresponding to the processing operation and the processing tool which is installed at present by the intelligent flexible assembly device are matched, when the current processing tool is not matched with the target processing tool, the intelligent flexible assembly device automatically executes the processing tool switching action so as to switch to the target processing tool, so that the processing operation to be executed is conveniently executed, the execution action and the processing tool do not need to be configured in advance, and the production efficiency of products can be improved.
The invention as claimed is described in detail below with reference to the attached drawing figures.
As shown in fig. 1, fig. 1 is a schematic diagram of a terminal structure of a hardware running environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention can be an intelligent flexible assembly device.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a memory 1003, and a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The memory 1003 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1003 may alternatively be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the terminal structure shown in fig. 1 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system and an intelligent flexible assembly program may be included in a memory 1003, which is a kind of computer storage medium.
In the terminal shown in fig. 1, the processor 1001 may be used to call the intelligent flexible assembly program stored in the memory 1003, and perform the following operations:
determining a machining operation to be performed by the intelligent flexible assembly device;
determining a target machining tool corresponding to the machining operation and a currently installed machining tool of the intelligent flexible assembly device;
and when the processing tool is not matched with the target processing tool, controlling the intelligent flexible assembly device to execute the processing tool switching action.
Further, the processor 1001 may call the intelligent flexible assembly program stored in the memory 1003, and further perform the following operations:
determining non-execution processing operation corresponding to a target product in an operation area of the intelligent flexible assembly device;
determining an executable operational combination of the intelligent flexible assembly device in the unexecuted machining operation;
and determining the machining operation according to the corresponding execution time of the executable operation combination.
Further, the processor 1001 may call the intelligent flexible assembly program stored in the memory 1003, and further perform the following operations:
acquiring a panoramic image corresponding to the target product in the operation area;
determining a comparison result between the panoramic image and a target product image corresponding to the target product;
and determining the machining operation based on the comparison result.
Further, the processor 1001 may call the intelligent flexible assembly program stored in the memory 1003, and further perform the following operations:
determining the operation time of each operation in each executable operation combination;
determining the switching time of the switching machining tool corresponding to the adjacent operation of each executable operation combination;
and determining the execution time according to the operation time and the switching time.
Further, the processor 1001 may call the intelligent flexible assembly program stored in the memory 1003, and further perform the following operations:
determining the maximum processing time of the intelligent flexible assembly device on the target product;
and determining the processing operation according to the executable operation combination with the execution time smaller than the maximum processing time.
Further, the processor 1001 may call the intelligent flexible assembly program stored in the memory 1003, and further perform the following operations:
determining a number of operations in the combination of executable operations for which the execution time is less than the maximum processing time;
and taking the operation in the executable operation combination with the maximum operation number and the execution time smaller than the maximum processing time as the processing operation to be executed.
Further, the processor 1001 may call the intelligent flexible assembly program stored in the memory 1003, and further perform the following operations:
determining the residual execution time of a processed product of the last intelligent flexible assembly device corresponding to the intelligent flexible assembly device;
acquiring the transmission time from the last intelligent flexible assembling device to the intelligent flexible assembling device;
and determining the maximum processing time according to the transmission time and the residual execution time.
Further, the processor 1001 may call the intelligent flexible assembly program stored in the memory 1003, and further perform the following operations:
determining whether the serial number of a product being processed by the last intelligent flexible assembly device corresponding to the intelligent flexible assembly device is continuous with the serial number of the target product;
if so, executing the step of determining that the processing operation is not executed corresponding to the target product in the operation area of the intelligent flexible assembly device;
and if the intelligent flexible assembly device is discontinuous, transmitting the target product to the next intelligent flexible assembly device corresponding to the intelligent flexible assembly device.
The following is a description of what is claimed in the claims of the present invention by means of specific exemplary embodiments, so that those skilled in the art can better understand the scope of the claims of the present invention. It should be understood that the following exemplary embodiments do not limit the scope of the present invention, but are only used to illustrate the present invention.
Illustratively, referring to FIG. 2, in one embodiment of the smart flexible assembly method of the present invention, the smart flexible assembly method comprises the steps of:
step S10, determining a machining operation to be executed by the intelligent flexible assembly device;
in this embodiment, the intelligent flexible assembly device may be a multifunctional processing device on a production line such as a rocker device, where one production line includes at least one intelligent flexible assembly device. Each intelligent flexible assembly device is sequentially arranged on the production line, the intelligent flexible assembly device performs processing operations on one or more products to be processed (namely target products) in an operation area of the intelligent flexible assembly device, and the intelligent flexible assembly device can perform different processing operations on the target products by switching different processing tools. Before the intelligent flexible assembly device performs the machining operation, the machining operation to be performed by the intelligent flexible assembly device needs to be determined, and the machining operation to be performed by the intelligent flexible assembly device is determined according to the intelligent flexible assembly device entering the operation area of the intelligent flexible assembly device. When the occurrence of the product to be processed in the operation area is detected, determining that the intelligent flexible assembly device needs to execute the processing operation to be executed on the product to be processed according to the processing operation which is determined not to be executed currently on the target product.
It should be noted that the intelligent flexible assembling device may determine one or more processing operations to be performed by the intelligent flexible assembling device according to processing operations not currently performed by the product to be processed. For example, on a production line of a rocker device, the rocker device to be machined enters an operation area of the intelligent flexible assembly device, and after the intelligent flexible assembly device detects the rocker device, the intelligent flexible assembly device identifies that the machining operation of the rocker device which is not machined currently comprises: the intelligent flexible assembly device is provided with a spring rod, a tact switch, a bottom cover, iron shell feet for riveting, a first potentiometer, a second potentiometer and the like, and the intelligent flexible assembly device selects the spring rod, the tact switch and the bottom cover to be the processing operation to be executed.
Step S20, determining a target machining tool corresponding to the machining operation and a machining tool currently installed in the intelligent flexible assembly device;
in this embodiment, the intelligent flexible assembly device is a multifunctional machining device, in particular a multifunctional intelligent flexible assembly device for machining a rocker device. That is, the intelligent flexible mounting apparatus may perform at least two different machining operations. The intelligent flexible assembly device can be composed of a mechanical arm and a machining tool, wherein the mechanical arm is connected with the machining device and drives the machining device to execute machining operation on a product to be machined. The machining tool correspondingly realizes machining operation. In order to achieve a multifunctional machining, the intelligent flexible assembly device can be connected with different machining tools to perform different machining operations. After determining the machining operation to be performed, determining a target machining tool corresponding to the machining operation to be performed. An operation sequence is further arranged between the processing operations to be executed of the intelligent flexible assembly device, and when a plurality of processing operations to be executed exist, target processing tools corresponding to the processing operations are sequentially determined according to the operation sequence. After each determination of a target machining tool, it is necessary to determine the currently installed machining tool on the robotic arm of the intelligent flexible assembly apparatus.
And step S30, when the machining tool is not matched with the target machining tool, controlling the intelligent flexible assembly device to execute a machining tool switching action.
In this embodiment, after determining the target machining tool once, it is necessary to determine the currently installed machining tool of the intelligent flexible assembling apparatus, and determine whether the current machining operation to be performed matches the currently installed machining tool of the intelligent flexible assembling apparatus, that is, determine whether the currently installed machining tool can perform the current machining operation to be performed. When the machining tool is not matched with the target machining tool, the intelligent flexible assembly is controlled to execute a machining tool switching action, the currently installed machining tool is switched to a machining tool for executing the machining operation to be executed currently, and after the machining tool switching action is executed, the intelligent flexible assembly device is controlled to execute the corresponding machining operation based on the switched machining tool to machine the target product.
In the technical scheme disclosed in the embodiment, determining a processing operation to be executed by the intelligent flexible assembly device; determining a target machining tool corresponding to the machining operation and a currently installed machining tool of the intelligent flexible assembly device; and when the processing tool is not matched with the target processing tool, controlling the intelligent flexible assembly device to execute the processing tool switching action. The processing operation to be executed is determined, the target processing tool corresponding to the processing operation and the processing tool which is installed at present by the intelligent flexible assembly device are matched, when the current processing tool is not matched with the target processing tool, the intelligent flexible assembly device automatically executes the processing tool switching action so as to switch to the target processing tool, so that the processing operation to be executed is conveniently executed, the execution action and the processing tool do not need to be configured in advance, and the product production efficiency can be improved.
Further, the step of determining a machining operation to be performed by the intelligent flexible assembling device includes:
determining non-execution processing operation corresponding to a target product in an operation area of the intelligent flexible assembly device;
determining an executable operational combination of the intelligent flexible assembly device in the unexecuted machining operation;
and determining the machining operation according to the corresponding execution time of the executable operation combination.
The intelligent flexible assembly device has a certain operation area, and the target product needs to be processed by the intelligent flexible assembly device in the operation area of the intelligent flexible assembly device. In the production process of the target product, a plurality of processing operations are corresponding, and the plurality of processing operations can be sequential or non-sequential. Before the target product enters the operation area, some or all of the processing operations may be performed by other assembly devices, or the processing operations may not be performed yet, the intelligent flexible assembly device needs to determine the non-performed processing operation corresponding to the target product in the operation area, and an executable operation combination of a plurality of intelligent flexible assembly devices is determined from the non-performed processing operations, wherein the executable operation combination comprises the processing operations that at least one intelligent flexible assembly device can perform on the target product. Specifically, determining the processing function of the intelligent flexible assembly device, finding executable processing operations of the intelligent flexible assembly device according to unexecuted processing operations corresponding to a target product, arranging and combining the executable processing operations of the intelligent flexible assembly device to obtain a plurality of executable operation combinations, calculating the execution time of each executable operation combination due to the fact that the intelligent flexible assembly device has limited operation time and the like on the target product, determining the target executable operation combination according to the corresponding execution time of each executable operation combination, and determining the processing operation to be executed of the intelligent flexible assembly device according to the processing operation in the target executable operation combination.
In this way, through the non-executed processing operation corresponding to the target product in the operation area, the executable operation combination of the intelligent flexible assembly device is determined, and the processing operation to be executed, which is favorable for the whole production flow of the target product, can be determined according to the corresponding execution time of the execution operation combination, so that the production efficiency is improved.
Further, the step of determining the processing operation corresponding to the target product in the operation area of the intelligent flexible assembly device includes:
acquiring a panoramic image corresponding to the target product in the operation area;
determining a comparison result between the panoramic image and a target product image corresponding to the target product;
and determining the machining operation based on the comparison result.
The intelligent flexible assembly device can further comprise a camera device or is connected with the camera device, images in an operation area corresponding to the intelligent flexible assembly device are directly acquired or acquired, and whether products to be processed appear in the operation area is detected according to the images in the operation area. When a product to be processed (namely, a target product) appears in the detection area, image data of the periphery and the top of the target product are collected by controlling a camera device arranged on the periphery and the top of the operation area, an operation table of the operation area can be a scanning device which scans upwards, a scanning device positioned at the bottom of the operation area is controlled to acquire the scanning data of the bottom of the target product, a panoramic image corresponding to the target product is constructed based on the image data of the periphery and the top of the target product, the panoramic image can be a three-dimensional image, the panoramic image of the target product is compared with a target product image, the target product image is an effect image obtained after the production of the target product is finished, the structure information and the color information which are actually lacked at present of the target product can be determined by comparing the panoramic image and the target product image with the target product image, the currently lacked structure information and the color information which are lacked can be determined, the executable processing operation of the intelligent flexible assembly device can be determined from the unexecutable processing operation, and all or part of the executable processing operation can be used as the processing operation to be executed by the intelligent flexible assembly device.
Therefore, the completed processing operation of the target product can be accurately determined in real time through the panoramic image, and further the processing operation which is not performed in the process of completing the production of the target product can be determined after the distance between the target product and the target product graph is compared, so that the intelligent flexible assembly device can accurately determine the processing operation which needs to be performed on the target product of the intelligent flexible assembly device based on the intelligent flexible assembly device, the intelligent flexible assembly device is not influenced by other assembly devices, and the production efficiency can be improved.
Further, before the step of determining the machining operation according to the corresponding execution time of the executable operation combination, the method further includes:
determining the operation time of each operation in each executable operation combination;
determining the switching time of the switching machining tool corresponding to the adjacent operation of each executable operation combination;
and determining the execution time according to the operation time and the switching time.
The executable operation combination comprises processing operations of at least one intelligent flexible assembly device, the operation time of each operation in each executable operation combination is determined, and the operation time can be determined according to the historical operation time of the intelligent flexible assembly device for executing the operation. When the executable operation combination includes processing operations of a plurality of intelligent flexible assembling devices, the calculating of the execution time of the executable operation combination also needs to determine the switching time of the switching processing tool corresponding to the adjacent operation, and can also determine according to the historical switching time corresponding to the intelligent flexible assembling devices. If the processing tools corresponding to the adjacent operations are the same, the processing time does not need to be calculated. And finally determining the execution time according to the total of the operation time and the switching time.
When the execution time of the executable operation combination is calculated, the operation time and the switching time are considered at the same time, so that more accurate execution time can be obtained, the determination of the processing operation to be executed is facilitated, and the production efficiency is improved.
Further, the step of determining the machining operation according to the corresponding execution time of the executable operation combination includes:
determining the maximum processing time of the intelligent flexible assembly device on the target product;
and determining the processing operation according to the executable operation combination with the execution time smaller than the maximum processing time.
The intelligent flexible assembly device can execute the processing operation time of the target product, can determine the maximum processing time according to the preset production time of the target product or the residual time of the next target product entering an operation area, and can determine the processing operation according to the executable operation combination of which the execution time is smaller than the maximum processing time. Therefore, the processing operation executed by the intelligent flexible assembly device is limited through the maximum processing time, so that the production flow of other products is not influenced, and the production efficiency is improved.
Further, the step of determining the machining operation from the combination of executable operations having the execution time less than the maximum machining time includes:
determining a number of operations in the combination of executable operations for which the execution time is less than the maximum processing time;
and taking the operation in the executable operation combination with the maximum operation number and the execution time smaller than the maximum processing time as the processing operation to be executed.
The method comprises the steps of selecting executable operation combinations with execution time smaller than the maximum processing time from executable operation combinations, determining the number of operations in the executable operation combinations with the execution time smaller than the maximum processing time, and taking the operations in the executable operation combinations with the largest number of operations and the execution time smaller than the maximum processing time as processing operations to be executed, so that the intelligent flexible assembly device can execute the largest operation steps in the maximum processing time, the target product is more close to the processing completion state, and the production efficiency can be improved.
Optionally, referring to fig. 3, in another embodiment of the smart flexible assembly method according to the present invention, the step of determining a maximum processing time of the smart flexible assembly apparatus for the target product includes:
step S40: determining the residual execution time of a processed product of the last intelligent flexible assembly device corresponding to the intelligent flexible assembly device;
step S50: acquiring the transmission time from the last intelligent flexible assembling device to the intelligent flexible assembling device;
step S60: and determining the maximum processing time according to the transmission time and the execution time corresponding to the processing operation to be executed of the last intelligent flexible assembly device.
In a related aspect, the processing operations that the intelligent flexible assembling device needs to perform at each station are generally set based on the assembling instructions before the production begins, so that the processing operations to be performed by each intelligent flexible assembling device during the production are related to each other. After the previous intelligent flexible assembling device performs the operation, the operation is transmitted to the next intelligent flexible assembling device, and the next intelligent flexible assembling device continues to perform the next operation after the operation in the preset flow. However, if the previous intelligent flexible assembling device does not successfully complete the corresponding processing operation, the processing operation of the next intelligent flexible assembling device is affected, and product processing failure or product accumulation to be processed may be caused, so that the production efficiency is too low.
Based on this, in this embodiment, the intelligent flexible assembly device is a multifunctional processing device of a product production line, and the product production line further includes at least one other intelligent flexible assembly device. Along the transmission direction of production line, each intelligent flexible product carries out processing operation in proper order, processes the product in proper order. And each intelligent flexible assembly device continuously processes the target product on the basis of the processed target product of the intelligent flexible assembly device. Multiple products are continuously produced on the production line. After the intelligent flexible assembly device performs the processing operation to be performed, the processed product is transmitted to the operation area of the next intelligent flexible assembly device, so that the current maximum processing time of the intelligent flexible assembly device is required to be determined according to the processing condition of the last intelligent flexible assembly device corresponding to the intelligent flexible assembly device in order to avoid the phenomenon that the current intelligent flexible assembly device always processes the target product, and the product is accumulated in the transmission area of the intelligent flexible assembly device.
Specifically, whether the intelligent flexible assembly device is the first intelligent flexible assembly device on the production line is firstly determined, if yes, the preset feeding interval time is obtained, the preset feeding interval time is taken as the maximum processing time, if not, the last intelligent flexible assembly device corresponding to the current intelligent flexible assembly device is determined, the remaining time of processing products by the last intelligent flexible assembly device is determined, it is required to determine processing operations to be executed by each intelligent flexible assembly device on the production line before processing the products, the execution time of the processing operations to be executed is calculated in the process of determining the processing operations to be executed, and the steps of determining the processing operations to be executed according to the execution time are specifically referred to. Therefore, the intelligent flexible assembly device can establish communication connection with the last intelligent flexible assembly device, the residual execution time of the last intelligent flexible assembly device for processing the product in the operation area of the intelligent flexible assembly device is obtained, and the residual execution time is equal to the execution time of the processing operation to be executed minus the execution time of the last intelligent flexible assembly device for processing the product. Because the relative position of each intelligent flexible assembly device on the production line is unchanged, the transmission speed between each intelligent flexible assembly device is preset, so that the transmission time between the last intelligent flexible assembly device and the intelligent flexible assembly device is prestored, the transmission time can be directly acquired, and the operation efficiency can be improved. The maximum machining time can then be determined from the sum of the transmission time and the remaining execution time, so that the current intelligent flexible assembly device can complete the machining operation to be performed after the next target product reaches the operating area.
In the technical scheme disclosed by the embodiment, product processing is performed through a plurality of intelligent flexible assembly devices, product production is completed, and the maximum processing time is determined according to the residual execution time and the transmission time of the last intelligent flexible assembly device, so that the current intelligent flexible assembly device can complete processing operation to be performed after the next target product reaches an operation area, product accumulation can be prevented, and the subsequent intelligent flexible assembly device is idle, and the production efficiency is improved.
Further, before the step of determining that the processing operation is not performed corresponding to the target product in the operation area of the intelligent flexible assembly device, the method further includes:
determining whether the serial number of a product being processed by the last intelligent flexible assembly device corresponding to the intelligent flexible assembly device is continuous with the serial number of the target product;
if so, executing the step of determining that the processing operation is not executed corresponding to the target product in the operation area of the intelligent flexible assembly device;
and if the intelligent flexible assembly device is discontinuous, transmitting the target product to the next intelligent flexible assembly device corresponding to the intelligent flexible assembly device.
And (3) continuously producing the products on the production line, numbering the products according to the feeding sequence of the products on the production line, and determining the serial numbers of the products. After detecting a target product in an operation area, the intelligent flexible assembly device determines the serial number of the target product, acquires the serial number of a product processed by the last intelligent flexible assembly device corresponding to the intelligent flexible assembly device, determines whether the two serial numbers are continuous, if not, indicates that other products exist between the intelligent flexible assembly device and the last intelligent flexible assembly device, and the intelligent flexible assembly device does not execute processing operation on the target product and transmits the target product to the next intelligent flexible assembly device; if the intelligent flexible assembly device is continuous, the condition that no other products exist between the intelligent flexible assembly device and the last intelligent flexible assembly device and the products are not piled up is indicated, and then the processing operation is carried out on the target product based on the intelligent flexible assembly device.
For a better understanding, referring to fig. 4, fig. 4 is a production line of the rocker device, including an intelligent flexible mounting device a, an intelligent flexible mounting device B, and an intelligent flexible mounting device C. The hatched areas in the figure represent the corresponding operating areas of the respective intelligent flexible mounting apparatuses. Taking B as an example, after B detects the product 3, determining that the serial number of the product 1 being processed in the current operation area of a is 1, sending the product 3 to the product C, then entering the operation area corresponding to B by the product 2, detecting that the serial numbers of the product 2 and the product 1 are continuous, and selecting to process the product 2. After the product 3 enters the operation area corresponding to the C, the serial numbers of the product 3 and the product 2 are detected to be continuous, and the C can process the product 3, so that the A, B, C three intelligent flexible assembly devices are fully utilized.
When determining that the product 2 is processed, on one hand, the operation platform of each intelligent flexible assembling device can be a scanning platform of a scanning device scanning upwards, and a panoramic image of the product 2 is obtained through a multi-azimuth image capturing device and the scanning device, so that the non-executed flow of the product 2 is determined according to the panoramic image, B, c, d, e, g, and then the processing function of the product B can be executed c, B, d, f, wherein B can perform executable processing operations on the product 2 and comprises B, c and d, and a plurality of executable operation combinations are determined by B, c and d: [b] the method comprises the steps of carrying out a first treatment on the surface of the [c] The method comprises the steps of carrying out a first treatment on the surface of the [d] The method comprises the steps of carrying out a first treatment on the surface of the [ b, c ]; [ b, d ]; [ B, c, d ] and according to the operation time corresponding to each machining operation and the switching time of the machining tool between each machining operation, the execution time corresponding to each executable operation combination of B execution can be determined, since A has already executed the above steps when machining the determined product 1 and determines the execution time required for the machining operation executed on the product 1, and in combination with the executed time, the remaining execution time corresponding to the execution of A also required for the machining operation on the product 1 can be determined. The transmission time required by A to B can be determined according to the distance between A and B and the transmission speed, the sum of the residual execution time and the transmission time is the time of the next product 1 after the product 2 is received by B, the time is taken as the maximum processing time, and the executable operation combination with the execution time less than or equal to the maximum processing time is selected from the executable operation combinations according to the maximum processing time, and the executable operation combinations are respectively [ c ]; [d] the method comprises the steps of carrying out a first treatment on the surface of the [ b, d ]; wherein the number of operations in [ B, d ] is the largest, and the determination that B, d is B is the processing operation to be performed requires that B, d be performed on the product 2. And b, d are sequentially executed, before b is executed, whether the currently installed machining tool is matched with b is determined, if the currently installed machining tool is not matched with b, a machining tool switching action is executed, the currently installed machining tool is switched to the machining tool corresponding to b, and if the currently installed machining tool is matched with b, b is directly executed. After b is executed, determining whether the currently installed machining tool (the machining tool corresponding to b) is matched with d, if not, executing a machining tool switching action, switching the currently installed machining tool to the machining tool corresponding to b, and if so, directly executing d. Therefore, products can be prevented from being piled up, and the intelligent flexible assembly device is idle afterwards, so that the production efficiency is improved.
Optionally, before the production line starts to work, receiving current order information of the production line, acquiring product information of a product to be processed according to the order information, including processing operations, processing time corresponding to each processing operation, processing notes and the like, and determining the feeding speed of the production line according to the product information. Optionally, the product stacking warning information can be sent to the main control of the production line under the condition that the serial number of the product processed by the last intelligent flexible assembly device corresponding to the intelligent flexible assembly device and the serial number of the target product are not continuous, and the main control reduces the current feeding speed when receiving the product stacking warning information. The product is fed at a proper speed, the product is not accumulated or the intelligent flexible assembly device is idle, and the production efficiency can be improved.
In addition, the embodiment of the invention also provides an intelligent flexible assembly device, which comprises a memory, a processor and an intelligent flexible assembly program stored on the memory and capable of running on the processor, wherein the intelligent flexible assembly program realizes the steps of the intelligent flexible assembly method in each embodiment when being executed by the processor.
In addition, the embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores an intelligent flexible assembly program, and the intelligent flexible assembly program realizes the steps of the intelligent flexible assembly method in each embodiment when being executed by a processor.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing the intelligent flexible assembly apparatus to perform the method according to the various embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. An intelligent flexible assembly method, which is characterized by being applied to an intelligent flexible assembly device, comprises the following steps:
determining a machining operation to be performed by the intelligent flexible assembly device;
determining a target machining tool corresponding to the machining operation and a currently installed machining tool of the intelligent flexible assembly device;
and when the processing tool is not matched with the target processing tool, controlling the intelligent flexible assembly device to execute the processing tool switching action.
2. The intelligent flexible assembly method of claim 1, wherein the step of determining a machining operation to be performed by the intelligent flexible assembly device comprises:
determining non-execution processing operation corresponding to a target product in an operation area of the intelligent flexible assembly device;
determining an executable operational combination of the intelligent flexible assembly device in the unexecuted machining operation;
and determining the machining operation according to the corresponding execution time of the executable operation combination.
3. The intelligent flexible assembly method according to claim 2, wherein the step of determining the machining operation corresponding to the target product in the operation area of the intelligent flexible assembly device comprises:
acquiring a panoramic image corresponding to the target product in the operation area;
determining a comparison result between the panoramic image and a target product image corresponding to the target product;
and determining the machining operation based on the comparison result.
4. The intelligent flexible assembly method according to claim 2, wherein before the step of determining the machining operation according to the corresponding execution time of the executable operation combination, further comprising:
determining the operation time of each operation in each executable operation combination;
determining the switching time of the switching machining tool corresponding to the adjacent operation of each executable operation combination;
and determining the execution time according to the operation time and the switching time.
5. The intelligent flexible assembly method of claim 4, wherein the step of determining the machining operation based on the corresponding execution time of the executable operation combination comprises:
determining the maximum processing time of the intelligent flexible assembly device on the target product;
and determining the processing operation according to the executable operation combination with the execution time smaller than the maximum processing time.
6. The intelligent flexible assembly method of claim 5, wherein said step of determining said machining operation from a combination of executable operations having said execution time less than said maximum machining time comprises:
determining a number of operations in the combination of executable operations for which the execution time is less than the maximum processing time;
and taking the operation in the executable operation combination with the maximum operation number and the execution time smaller than the maximum processing time as the processing operation to be executed.
7. The intelligent flexible assembly method according to claim 5, wherein the step of determining a maximum processing time of the intelligent flexible assembly device for the target product comprises:
determining the residual execution time of a processed product of the last intelligent flexible assembly device corresponding to the intelligent flexible assembly device;
acquiring the transmission time from the last intelligent flexible assembling device to the intelligent flexible assembling device;
and determining the maximum processing time according to the transmission time and the residual execution time.
8. The intelligent flexible assembling method according to any one of claims 2 to 7, wherein before the step of determining that the processing operation is not performed for the target product in the operation area of the intelligent flexible assembling apparatus, the method further comprises:
determining whether the serial number of a product being processed by the last intelligent flexible assembly device corresponding to the intelligent flexible assembly device is continuous with the serial number of the target product;
if so, executing the step of determining that the processing operation is not executed corresponding to the target product in the operation area of the intelligent flexible assembly device;
and if the intelligent flexible assembly device is discontinuous, transmitting the target product to the next intelligent flexible assembly device corresponding to the intelligent flexible assembly device.
9. An intelligent flexible assembly device, characterized in that the intelligent flexible assembly device comprises: memory, a processor and an intelligent flexible assembly program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the intelligent flexible assembly method of any one of claims 1 to 8.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon an intelligent flexible assembling program, which when executed by a processor, implements the steps of the intelligent flexible assembling method according to any of claims 1 to 8.
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