CN110170420B

CN110170420B - Automatic production line and assembly control method of controller

Info

Publication number: CN110170420B
Application number: CN201910500159.2A
Authority: CN
Inventors: 王克坚; 杨志刚
Original assignee: CH Auto Technology Co Ltd
Current assignee: CH Auto Technology Co Ltd
Priority date: 2019-06-11
Filing date: 2019-06-11
Publication date: 2020-11-20
Anticipated expiration: 2039-06-11
Also published as: CN110170420A

Abstract

The invention discloses an automatic production line and an assembly control method of a controller. The controller includes first casing, second casing and PCB board, automation line includes: tray, production line track, point glue system, nailing system, flip device and robotic arm. Therefore, the automatic production line and the assembly control method of the controller can support the assembly elements of the controller to automatically switch between the dispensing station and the nailing station based on the bearing of the tray, and can utilize the dispensing system and the nailing system supplemented with the mechanical arm and the cover turning mechanism to complete the dispensing and screwing operation, so that the processing efficiency can be improved and the labor cost can be saved compared with manual operation; meanwhile, due to the arrangement of the two layers of production line tracks respectively bearing the trays, the assembly processes can be carried out in a staggered mode, and the assembly efficiency of the automatic production line is further improved.

Description

Automatic production line and assembly control method of controller

Technical Field

The invention relates to an assembly technology of a controller, in particular to an automatic production line and an assembly control method of the controller.

Background

The assembly of the existing controller has the problems of complex operation and strong manual dependence, so that the labor cost is higher; meanwhile, the manual operation efficiency of the dispensing and screwing operation is low, so that the production efficiency is low.

Based on the above requirements, an automatic production line capable of reducing labor cost and improving production efficiency is provided, which is a technical problem to be solved in the prior art.

Disclosure of Invention

The application provides an automatic production line and an assembly control method of a controller, which reduce labor cost and improve production efficiency.

An embodiment of the present application provides an automation line of controller, the controller includes first casing, second casing and PCB board, includes:

a tray having a housing-securing location for carrying the first housing and the second housing;

the production line track comprises two layers which are arranged up and down, each layer of the production line track bears one tray, and the production line track is provided with a power device which drags the tray to move back and forth between a dispensing station and a nailing station;

the dispensing system is arranged at the dispensing station and is used for dispensing the first shell and the second shell which are borne by the tray;

the nailing system is arranged on the nailing station and is used for performing screw joint assembly operation on the first shell loaded on the tray and the PCB and the second shell in sequence;

the cover turning device is close to the nailing station and is used for turning the cover of the second shell after glue dispensing;

and the mechanical arm is close to the nailing station, and the mechanical arm is used for the PCB to bear the tray, the assembly positioning operation of the first shell and the assembly positioning operation of the controller are completed by the PCB, the second shell is assembled with the PCB after the turnover cover is opened, and the assembly positioning operation of the first shell and the assembly are completed.

Optionally, the automatic production line further comprises a casing fixture, and the casing fixture is fixed to the casing fixing position.

Optionally, the dispensing station is arranged close to a feeding and discharging station, and the tray is located when the dispensing station has a telescopic degree of freedom that the dispensing station and the feeding and discharging station move between, and when the nailing station has a telescopic degree of freedom that the nailing station and the mechanical arm take and place a position between move between.

Optionally, manual material loading space and unloading deflector are arranged to the unloading station.

Optionally, the dispensing system includes:

the dispensing head comprises a heat-conducting glue dispensing head used for dispensing the first shell, a first sealant dispensing head and a second sealant dispensing head used for dispensing the second shell;

the dispensing barrel comprises a heat-conducting glue barrel communicated with the heat-conducting glue dispensing head, a first sealing glue barrel communicated with the first sealing glue dispensing head and a second sealing glue barrel communicated with the second sealing glue dispensing head;

and the pressurizing device provides pressure for the dispensing barrel to promote the dispensing head to discharge the glue.

Optionally, the flip device includes:

the lifting support is fixed on the ground;

one end of the overturning bearing is fixed on the lifting support and has up-and-down moving freedom degree vertical to the bottom surface under the driving of the lifting support;

and one end of the shell claw is fixed on the overturning bearing, one end of the shell claw is provided with a gripper used for gripping the second shell, and the shell claw is driven by the overturning bearing to have overturning freedom degree in a plane parallel to the nailing region track.

Optionally, the automatic production line further includes 2 cameras respectively installed near the second sealing dispensing head and the robot arm.

Optionally, the automation line further includes an industrial personal computer, and the industrial personal computer stores a visual program for controlling the camera and a control program for controlling the robot arm.

Another embodiment of the present application provides an assembly control method of a controller including a first housing, a second housing, and a PCB board, the assembly control method including:

step 1: starting a dispensing system to perform dispensing operation on the first shell and the second shell which are borne by the tray at a dispensing station;

step 2: after the dispensing operation is finished, driving a production line rail to drag the tray to move from the dispensing station to the nailing station;

and step 3: after the tray reaches the nailing station, driving a mechanical arm to perform assembling and positioning operations of the PCB to the first shell carried by the tray and driving the flip device to pick up the workpiece from the second shell carried by the tray;

and 4, step 4: driving a nailing system to carry out screw joint assembly operation on the first shell and the PCB which are borne by the tray, and driving a flip device to carry out flip operation on the second shell;

and 5: driving the mechanical arm to perform assembling and positioning operation of the second shell after the cover is turned to the first shell which is in threaded connection with the PCB;

step 6: driving a nailing system to perform a screw-joint assembling operation of the first housing and the second housing, on which the PCB is assembled, to assemble to form the controller;

and 7: and driving the mechanical arm to execute the taking-out operation of the assembled controller.

Alternatively,

step 3, before driving the mechanical arm to perform the assembling and positioning operation, further comprises: driving the tray to move the first shell from the nailing station to a pick-and-place position of the mechanical arm by utilizing the telescopic freedom degree of the tray;

step 4 further includes, before driving the screwing assembly operation performed by the nailing system: the tray is driven to move the first shell which is assembled and positioned with the PCB from the picking and placing position of the mechanical arm to the nailing station by utilizing the telescopic freedom degree;

step 5, before driving the mechanical arm to perform the assembling and positioning operation, further comprises: driving the tray to move the first shell completing the screwing assembly operation of the PCB from the nailing station to a pick-and-place position of the mechanical arm by utilizing the telescopic freedom degree;

step 6 further comprises, before driving the nailing system to perform the screwing fitting operation: and driving the tray to move the first shell which finishes the assembling and positioning operation with the second shell to the nailing station from the picking and placing position of the mechanical arm by utilizing the telescopic freedom degree.

Therefore, based on the automatic production line and the assembly control method of the controller provided by the embodiment, the assembly elements of the controller can be supported to automatically switch between the dispensing station and the nailing station based on the bearing of the tray, and the dispensing system and the nailing system supplemented with the mechanical arm and the cover turning mechanism can be utilized to complete the dispensing and screwing operation, so that the processing efficiency can be improved and the labor cost can be saved compared with manual operation; meanwhile, due to the arrangement of the two layers of production line tracks respectively bearing the trays, the assembly processes can be carried out in a staggered mode, and the assembly efficiency of the automatic production line is further improved.

Drawings

The following drawings are only schematic illustrations and explanations of the present invention, and do not limit the scope of the present invention.

FIG. 1 is a schematic view of an automated production line for a controller according to an embodiment of the present invention;

FIG. 2 is a schematic view of the tray of the automated manufacturing line of FIG. 1 in a loading/unloading station according to the present invention;

FIG. 3 is a schematic view of the tray of the automated manufacturing line of FIG. 1 in a pick-and-place position of the robot arm according to the present invention;

FIG. 4 is a flow chart of a method of controlling the assembly of a controller in accordance with another embodiment of the present invention;

FIG. 5 is a schematic diagram illustrating the effect of step S110 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1;

FIG. 6 is a schematic diagram illustrating the effect of step S120 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1;

FIG. 7 is a schematic diagram illustrating the effect of step S170 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1;

FIG. 8 is a schematic diagram illustrating the effect of step S130 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1;

FIG. 9 is a schematic diagram illustrating the effect of step S140 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1;

FIG. 10 is a schematic diagram illustrating the effect of step S150 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1;

FIG. 11 is a schematic diagram illustrating the effect of step S160 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1;

fig. 12 is a schematic view of the tray moving from the dispensing station to the manual loading and unloading station with telescopic freedom according to another embodiment of the present invention.

Description of the reference symbols

110. 110' tray

111 shell fixing position

112 casing jig

120 production line track

121 power device

130 adhesive dispensing system

131 first sealant dispensing head

132 second sealant dispensing head

133 heat-conducting glue dispensing head

134 first sealant barrel

135 second sealant barrel

136 heat-conducting glue barrel

140 nailing system

141 nail feeder

142 nail batch

150 flip device

151 lifting support

152 tilt bearing

153 casing claw

160 mechanical arm

170 protective cover

180. 180' camera

210 PCB board

220 first shell

230 second casing

310 glue dispensing station

320 nailing station

330 pick-and-place position of mechanical arm

340 loading and unloading station

341 manual feeding space

342 blanking leading-out plate

Detailed Description

In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings, in which like reference numerals refer to like parts throughout.

"exemplary" means "serving as an example, instance, or illustration" herein, and any illustration, embodiment, or steps described as "exemplary" herein should not be construed as a preferred or advantageous alternative.

For the sake of simplicity, the drawings are only schematic representations of the parts relevant to the invention, and do not represent the actual structure of the product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled.

In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, the premise that each other exists, and the like.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples.

FIG. 1 is a schematic view of an automated production line for a controller according to an embodiment of the present invention; FIG. 2 is a schematic view of the tray of the automated manufacturing line of FIG. 1 in a loading/unloading station according to the present invention; fig. 3 is a schematic view of the tray of the automatic production line shown in fig. 1 in a pick-and-place position of the robot arm according to the present invention.

Referring to fig. 1, in one embodiment, the controller includes a first housing 220, a second housing 230 and a PCB 210, and an automatic production line of the controller includes: tray 110, production line rail 120, dispensing system 130, nailing system 140, flip device 150 and robot 160.

Wherein, the tray 110 has a housing fixing position 111 for carrying the first housing 220 and the second housing 230; the production line rail 120 comprises two layers arranged up and down, each production line rail 120 carries one tray 110, and the production line rail 120 is provided with a power device 121 for dragging the tray 110 to move back and forth between the dispensing station 310 and the nailing station 320; the dispensing system 130 is installed at the dispensing station 310, and the dispensing system 130 is used for dispensing the first housing 220 and the second housing 230 carried by the tray 110; the nailing system 140 is installed at the nailing station 320, and the nailing system 140 is used for performing bolt joint assembly operation on the first shell 220 carried by the tray 110 and the PCB 210 and the second shell 230 in sequence; the flip device 150 is close to the nailing station 320, and the flip device 150 is used for flip operation of the dispensed second shell 230; the robot arm 160 is close to the nailing station 320, and the robot arm 160 is used for the assembling positioning operation of the PCB 210 to the first housing 220 carried by the tray 110, the assembling positioning operation of the second housing 230 after the lid is turned to the first housing 220 which is screw-assembled with the PCB 210, and the taking-out operation of the assembled controller.

In the actual production process, the two trays 110 are dragged by the two production line rails 120, and the processes are performed in a staggered manner, so that the waiting time of equipment among different processes is reduced, and the production efficiency is improved. Also, the present application does not exclude other embodiments of the multi-layer production line track.

Referring to fig. 2, in order to realize the fast loading of the housing, the automatic production line further includes a housing fixture 112, and the housing fixture 112 is fixed to the housing fixing position 111.

Referring to fig. 3 in combination with fig. 2, in order to reduce the probability of the worker contacting the chemicals and the mechanical tools and the safety risk, the dispensing station 310 is disposed close to the loading/unloading station 340, and the tray 110 has a flexible freedom degree to move between the dispensing station 310 and the loading/unloading station 340 when being located at the dispensing station 310, and a flexible freedom degree to move between the nailing station 320 and the pick-and-place position 330 of the robot arm when being located at the nailing station 320.

In order to facilitate the loading and unloading operation of workers, the loading and unloading station 340 is provided with a manual loading space 341 and a unloading guide plate 342.

Referring again to fig. 1, the dispensing system 130 includes: dispensing head, a dispensing barrel and a pressure device.

The dispensing head comprises a heat-conducting glue dispensing head 133 for dispensing the first shell 220, a first sealant dispensing head 131 and a second sealant dispensing head 132 for dispensing the second shell 230; the dispensing barrel comprises a heat-conducting glue barrel 136 communicated with the heat-conducting glue dispensing head 133, a first sealant barrel 134 communicated with the first sealant dispensing head 131, and a second sealant barrel 135 communicated with the second sealant dispensing head 132; the pressurizing device provides pressure for the dispensing barrel to promote the dispensing head to discharge glue.

Before actual production, pressure device can be external pressure device or with this application in a little gluey bucket complex pressure bottle, adjust the sealant bucket pressure and be 0.6MPa, the heat-conducting glue bucket pressure is 0.5MPa to three dispensing heads of clearance.

The nailing system 140 includes a nail feeder 141 and a nail batch 142. Before actual production, whether the residual material in the nail feeder is sufficient, whether the nail feeder is started and whether a screw is in a nail feeding pipeline (one screw is normally stored in each of two pipelines) are checked.

In order to implement the grasping and turning operation of the second housing 230 by the flip device 150, the flip device 150 includes: a lifting bracket 151, a tilt bearing 152, and a housing claw 153.

Wherein, the lifting bracket 151 is fixed on the ground; one end of the turning bearing 152 is fixed to the lifting bracket 151, and has a vertical moving degree of freedom perpendicular to the bottom surface under the driving of the lifting bracket 151; the housing claw 153 is fixed to the reverse bearing 152 at one end, has a grip at one end for gripping the second housing 230, and has a turning degree of freedom in a plane parallel to the nailing region trajectory by the reverse bearing 152.

To improve the safety of the automatic production line, the automatic production line further includes a protective cover 170 for enclosing the production line rail 120, the dispensing system 130 and the nailing system 140 are mounted on the top, and the protective cover 170 is set back to the opening of the telescopic degree of freedom of the tray 110 when it is located at the nailing station 320 and the dispensing station 310.

In order to improve the processing precision and consistency of the product and the stability of the product quality, the automatic production line further includes 2 cameras 180 and 180' respectively installed near the second dispensing head 132 and the robot 160. The quality control using the vision monitoring system mainly includes: whether the bar codes on the PCB 210 are the same or not is judged, the second housing 230 is positioned and corrected, and whether the dispensed workpiece is broken or not is judged.

In order to improve the automation level of the automation line, the automation line further includes an industrial personal computer storing a vision program for controlling the cameras 180, 180' and a control program for controlling the robot arm 160.

FIG. 4 is a flow chart of a method of controlling the assembly of a controller in accordance with another embodiment of the present invention; FIG. 5 is a schematic diagram illustrating the effect of step S110 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1; FIG. 6 is a schematic diagram illustrating the effect of step S120 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1; FIG. 7 is a schematic diagram illustrating the effect of step S170 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1; FIG. 8 is a schematic diagram illustrating the effect of step S130 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1; FIG. 9 is a schematic diagram illustrating the effect of step S140 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1; FIG. 10 is a schematic diagram illustrating the effect of step S150 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1; FIG. 11 is a schematic diagram illustrating the effect of step S160 in the assembly control method shown in FIG. 4 on the automatic production line shown in FIG. 1; fig. 12 is a schematic view of the tray moving from the dispensing station to the manual loading and unloading station with telescopic freedom according to another embodiment of the present invention.

Referring to fig. 4, in another embodiment of the present application, a method for controlling assembly of a controller, the controller includes a first housing 220, a second housing 230, and a PCB 210, and the method for controlling assembly includes:

s110: the dispenser system is activated to dispense the first and

second housings

220, 230 carried by the tray 110 at the dispensing station 310. For the automated production line shown in fig. 1, the implementation effect of this step can be referred to fig. 5. It will be appreciated that the first and

second housings

220, 230 may be manually placed on the tray 110 prior to activation of the dispensing system.

S120: after the dispensing operation is completed, the production line rail 120 is driven to drag the tray 110 to move from the dispensing station 310 to the nailing station 320. For the automated production line shown in fig. 1, the implementation effect of this step can refer to fig. 6.

S130: after the tray 110 reaches the nailing station 320, the driving robot 160 performs an assembling positioning operation of the PCB board 210 to the first housing 220 carried by the tray 110 and a pickup operation of the flip device 150 to the second housing 230 carried by the tray 110. For the automated production line shown in fig. 1, the implementation effect of this step can be referred to fig. 8.

Further, referring to fig. 8, S130 may further drive the tray 110 to move the first housing 220 from the nailing station 320 to the pick-and-place position 330 of the robot arm by using the telescopic degree of freedom thereof before driving the robot arm 160 to perform the assembly positioning operation.

S140: the nailing system 140 is driven to perform a screwing assembly operation of the first housing 220 carried by the tray 110 with the PCB board 210, and the flip device 150 is driven to perform a flip operation on the second housing. For the automated production line shown in fig. 1, the implementation effect of this step can be referred to fig. 9.

Also, referring to fig. 9, S140 may further drive the tray 110 to move the first housing 220, which has completed the assembly positioning operation with the PCB 210, from the pick-and-place position 330 of the robot arm to the nailing station 320 using the telescopic degree of freedom before driving the screwing assembly operation performed by the nailing system 140.

S150: the driving robot 160 performs an assembling positioning operation of the second housing 230 after the flip cover to the first housing 220 which is screw-assembled with the PCB 210. For the automated production line shown in fig. 1, reference is made to fig. 10 for the effect of this step.

Also, referring to fig. 10, S150 may further drive the tray 110 to move the first housing 220, which completes the screwing assembly operation of the PCB 210, from the nailing station 320 to the pick-and-place position 330 of the robot arm with the telescopic degree of freedom before driving the robot arm 160 to perform the assembly positioning operation.

S160: the driving nailing system 140 performs a screw-fitting assembly operation of the first housing 220 and the second housing 230, to which the PCB 210 is assembled, to assemble the forming controller. For the automated production line shown in fig. 1, the implementation effect of this step can be referred to fig. 11.

S170: the robot arm 160 is driven to perform the removal operation of the assembled controller as shown in fig. 7.

Also, referring to fig. 11, S160 may further drive the tray 110 to move the first housing 220, which has completed the assembly positioning operation with the second housing 230, from the pick-and-place position 330 of the robot arm to the nailing station 320 using the telescopic degree of freedom before driving the nailing system 140 to perform the screw assembly operation.

In addition, referring to fig. 12, before performing step 1, the method further includes: the tray 110 moves from the dispensing station 310 to the manual feeding space 340 by using the degree of freedom of expansion and contraction thereof, and moves the first housing 220 and the second housing 230, which are loaded on the tray 110 in the manual feeding manner, from the manual feeding space to the dispensing station 310 by using the degree of freedom of expansion and contraction.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention and is not intended to limit the scope of the present invention, and equivalent embodiments or modifications such as combinations, divisions or repetitions of the features without departing from the technical spirit of the present invention are included in the scope of the present invention.

Claims

1. The utility model provides an automation line of controller, the controller includes first casing, second casing and PCB board, its characterized in that includes:

the mechanical arm is close to the nailing station and is used for assembling and positioning the PCB to the first shell carried by the tray, assembling and positioning the second shell after the cover is turned to the first shell which is in threaded connection with the PCB, and taking out the controller after the assembly is finished;

wherein, the glue station is arranged to be close to the unloading station of going up, and, the tray is located have during the glue station with go up the flexible degree of freedom that moves between the unloading station, be located during the nailing station have the nailing station with robotic arm get the flexible degree of freedom that moves between the position.

2. The automated manufacturing line of claim 1, further comprising a housing fixture fixed to said housing fixture.

3. The automated production line of claim 1, wherein the loading and unloading station is arranged with a manual loading space and an unloading lead-out plate.

4. The automated manufacturing line of claim 1, wherein said dispensing system comprises:

5. The automated production line of claim 1, wherein the flip device comprises:

the lifting support is fixed on the ground;

6. The automated manufacturing line of claim 4, further comprising 2 cameras mounted adjacent to said second sealant dispensing head and said robot arm, respectively.

7. The automated production line of claim 6, further comprising an industrial personal computer storing a vision program for controlling the camera and a control program for controlling the robotic arm.

8. An assembly control method of a controller, characterized in that the assembly control method is based on an automated production line according to any one of claims 1 to 7 and comprises:

step 2: after the dispensing operation is completed, the production line is driven to drive the track to drag the tray to move to the nailing station from the dispensing station:

and step 3: driving the tray to move the first shell from the nailing station to a pick-and-place position of the mechanical arm by utilizing the telescopic freedom degree of the tray;

and 4, step 4: after the tray reaches the nailing station, driving a mechanical arm to perform assembling and positioning operations of the PCB to the first shell carried by the tray and driving the flip device to pick up the workpiece from the second shell carried by the tray;

and 5: the tray is driven to move the first shell which is assembled and positioned with the PCB from the picking and placing position of the mechanical arm to the nailing station by utilizing the telescopic freedom degree;

step 6: driving a nailing system to carry out screw joint assembly operation on the first shell and the PCB which are borne by the tray, and driving a flip device to carry out flip operation on the second shell;

and 7: driving the tray to move the first shell completing the screwing assembly operation of the PCB from the nailing station to a pick-and-place position of the mechanical arm by utilizing the telescopic freedom degree;

and 8: driving the mechanical arm to perform assembling and positioning operation of the second shell after the cover is turned to the first shell which is in threaded connection with the PCB;

and step 9: driving the tray to move the first shell which finishes the assembling and positioning operation with the second shell from the picking and placing position of the mechanical arm to the nailing station by utilizing the telescopic freedom degree;

step 10: driving a nailing system to perform a screw-joint assembling operation of the first housing and the second housing, on which the PCB is assembled, to assemble to form the controller;

step 11: and driving the mechanical arm to execute the taking-out operation of the assembled controller.