CN111515673A - Electromechanical equipment assembling system based on man-machine cooperation and assembling method thereof - Google Patents
Electromechanical equipment assembling system based on man-machine cooperation and assembling method thereof Download PDFInfo
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- CN111515673A CN111515673A CN202010342922.6A CN202010342922A CN111515673A CN 111515673 A CN111515673 A CN 111515673A CN 202010342922 A CN202010342922 A CN 202010342922A CN 111515673 A CN111515673 A CN 111515673A
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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
- B23P21/004—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 the units passing two or more work-stations whilst being composed
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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
- B23P19/001—Article feeders for assembling machines
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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
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention relates to the technical field of electromechanical equipment, in particular to an electromechanical equipment assembling system based on man-machine cooperation and an assembling method thereof. The assembling system comprises at least one machine table, a plurality of assembling stations and a plurality of unloading stations, wherein each assembling station is provided with a manual assembling station, a feeding station and a discharging station; the feeding and discharging platform is arranged on the machine table and can move on the machine table so as to switch between a feeding station and a discharging station; the multi-dimensional assembly platform is arranged on the machine table and can rotate relative to the machine table; the three-dimensional warehouse is arranged at the other end of the machine table relative to the manual assembly station; the in-line transfer robot is arranged between the three-dimensional warehouse and the machine platform; the robot cooperation robot is arranged on one side of the machine table and close to the human tooling assembly station, and can convey the cabin on the feeding and discharging platform to the multidimensional assembly platform. The invention also provides an assembling method. The invention has the advantages that: the assembly efficiency is high and the assembly quality is good.
Description
Technical Field
The invention relates to the technical field of electromechanical equipment, in particular to an electromechanical equipment assembling system based on man-machine cooperation and an assembling method thereof.
Background
The complex electromechanical product is a complex system formed by combining a mechanical structure, electrical equipment, a control device, a detection device and other organic machines, is a complex system formed by combining various physical processes of mechanical, electrical, liquid, control, optical, magnetic and the like on the same carrier, and relates to a product with multiple disciplines, multiple fields, multiple factors and complex functions.
The complex electromechanical product not only comprises parts of a cabin body and a frame, but also comprises a plurality of cables which are used as main modes for transmitting signals or energy, and the quality of the assembly quality directly influences the performance of the electromechanical product; the assembly of the existing complex electromechanical products adopts a full intelligent assembly system. However, since the complex electromechanical products have narrow space and numerous cables, if the complex electromechanical products are assembled by the current intelligent assembly system, not only an assembly robot with higher installation precision is required, but also a more complex control program needs to be designed for the complex electromechanical products, and huge cost is consumed; meanwhile, the flexible cable cannot be deformed, such as bending and twisting, and the cable cannot transmit signals.
Disclosure of Invention
In view of the above, it is desirable to provide an electromechanical device assembling system based on human-machine cooperation and an assembling method thereof, which can reduce cost and ensure assembling quality.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
an electromechanical equipment assembling system based on man-machine cooperation is used for assembling electromechanical equipment, and the electromechanical equipment at least comprises a cabin body and a framework body; the assembly system includes:
the automatic feeding device comprises at least one machine table, a feeding device and a discharging device, wherein the machine table is provided with a manual assembly station, a feeding station and a discharging station, the manual assembly station is arranged close to one end of the machine table, and an operator is positioned at the manual assembly station;
the loading and unloading platform is arranged on the machine table and used for bearing the frame body or the cabin body, and the loading and unloading platform can move on the machine table so as to enable the loading and unloading platform to be switched between the loading station and the unloading station;
the multi-dimensional assembly platform is arranged on the machine table and used for positioning the cabin body, and the multi-dimensional assembly platform can rotate relative to the machine table;
the three-dimensional warehouse is arranged at the other end of the machine table relative to the manual assembly station and is used for accommodating the cabin body, the frame body or the electromechanical equipment;
the in-line transfer robot is arranged between the three-dimensional warehouse and the machine table and used for respectively transferring the cabin body and the frame body in the three-dimensional warehouse to the multi-dimensional assembly platform and the loading and unloading platform; and
and the man-machine cooperation robot is arranged on one side of the machine table and is close to the manual assembly station, and the man-machine cooperation robot can convey the cabin on the loading and unloading platform to the multidimensional assembly platform.
The in-line conveying robot, the man-machine cooperation robot, the loading and unloading platform and the multi-dimensional assembly platform are arranged, and the assembly actions of warehousing, cable connection, standard part fastening and the like of complex electromechanical products are completed by matching with operators; the automatic robot replaces the manual work to carry out dangerous and tired assembly and carrying work; and the assembly work which is difficult to achieve such as manual replacement and complicated cable connection operation is effectively carried out, so that the assembly efficiency is effectively improved, the assembly quality is ensured, the assembly cost is reduced, and the performance of complicated electromechanical products is ensured.
In one embodiment, the number of the machines is at least 2, two adjacent machines are arranged in parallel, and the human-computer cooperative robot is arranged between the two machines and can serve the two adjacent machines.
It can be understood that the man-machine cooperation machine is arranged on two adjacent machine tables to serve the two adjacent machine tables, so that the production cost is effectively reduced; meanwhile, the whole structure of the system is more compact.
In one embodiment, a safety grating is arranged on the machine table and surrounds one side of the manual assembly station.
It can be understood that through the arrangement of the safety grating, personnel are prevented from approaching the mobile machine, so that casualties are avoided, and the safety of the assembly system is improved; meanwhile, the grating replaces traditional safety protection measures such as guardrails and the like, and the safety level is effectively improved.
In one embodiment, the assembly system further includes a vision recording device, which is installed on the machine table and can record the assembly process of the frame body and/or the cabin.
It will be appreciated that by providing a visual recording device, the assembly process of the frame body and/or the cabin body is recorded at any time and compared with a standard diagram to ensure accuracy in manual/machine assembly.
In one embodiment, the assembly system further includes a visual inspection device, which is installed at one end of the machine platform close to the inline transfer robot, and is used for inspecting the cabin or the frame clamped by the inline transfer robot from the three-dimensional library.
It can be understood that the visual inspection device is arranged to monitor/check whether the materials carried by the in-line transfer robot are complete and ensure that the in-line transfer robot carries the materials accurately.
In one embodiment, the assembly system further comprises a tool cabinet, and the tool cabinet and the human-machine cooperation robot are located on the same side of the machine table.
It can be understood that the tool cabinet can be used for facilitating the system to store common tools such as RFID handheld scanning, screw drivers and the like, so that the system is more convenient to use.
The invention also provides the following technical scheme:
an electromechanical device assembling method based on man-machine cooperation, comprising the following steps:
the in-line transfer robot transfers the cabin from the three-dimensional warehouse to the upper blanking platform;
the multi-dimensional assembly platform moves to a feeding station, the feeding and discharging platform drives the cabin body to move to a discharging station, and the robot-cooperative robot clamps the cabin body to the multi-dimensional assembly platform from the feeding and discharging platform;
the in-line transfer robot transfers the frame body to the upper blanking platform from the three-dimensional library, and the upper blanking platform drives the frame body to move to the manual assembly station;
the multi-dimensional assembly platform rotates to enable the hatch of the cabin body to face the man-machine cooperation robot, the man-machine cooperation robot clamps the frame body to the cabin body, and an operator connects cables between the cabin body and the frame body to form a finished product;
evacuating the cabin body by the human-computer cooperation robot, and clamping the finished product to the upper blanking platform; and
and the feeding and discharging platform moves to a feeding station, and the in-line transfer robot transfers the finished products on the feeding and discharging platform to the three-dimensional warehouse.
It will be appreciated that the above assembly method not only allows automated robots to replace human labor in dangerous, tiring assembly and handling operations; and the assembly work which is difficult to achieve such as manual replacement and complicated cable connection operation is effectively carried out, so that the assembly efficiency is effectively improved, the assembly quality is ensured, the assembly cost is reduced, and the performance of complicated electromechanical products is ensured.
In one embodiment, after the step of evacuating the capsule body by the robot cooperative robot, the assembling method further includes:
the feeding and discharging platform moves to a discharging station, and the in-line transfer robot transfers the residual assembly materials in the three-dimensional warehouse to the feeding and discharging platform; and
the loading and unloading platform moves to a manual assembly station, and an operator assembles the first material to the cabin body.
In one embodiment, the cabin and the frame body are fastened by glued fasteners.
In one embodiment, the steps of "the in-line transfer robot transfers the capsule body from the stereo garage to the upper blanking platform" and/or "the in-line transfer robot transfers the frame body from the stereo garage to the upper blanking platform" include the following steps:
the in-line transfer robot moves to a preset position of the three-dimensional warehouse and clamps the cabin body or the frame body; and
and the in-line transfer robot moves to the visual detection station and detects the cabin or the frame clamped by the in-line transfer robot.
Compared with the prior art, the method has the advantages that the in-line carrying robot, the man-machine cooperation robot, the feeding and discharging platform and the multi-dimensional assembly platform are arranged, and the assembly actions of warehousing, cable connection, standard part fastening and the like of complex electromechanical products are completed by matching with an operator; the automatic robot replaces the manual work to carry out dangerous and tired assembly and carrying work; and the assembly work which is difficult to achieve such as manual replacement and complicated cable connection operation is effectively carried out, so that the assembly efficiency is effectively improved, the assembly quality is ensured, the assembly cost is reduced, and the performance of complicated electromechanical products is ensured.
Drawings
Fig. 1 is a schematic structural diagram of an electromechanical device assembly system based on human-machine cooperation provided by the invention.
Fig. 2 is a schematic structural diagram of a machine according to the present invention.
Fig. 3 is a schematic structural view of an inline transfer robot and a stereo garage according to the present invention.
FIG. 4 is a flow chart of a method for assembling an electromechanical device based on human-machine cooperation according to the present invention.
In the figure, 100, the system is assembled; 101. an electromechanical device; 101a, a cabin; 101b, a frame body; 10. a machine platform; 11. a manual assembly station; 12. a feeding station; 121. a first feeding station; 122. a second feeding station; 13. a blanking station; 131. a first blanking station; 132. a second blanking station; 102. an operator; 103. a tool library; 14. a safety grating; 20. a loading and unloading platform; 30. a multi-dimensional assembly platform; 40. a three-dimensional warehouse; 50. an inline transfer robot; 60. a human-machine cooperative robot; 70. a visual recording device; 80. a visual inspection device; 90. a tool cabinet; 200. a station control terminal; 300. and (4) an assembling method.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.
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. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1-3, the present invention provides a human-machine cooperation based electromechanical device assembly system 100, the assembly system 100 being used to produce/assemble an electromechanical device 101. In this embodiment, the electromechanical device 101 includes at least a cabin 101a and a frame 101 b. It should be noted that the parts to be assembled of the cabin 101a and the frame 101b are referred to as materials.
The electromechanical device 101 is a complex system formed by combining a mechanical structure, an electrical device, a control device, a detection device and other organic devices, is a complex system formed by combining various physical processes such as mechanical, electrical, hydraulic, control, optical, magnetic and the like on the same carrier, and relates to a product with multiple subjects, multiple fields, multiple factors and complex functions. If the purely automatic assembly/assembly is adopted, the assembly actions of material warehousing, cable connection, standard part fastening and the like not only require an assembly robot with higher case schedule, but also require a more complex control program to be designed; if purely manual assembly/assembly is employed, a large amount of labor may be consumed due to the bulkiness of the electromechanical device 101. Therefore, based on the above technical problem, the present invention provides a human-machine cooperation based assembly system 100, in which a human and an automated robot cooperate with each other to form a good/bad complement, so as to jointly complete the assembly of the electromechanical device 101, and maximize the utilization of respective points, so as to improve the assembly efficiency and the assembly quality of the electromechanical device 101.
Specifically, as shown in fig. 1, the assembly system 100 includes a machine station 10, a loading and unloading platform 20, a multidimensional assembly platform 30, a three-dimensional library 40, an in-line transfer robot 50, and a human-machine cooperation robot 60, where the machine station 10 has a manual assembly station 11, a loading station 12, and an unloading station 13, the manual assembly station 11 is disposed near one end of the machine station 10, and an operator is located at the manual assembly station 11. The loading and unloading platform 20 is mounted on the machine table 10 and is used for carrying the frame body 101b or the cabin body 101a, and the loading and unloading platform 20 can move on the machine table 10 to switch the loading and unloading platform 20 between the loading station 12 and the unloading station 13. The multi-dimensional assembly platform 30 is mounted on the machine 10 for positioning the cabin 101a, and the multi-dimensional assembly platform 30 can rotate relative to the machine 10; the three-dimensional warehouse 40 is arranged at the other end of the machine table 10 relative to the manual assembly station 11 and is used for accommodating the cabin 101a, the frame 101b or the electromechanical device 101; the in-line transfer robot 50 is disposed between the stereo garage 40 and the machine 10, and is configured to transfer the cabin 101a and the frame 101b in the stereo garage 40 to the multidimensional assembly platform 30 and the loading/unloading platform 20, respectively, so as to facilitate assembly and other operations. The man-machine cooperation robot 60 is disposed at one side of the machine station 10 and close to the tooling station 11, and the man-machine cooperation robot 60 can transport the capsule body 101a on the loading and unloading platform 20 to the multidimensional assembly platform 30, so as to facilitate assembly of the capsule body 101 a.
It can be understood that the assembly system 100 is provided with the in-line transfer robot 50, the human-machine cooperation robot 60, the loading and unloading platform 20 and the multidimensional assembly platform 30, and is matched with an operator (human) 102 to complete assembly actions such as warehousing, cable connection, standard part fastening and the like of complex electromechanical products; the automatic robot replaces the manual work to carry out dangerous and tired assembly and carrying work; and the assembly work which is difficult to achieve such as manual replacement and complicated cable connection operation is effectively performed, so that the assembly efficiency is effectively improved, the assembly quality is ensured, the assembly cost is reduced, and the performance of the complicated electromechanical product 101 is ensured.
Preferably, the frame body 101b is formed by assembling parts such as an information adapter board, an analog board, a main board, an attitude control board, a power supply, and a signal responding device; meanwhile, the components are assembled by a full-automatic device, so that the assembly efficiency of the components is improved.
The machine 10 serves as an operation table, which is a multifunctional machine. The machine 101 is fixed on the ground or other supporting surface capable of supporting the machine 10 for operation. The man/machine assembly process of the electromechanical product 101 is implemented on the machine 10.
Specifically, the machine 10 is substantially square. Of course, in other embodiments, the machine 10 may also be configured to be circular or the like according to actual requirements. It should be noted that, one end of the machine 10 refers to an end along the length direction and is close to the three-dimensional library 40, and the other end is naturally the opposite end; that is, the length direction of the machine 10 is defined as the end of the machine 10. One side of the machine 10 refers to a side portion along the width direction, i.e., the width direction of the machine 10 is defined as the side of the machine 10.
Preferably, the number of the machine stations 10 is at least 2, and two adjacent machine stations 10 are arranged in parallel. The man-machine cooperation robot 60 is arranged between the two machine tables 10 and can serve the two adjacent machine tables 10, namely, one man-machine cooperation robot 60 can simultaneously meet the actions of feeding, blanking, material clamping and the like required by the two machine tables 10 during working, so that the production cost is effectively reduced; meanwhile, the whole structure of the system is more compact.
Further, in the present embodiment, every 2 machines 10 are used as a group, two adjacent machines 10 are disposed at intervals, and the assembly system 100 has a plurality of groups of machines 10. Each set of machine stations 10 shares one human-machine cooperation robot 60.
As shown in fig. 2, the feeding station 12 and the discharging station 13 on each machine 10 are distributed along the length direction of the machine 10. Preferably, the loading station 12 and the unloading station 13 are arranged side by side.
Further, the loading station 12 includes a first loading station 121 and a second loading station 122; the blanking stations 13 comprise a first blanking station 131 and a second blanking station 132; first material loading station 121, first unloading station 131 and manual assembly station 11 are the sharp setting, and unloading platform 20 slides on board 10 to make unloading platform 20 can switch between first material loading station 121 and first unloading station 131, thereby realize the assembly of material, the unloading and the material loading of material. The manual assembly station 11 is disposed adjacent to the first blanking station 131. The second feeding station 122 and the second discharging station 132 are linearly arranged, and the multidimensional assembly platform 30 slides on the machine table 10, so that the multidimensional assembly platform 30 can be switched between the second feeding station 122 and the second discharging station 132, and feeding, discharging and assembling of materials are realized.
Specifically, the machine table 10 is respectively provided with a slide rail (not shown) opposite to the loading and unloading platform 20 and the multi-dimensional assembly platform 30; the loading and unloading platform 20 and the multi-dimensional assembly platform 30 are slidably disposed on corresponding slide rails and slide on the machine table 10 by being driven by a motor (not shown). Of course, in other embodiments, the loading and unloading platform 20 and the multidimensional assembly platform 30 can also slide on the machine 10 in other manners, which is not described herein.
Preferably, referring to fig. 1, to avoid the access of an operator or other non-working person to the mobile machine (the robot-cooperating robot 60), the safety of the assembly system 100 is improved. A safety grating 14 is arranged on the machine table 10, and the safety grating 14 is arranged on one side of the manual assembly station 11 in a surrounding manner so as to warn personnel (operators and the like) not to approach; meanwhile, the safety grating 14 is used for replacing traditional safety protection measures such as guardrails and the like, and the safety level is effectively improved.
The loading and unloading platform 20 is mainly used for placing materials, material trays, semi-finished product trays, finished product trays and the like. Go up unloading platform 20 and be multilayer structure, material can all be placed to every layer to improve the space utilization of going up unloading platform 20, improve its handling efficiency.
The multi-dimensional assembly platform 30 is mainly used for positioning the cabin 101a and driving the cabin 101a to move to a predetermined position on the machine 10, so as to facilitate assembly of the cabin 101a and assembly between the cabin 101a and the frame body 101 b.
Preferably, the multi-dimensional assembly platform 30 can rotate relative to the machine table 10 in addition to moving on the machine table 10, so that the cabin 101a can have a relatively convenient position for operation, thereby facilitating the assembly of the operator and the entrance of the man-machine cooperation robot 60. It should be explained that, after the frame body 101b is assembled on the feeding and discharging platform 20, the human-machine cooperation robot 60 clamps the frame body 101b to the position of the cabin 101a, the operator 102 connects the cables between the cabin 101a and the frame body 101b, and the frame body 101b and the cabin 101a are tightly fixed by the screw driver with the screws coated with the glue, thereby completing the assembly between the cabin 101a and the frame body 101 b. In this embodiment, the rotation of the multi-dimensional assembly platform 30 can be achieved by various methods, such as a motor and a rotation support structure, which are not described herein again.
It should be noted that the human-machine cooperation robot 60 may clamp the frame body 101b to the position of the cabin 101a, clamp the frame body 101b or other materials to the inside of the cabin 101a (this operation is referred to as warehousing), or clamp the frame body 101b or other materials to the outside of the cabin 101 a. The specific operation can be determined according to the actual assembly requirement. Here, the other material may be a remote measuring device, an antenna fixed with a screw, or the like.
It is understood that the operator 102 is responsible for cable assembly between the nacelle 101a and the frame body 101b, as well as screw tight fitting; the man-machine cooperation robot 60 is responsible for clamping the frame body 101b to the cabin body 101a, the man-machine cooperation robot and the machine-machine cooperation robot cooperate with each other to complete the assembly/assembly of the electromechanical product 101 together, the design is reasonable, the production cost is saved, and the assembly/assembly efficiency of the electromechanical product 101 is improved.
Referring to fig. 3, the stereo garage 40 is used as a warehouse for storing parts (materials), assembled semi-finished products and finished products. The specific structure of the stereo library 40 may be set according to actual needs, and is not limited herein.
The inline transfer robot 50 is slidably disposed between the stereo garage 40 and the machine 10. The inline transfer robot 50 moves on a prescribed path to coordinate material exchange (loading and unloading) between the machine 10 and the stereo garage 40. It should be noted that the inline transfer robot 50 is prior art and will not be described here.
The human-machine cooperation robot 60 is used for taking and placing the cabin 101a, the frame body 101b, the semi-finished products and the finished products, and for completing the operations of the cooperative operator 102 such as entering the cabin, taking and placing the finished products of the cabin 101 a. The end of the human-computer cooperation robot 60 is provided with a quick-change male head (not shown), correspondingly, various tools stored on the machine table 10 are all provided with a quick-change female head (not shown), the human-computer cooperation robot 60 can replace and assemble corresponding clamping tools according to different products, and through the detachable connection mode, more requirements can be expanded to realize flexible assembly.
As shown in fig. 1 and 2, the assembly system 100 further includes a vision recording device 70, and the vision recording device 70 is mounted on the machine 10 and can record the assembly process of the frame body 101b and/or the cabin 101 a. It will be appreciated that the visual recording device 70 is provided to record the assembly process of the frame body 101b and/or the cabin body 101a at any time and compare it with a standard chart to ensure the accuracy of manual/machine assembly.
Specifically, the vision recording device 70 is installed above the machine station 10, and is used for photographing and storing records in the assembling process, realizing full-angle vision recording through cooperation with the multidimensional assembling platform 30, and ensuring the accuracy of human assembly timing through comparison with a standard diagram.
It should be noted that the position above the machine 10, i.e. along the height direction of the machine 10, where the vision recording device 70 is installed is higher than the height of the machine 10.
Preferably, the visual recording device 70 may be a device having a graphic acquisition function such as a camera.
As shown in fig. 1, the assembly system 100 further includes a vision inspection device 80, wherein the vision inspection device 80 is installed at an end of the machine 10 close to the inline transfer robot 50, and is used for inspecting the cabin 101a or the frame 101b clamped by the inline transfer robot 50 from the stereo library 40, so as to determine whether the materials clamped by the inline transfer robot 50 from the stereo library 40 are complete, and ensure that the inline transfer robot 50 can accurately transfer the materials.
Preferably, the visual inspection device 80 may be a device having a graphic acquisition function such as a camera.
As shown in fig. 1 and 2, the assembly system 100 further includes a tool cabinet 90, and the tool cabinet 90 and the human-machine cooperation robot 60 are located on the same side of the machine table 10. It will be appreciated that the placement of the tool cabinet 90, in combination with its placement (near the side of the operator 102), may facilitate the assembly system 100 to store commonly used tools such as RFID hand-held scanning, screwdrivers, etc., making the assembly system 100 more convenient to use.
As shown in fig. 1, the assembly system 100 further includes a tool magazine 103, the tool magazine 103 is used for storing various tools, the various tools are suitable for clamping products with different sizes, and a quick-change female head is installed on each tool to cooperate with a quick-change male head on the human-machine cooperation robot 60 to realize quick replacement of the tool.
Further, as shown in fig. 1 and 2, the assembly system 100 further includes a station control terminal 200, the station control terminal 200 is in signal connection with the loading and unloading platform 20, the multidimensional assembly platform 30, the in-line transfer robot 50, the human-computer cooperation robot 60, the visual recording device 70, and the visual detection device 80, and performs assembly line station monitoring in real time to ensure smooth assembly/assembly.
Preferably, the station control terminal 200 is provided with an emergency stop button (not shown) for use in an emergency. When an abnormal condition occurs in the assembly system 100, an operator can stop the equipment through an emergency stop button so as to provide multiple guarantees for the safety of workers.
Of course, the assembling system 100 further includes an emergency stop button, a dispensing device (not shown), an exception handling module (not shown), and the like, in addition to the above-mentioned structures, which cooperate to ensure the normal operation of the assembling system 100.
As shown in fig. 4, the present invention further provides an electromechanical device assembling method 300 based on human-machine cooperation, where the assembling method 300 is implemented based on the assembling system 100 described above. Specifically, the assembly method 300 includes at least the following steps:
s1, the loading and unloading platform 20 moves to the loading station 12, and the in-line transfer robot 50 transfers the capsule 101a from the stereo garage 40 to the loading and unloading platform 20;
s2, moving the multidimensional assembly platform 30 to the feeding station 12, moving the cabin 101a to the feeding station 13 with the feeding and discharging platform 20, and clamping the cabin 101a to the multidimensional assembly platform 30 from the feeding and discharging platform 20 by the man-machine cooperation robot 60;
s3, the loading and unloading platform 20 moves to the loading station 12, the in-line transfer robot 50 transfers the frame body 101b from the three-dimensional library 40 to the loading and unloading platform 20, and the loading and unloading platform 20 drives the frame body 101b to move to the manual assembly station 11;
s4, the multidimensional assembly platform 30 rotates to make the hatch of the cabin 101a face the man-machine cooperative robot 60, the man-machine cooperative robot 60 clamps the frame body 101b to the cabin 101a, and the operator 102 connects the cables between the cabin 101a and the frame body to form a finished product;
s5, the man-machine cooperation robot 60 exits the cabin 101a and clamps the finished product to the upper blanking platform 20; and
s6, the loading and unloading platform 20 moves to the unloading station 13, and the in-line transfer robot 50 transfers the finished products on the loading and unloading platform 20 to the stereo garage 40.
It will be appreciated that the above assembly method 300 not only provides an automated robot to replace human labor in dangerous, tiring assembly and handling operations; and the assembly work which is difficult to achieve such as manual replacement and complicated cable connection operation is effectively carried out, so that the assembly efficiency is effectively improved, the assembly quality is ensured, the assembly cost is reduced, and meanwhile, the performance of the complicated electromechanical product 101 is ensured.
Preferably, the loading and unloading platform 20 moves to the first loading station 121 to receive the capsule 101a in step S1, and the multi-dimensional assembly platform 30 moves to the second loading station 122 to receive the capsule 101a in step S2.
In step S3, the frame body 101b is composed of components such as an information adapter board, a simulation board, a main board, an attitude control board, a power supply, and a signal responding device, and is assembled at a fully automatic assembly station. This assembly step is not described in detail herein.
Further, in steps S1 and/or S3, the step of the inline transfer robot 50 transferring the capsule body 101a from the stereo garage 40 to the upper blanking platform 20 or the step of the inline transfer robot 50 transferring the frame body 101b from the stereo garage 40 to the upper blanking platform 20 includes the following steps:
s31 the in-line transfer robot 50 moves to a predetermined position of the stereo garage 40 and holds the capsule 101a or the frame 101 b; and
s32 the in-line transfer robot 50 moves to the vision inspection station, and inspects the cabin 101a or the frame 101b held by the in-line transfer robot 50.
Preferably, in step S4, the human-machine-cooperation robot 60 clamps the frame body 101b inside the cabin 101a or outside the cabin 101a, which is controlled according to specific operation needs.
Further, after step S1, the assembling method 300 further includes:
and S11, moving the human-machine cooperation robot 60 to the tool storage 103 and assembling the cabin 101a to clamp the tool.
Preferably, in step S4, the cabin 101a and the frame 101b are fastened together by glued fasteners. In this embodiment, the fasteners may be bolts, screws, or the like.
Further, after step S5, the assembling method 300 further includes:
s51, the loading and unloading platform 20 moves to the unloading station 13, and the in-line transfer robot 50 transfers the first material in the three-dimensional warehouse 40 to the loading and unloading platform 20; and
s52 the loading and unloading platform 20 moves to the manual assembly station 11, and the operator 102 assembles the first material to the cabin 101 a.
It should be noted that in step S51, the loading/unloading platform 20 moves to the first unloading station 131. The first material is the relevant material on the cabin 101a, the front mounting plate socket, the telemetry transmitter, the sensor, etc. Here, the front mounting plate socket is fixed to the cabin 101a and connected to the control board and the information adapter board by cables, respectively; the telemetering transmitter is fixedly arranged on the cabin body 101a and is electrically connected with the telemetering equipment; the sensors are electrically connected to the information transfer board and are fixed to the cabin 101 a.
Further, in the assembly method 300, the cabin 101a, the frame 101b and other materials are placed in the tray, and the in-line transfer robot 50 transfers the materials contained therein to the upper blanking platform 20 when transferring the materials from the three-dimensional warehouse 40; alternatively, the inline transfer robot 50 transfers the empty tray to the stereo garage 40.
Specifically, when the tray is engaged, the steps of the assembly method 300 are as follows:
the loading and unloading platform 20 moves to the loading station 12, and the in-line transfer robot 50 sucks the transfer tool to transfer the tray a (not shown) containing the capsule body 101a from the stereo garage 40 to the loading and unloading platform 20;
assembling a cabin clamping tool from the human-computer cooperation robot 60 to the tool library 103;
the multidimensional assembly platform 30 moves to the feeding station 12, and the robot-coordinated robot 60 clamps the cabin 101a from the feeding and discharging platform 20 to the multidimensional assembly platform 30;
the loading and unloading platform 20 moves to the unloading station 13, and the in-line transfer robot 50 transfers the empty tray A back to the three-dimensional warehouse 40;
the loading and unloading platform 20 moves to the loading station 12, the in-line transfer robot 50 transfers the tray B containing the frame to the loading and unloading platform 20, and the loading and unloading platform 20 drives the tray B to move to the manual assembly station 11;
the multidimensional assembly platform 30 rotates to enable the hatch of the cabin 101a to face the man-machine cooperation robot 60, the man-machine cooperation robot 60 clamps the frame body 101b to the position of the cabin 101a, an operator connects the cabin 101a and the frame body 101b for assembly, and screws coated with glue are tightly matched and fixed through a screwdriver;
the man-machine cooperation robot 60 loosens the frame assembly and exits the cabin 101a, the loading and unloading platform 20 moves to the unloading station 13, the in-line transfer robot 50 transfers the empty tray B back to the three-dimensional warehouse 40, and transfers the tray C containing the first material to the loading and unloading platform 20;
the loading and unloading platform 20 moves to the manual assembly station 11, the first material of the operator is assembled with the cabin 101a, and the screw coated with the glue is tightly matched and fixed through a screwdriver;
the loading and unloading platform 20 moves to the unloading station 13, the in-line transfer robot 50 transfers the empty tray C to the three-dimensional warehouse 40, and transfers the empty tray D to the loading and unloading platform 20;
the man-machine cooperation robot 60 clamps the finished product assembled on the multidimensional assembly platform 30 onto the empty tray D on the upper blanking platform 20; and
the loading and unloading platform 20 moves to the unloading station 13, and the in-line transfer robot 50 transfers the tray D to the three-dimensional warehouse 40 to complete the warehousing of the product.
The above is the assembly step of the electromechanical product 101. From the steps, the human/machine cooperation seamless butt joint is realized, namely, an automatic robot replaces manual work to carry out dangerous and tired assembling and carrying work, and the manual work replaces assembly work which is difficult to realize such as complicated cable connection and the like. The assembly efficiency of the electromechanical product is effectively improved, and the cost is reduced; meanwhile, the quality of the electromechanical product assembly is improved, and the performance of the electromechanical product is ensured.
The features of the above embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above embodiments are not described, but should be construed as being within the scope of the present specification as long as there is no contradiction between the combinations of the features.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.
Claims (10)
1. An electromechanical equipment assembling system based on man-machine cooperation is used for assembling electromechanical equipment, and the electromechanical equipment at least comprises a cabin body and a framework body; characterized in that the assembly system comprises:
the automatic feeding device comprises at least one machine table, a feeding device and a discharging device, wherein the machine table is provided with a manual assembly station, a feeding station and a discharging station, the manual assembly station is arranged close to one end of the machine table, and an operator is positioned at the manual assembly station;
the loading and unloading platform is arranged on the machine table and used for bearing the frame body or the cabin body, and the loading and unloading platform can move on the machine table so as to enable the loading and unloading platform to be switched between the loading station and the unloading station;
the multi-dimensional assembly platform is arranged on the machine table and used for positioning the cabin body, and the multi-dimensional assembly platform can rotate relative to the machine table;
the three-dimensional warehouse is arranged at the other end of the machine table relative to the manual assembly station and is used for accommodating the cabin body, the frame body or the electromechanical equipment;
the in-line transfer robot is arranged between the three-dimensional warehouse and the machine table and used for respectively transferring the cabin body and the frame body in the three-dimensional warehouse to the multi-dimensional assembly platform and the loading and unloading platform; and
and the man-machine cooperation robot is arranged on one side of the machine table and is close to the manual assembly station, and the man-machine cooperation robot can convey the cabin on the loading and unloading platform to the multidimensional assembly platform.
2. The electromechanical device assembling system based on human-computer cooperation of claim 1, wherein the number of the machine stations is at least 2, two adjacent machine stations are arranged in parallel, and the human-computer cooperation robot is arranged between the two machine stations and can serve the two adjacent machine stations.
3. The human-computer cooperation based electromechanical device assembling system according to claim 2, wherein a safety grating is arranged on the machine table, and the safety grating is arranged on one side of the manual assembly station in a surrounding mode.
4. The electromechanical device assembling system based on human-machine cooperation according to claim 1, further comprising a visual recording device installed on the machine base and capable of recording the assembling process of the frame body and/or the cabin.
5. The human-computer cooperation based electromechanical device assembling system according to claim 1, further comprising a visual inspection device installed at an end of the machine platform close to the inline transfer robot for inspecting a cabin or a frame clamped by the inline transfer robot from the stereo garage.
6. The human-computer cooperation-based electromechanical device assembly system according to any one of claims 1 to 5, further comprising a tool cabinet, wherein the tool cabinet and the human-computer cooperation robot are located on the same side of the machine platform.
7. An electromechanical device assembling method based on man-machine cooperation is characterized by comprising the following steps:
the in-line transfer robot transfers the cabin from the three-dimensional warehouse to the upper blanking platform;
the multi-dimensional assembly platform moves to a feeding station, the feeding and discharging platform drives the cabin body to move to a discharging station, and the robot-cooperative robot clamps the cabin body to the multi-dimensional assembly platform from the feeding and discharging platform;
the in-line transfer robot transfers the frame body to the upper blanking platform from the three-dimensional library, and the upper blanking platform drives the frame body to move to the manual assembly station;
the multi-dimensional assembly platform rotates to enable the hatch of the cabin body to face the man-machine cooperation robot, the man-machine cooperation robot clamps the frame body to the cabin body, and an operator connects cables between the cabin body and the frame body to form a finished product;
evacuating the cabin body by the human-computer cooperation robot, and clamping the finished product to the upper blanking platform; and
and the feeding and discharging platform moves to a feeding station, and the in-line transfer robot transfers the finished products on the feeding and discharging platform to the three-dimensional warehouse.
8. The assembly method according to claim 7, wherein after the step of evacuating the capsule by the robot cooperative robot, the assembly method further comprises:
the feeding and discharging platform moves to a discharging station, and the in-line transfer robot transfers the first material in the three-dimensional warehouse to the feeding and discharging platform; and
the loading and unloading platform moves to a manual assembly station, and an operator assembles the first material to the cabin body.
9. The method of assembling according to claim 7, characterized in that the cabin and the frame body are locked by glued fasteners.
10. The assembly method according to claim 7, wherein the steps of "the in-line transfer robot transfers the capsule bodies from the stereo garage to the upper blanking platform" and/or "the in-line transfer robot transfers the frame bodies from the stereo garage to the upper blanking platform" comprise the steps of:
the in-line transfer robot moves to a preset position of the three-dimensional warehouse and clamps the cabin body or the frame body; and
and the in-line transfer robot moves to the visual detection station and detects the cabin or the frame clamped by the in-line transfer robot.
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