1. An intelligent assembly system for mechanical automation, comprising:

the task customizing unit is used for inputting the assembly task form to the control terminal by a producer;

the control terminal is used for dispatching tasks according to the assembly task form and respectively sending corresponding data to the material transferring unit and the identification and positioning unit;

the identification positioning unit is used for identifying and positioning the parts and the assembly positions, assembling the displacement track length and the single assembly time of each part by the multi-axis manipulator in the assembly action unit and transmitting the displacement track length and the single assembly time to the analysis optimization unit;

and the analysis optimization unit is used for analyzing and optimizing the assembly process of the parts.

2. The intelligent assembling system for mechanical automation of claim 1, wherein the material transferring unit generates corresponding bar codes according to the part numbers and the part numbers, takes different kinds of parts corresponding to the part numbers from the warehouse according to the bar codes, places the parts in corresponding part placing boxes, and transfers the parts to the assembling point through the intelligent carrying equipment.

3. The intelligent assembling system for mechanical automation as claimed in claim 1, wherein after the parts placing boxes are sequentially arranged on the assembling table by the material transferring unit, the identifying and positioning unit performs query matching on the data storage unit by scanning and reading bar code information and acquiring visual appearance images, and checks the type, specification and quantity of the parts.

4. An intelligent assembling system for mechanical automation according to claim 1, wherein the recognition and positioning unit models and coordinates of the position of the parts placing cassette and the position of the multi-axis robot before assembling and transmits to the assembling action unit, and the assembling action unit assembles the parts according to the recorded coordinates.

5. The intelligent assembling system for mechanical automation of claim 1, wherein the analysis optimizing unit calculates the shortest straight line distance and the actual displacement track length of the part taken by the multi-axis manipulator, obtains the effective displacement coefficient, and enters the optimizing step according to the comparison result of the effective displacement coefficient and the set threshold.

6. The intelligent assembling system for the mechanical automation as claimed in claim 1, wherein the analysis optimizing unit compares the single assembling time of the assembling action unit with the manual assembling time, and when the single assembling time is longer than or equal to the manual assembling time, the assembling process is judged to be abnormal, and an assembling abnormal signal is generated and transmitted to the early warning processing unit; and when the single assembly time is less than the manual assembly time, calculating a time difference value, marking the time difference value as an efficiency time difference, and performing three-dimensional simulation on the assembly process of the three corresponding parts with the minimum efficiency time difference after sequencing.

7. The intelligent assembling system for mechanical automation of claim 6, wherein after the early warning processing unit receives the assembling abnormal signal, the power-off protection is performed immediately, the multi-axis manipulator returns to the initial state, and the abnormal log of the assembling abnormal condition is directly sent to the mobile phone terminal of the corresponding production personnel.

8. The intelligent assembling system for mechanical automation of claim 6, wherein a ratio operation is performed between a time length used by the three-dimensional simulation result and a single equipment time of the corresponding part, when the result is less than a set value, the assembly of the part does not need to be optimized, otherwise, the three-dimensional simulation result of the corresponding part is sent to the control terminal and finally sent to the mobile phone terminal of the producer who uploads the assembly task form, so that the corresponding producer adjusts the assembly sequence of the part of the corresponding part and uploads the part again through the task formulation unit.

Background

In the manufacturing process of equipment or products, the processed parts are often assembled together to form a complete product, and the assembly process of the parts involves the working procedures of placing and positioning the parts and the like, and the parts are often manually assembled, but the assembly mode has extremely low efficiency, and for different assembly technicians, the assembly methods and standards are different, so that the standardization of the product is greatly influenced;

the existing automobile or airplane production industry already applies an intelligent assembly workshop to carry out automatic assembly, but the assembly of small components such as electronic products is still in an artificial mode, in the process of applying mechanical intelligent assembly, the assembly process is abnormal due to the problems of parts and assembly sequence, and partial processes which can be optimized in the assembly flow cannot be analyzed independently, so that an intelligent assembly system for mechanical automation is provided.

Disclosure of Invention

The invention aims to provide an intelligent assembling system for mechanical automation.

The technical problem solved by the invention is as follows:

(1) how to record the part information in a bar code form by arranging the material transfer unit, place the parts by different part mounting boxes, and transport the parts to an assembly point by the AVG unmanned carrying trolley, the whole process is systematized, the occupancy rate of production personnel is greatly reduced, the labor intensity is reduced, the efficiency is ensured, and the probability of errors is reduced;

(2) how to check parts in the part placing box by arranging the identification and positioning unit, and simultaneously establishing a virtual space rectangular coordinate system, marking part taking coordinates and working position coordinates of the multi-axis manipulator, and providing data support for optimization of displacement tracks in the subsequent assembly process;

(3) how to analyze displacement track length and single assembly time of each part through setting up analysis optimization unit to place the position coordinate of box to the part of corresponding part and change, optimize the displacement track of multiaxis manipulator, carry out three-dimensional simulation to the longer part assembly process of single assembly time simultaneously, and adjust the part assembly order according to the simulation result, thereby optimize whole assembly process, make the assembly process more smooth, efficiency is higher.

The invention can be realized by the following technical scheme: an intelligent assembly system for mechanical automation, comprising:

the task customizing unit is used for inputting the assembly task form to the control terminal by a producer;

the control terminal is used for dispatching tasks according to the assembly task form and respectively sending corresponding data to the material transferring unit and the identification and positioning unit;

the identification positioning unit is used for identifying and positioning the parts and the assembly positions, assembling the displacement track length and the single assembly time of each part by the multi-axis manipulator in the assembly action unit and transmitting the displacement track length and the single assembly time to the analysis optimization unit;

and the analysis optimization unit is used for analyzing and optimizing the assembly process of the parts.

The invention has further technical improvements that: the material transfer unit generates corresponding bar codes according to part numbers and part numbers, takes different types of parts corresponding to the part numbers from the warehouse according to the bar codes, places the parts in corresponding part placement boxes, and transfers the parts to an assembly point through intelligent carrying equipment.

The invention has further technical improvements that: after the material transfer unit arranges the part arrangement boxes on the assembly table in sequence, the identification and positioning unit scans and reads bar code information and acquires visual appearance images, inquires and matches the data storage unit, and checks the types, specifications and quantity of the parts.

The invention has further technical improvements that: the recognition positioning unit carries out modeling and coordinate recording on the position of the part placing box and the position of the multi-axis manipulator before assembly and transmits the positions to the assembly action unit, and the assembly action unit assembles the parts according to the recorded coordinates.

The invention has further technical improvements that: and the analysis optimization unit calculates the shortest linear distance and the actual displacement track length of the part taken by the multi-axis manipulator, obtains an effective displacement coefficient, and enters an optimization step according to a comparison result of the effective displacement coefficient and a set threshold value.

The invention has further technical improvements that: the analysis optimization unit compares the single assembly time of the assembly action unit with the manual assembly time, and when the single assembly time is longer than or equal to the manual assembly time, the abnormity of the assembly process is judged, and an assembly abnormity signal is generated and transmitted to the early warning processing unit; and when the single assembly time is less than the manual assembly time, calculating a time difference value, marking the time difference value as an efficiency time difference, and performing three-dimensional simulation on the assembly process of the three corresponding parts with the minimum efficiency time difference after sequencing.

The invention has further technical improvements that: after the early warning processing unit receives the abnormal assembly signal, power-off protection is carried out immediately, the multi-axis manipulator returns to the initial state, and an abnormal log of the abnormal assembly condition is directly sent to a mobile phone terminal of a corresponding producer.

The invention has further technical improvements that: and carrying out ratio operation on the time used by the three-dimensional simulation result and the single equipment time of the corresponding part, when the result is smaller than a set value, the assembly of the part is not required to be optimized, otherwise, the three-dimensional simulation result of the corresponding part is sent to a control terminal and finally sent to a mobile phone terminal of a producer who uploads an assembly task form, so that the corresponding producer adjusts the assembly sequence of the part of the corresponding part and uploads the part through a task formulation unit again.

Compared with the prior art, the invention has the following beneficial effects:

1. the whole process is systematized, so that the occupancy rate of production personnel is greatly reduced, the labor intensity is reduced, the efficiency is ensured, and the probability of errors is reduced;

2. by arranging the identification and positioning unit, parts in the part placing box are checked, a virtual space rectangular coordinate system is established, part taking coordinates and working position coordinates of the multi-axis manipulator are marked, and data support is provided for optimization of displacement tracks in the subsequent assembling process;

3. through setting up analysis optimization unit, carry out the analysis to the displacement orbit length and the single assemble duration of each part to the position coordinate of the box is settled to the part that corresponds the part changes, optimizes the displacement orbit of multiaxis manipulator, carries out three-dimensional simulation to the longer part assembling process of single assemble duration simultaneously, and adjusts the part assembly order according to the simulation result, thereby optimizes whole assembly process, makes assembly process more smooth, and efficiency is higher.

Drawings

In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.

FIG. 1 is a block diagram of the system of the present invention.

Detailed Description

To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be given with reference to the accompanying drawings and preferred embodiments.

Referring to fig. 1, an intelligent assembly system for mechanical automation includes a task formulation unit, a material transfer unit, an identification and positioning unit, an assembly action unit, an early warning processing unit, an analysis and optimization unit, a data storage unit and a control terminal;

the task customizing unit is used for inputting an assembly task form to the control terminal by a production worker, wherein the assembly task form comprises assembly part numbers, part quantity, part assembly sequence and part assembly positions, each part number corresponds to a part with one specification, and the part assembly positions refer to assembly position corresponding to assembly size tolerance marked according to characteristic positions of the parts;

the control terminal sends tasks according to the assembly task form, sends the part numbers and the part quantities to the material transfer unit, and sends the part numbers, the part assembly sequence and the part assembly positions to the identification and positioning unit;

the data storage unit is pre-stored with the appearance image data and the corresponding names of all parts in the warehouse, and the data storage unit is also stored with the manual assembly time of the corresponding parts;

the method comprises the steps that a material transferring unit obtains part numbers and part numbers, bar codes corresponding to the part numbers and the part numbers are generated, part names, part specifications and the part numbers can be read by identifying the bar codes, the corresponding bar codes are printed, the bar codes are attached to the side faces of different part placing boxes, parts of different types corresponding to the part numbers are obtained in a warehouse, the obtained parts of different types are placed in the corresponding part placing boxes and transferred to an assembly point through intelligent carrying equipment, the intelligent carrying equipment is specifically an AVG unmanned carrying trolley, and meanwhile, the part placing boxes are placed on an assembly table according to the part number sequence;

the assembly table is provided with an assembly action unit, the assembly action unit comprises a plurality of multi-axis manipulators, and the multi-axis manipulators receive the instructions transmitted by the identification positioning unit to act;

the identification positioning unit identifies and positions the parts and the assembly positions and sends corresponding instructions to the assembly action unit, and the method comprises the following specific steps:

step S11: after the identification positioning unit receives the part number, the part assembly sequence and the part assembly position, the identification positioning unit starts to identify and check the part arrangement box on the assembly table:

step S11-1: scanning a bar code attached to the side face of each part accommodating box through a laser scanner, and reading bar code information to obtain part names, part numbers and part specifications;

step S11-2: acquiring visual appearance images and the number of visual parts in the corresponding part placing boxes through a visual camera;

step S11-3: acquiring the size of a bar code image in the visual appearance image, wherein the actual sizes of bar codes on all the part arranging boxes are consistent, obtaining a scaling ratio according to the comparison of the size of the bar code image and the actual size, extracting the visual part image in the visual appearance image, and calculating the actual calculated size in the part arranging box according to the scaling ratio;

step S11-4: sending the visual part image to a data storage unit for query matching to obtain matching name data, judging that the part appearance is matched wrongly when the matching name data is not successfully compared with the part name in the bar code information, and judging that the part appearance is matched correctly when the matching name data is successfully compared with the part name in the bar code information; when the real-time calculation size is compared with the corresponding size in the part specification, the ratio operation is carried out on the real-time calculation size and the corresponding size of the part specification, when the operation result is in a set threshold range, the part specification matching is judged to be correct, otherwise, the part specification matching is judged to be wrong; comparing the number of the visual parts with the number of the parts in the bar code information, judging that the number of the parts is correctly matched when the number of the visual parts is consistent with the number of the parts in the bar code information, and otherwise, judging that the number of the parts is wrong;

step S11-5: when the part appearance matching is wrong, the part specification matching is wrong or the part number matching is wrong, the part checking fails, a retransfer instruction is sent to the material transfer unit, the material transfer unit receives the retransfer instruction and then retransfers the corresponding part, otherwise, the step S12 is carried out;

step S12: establishing a virtual space rectangular coordinate system by taking the positive center of the assembly table as a coordinate origin, obtaining working position coordinates of the multiple-shaft mechanical arms, taking the coordinates at the center of the part placing box as part taking coordinates corresponding to the part placing box, recording the working position coordinates and the part taking coordinates, and transmitting the working position coordinates and the part taking coordinates to the assembly action unit;

step S13: and starting one of the multi-axis manipulators to reach the corresponding part taking coordinate according to the part assembling sequence, taking the corresponding part to an assembling area of the assembling table, and taking the subsequent part for assembling in the same way.

In the component assembling process, the recognition positioning unit records the displacement track length and the single assembling time of assembling each component by the multi-axis manipulator in the assembling action unit and transmits the displacement track length and the single assembling time to the analysis optimization unit;

the analysis optimization unit receives the displacement track length and the single assembly time of each assembled part for analysis and optimization, and the method comprises the following specific steps:

step S21: marking the displacement track length as WYi and the single assembly time as DSi, wherein i represents the type number of the part type, i =1,2,3 … … n;

step S22: calculating the shortest straight line distance of the corresponding parts to be taken according to the part taking coordinates of the corresponding parts and the working position coordinates of the corresponding multi-axis manipulator by using the pythagorean theorem, multiplying the displacement track length of each part to be taken by the number of the parts to obtain the total displacement track length of the corresponding parts to be taken, simultaneously calculating the shortest straight line distance sum of all the parts according to the shortest straight line distance, performing ratio operation on the shortest straight line distance sum and the total displacement track length to obtain an effective displacement coefficient, and entering a step S23 when the effective displacement coefficient is smaller than a set threshold value;

step S23: sorting the total displacement track lengths corresponding to different parts from big to small, matching the maximum total displacement track length with the minimum total displacement track length, after matching, exchanging part taking coordinates of the part arrangement boxes corresponding to the parts, binding the exchanged coordinates with bar code information of the part arrangement boxes, generating arrangement box arrangement information and sending the arrangement box arrangement information to the material transfer unit;

step S24: extracting the manual assembly time of the part from the data storage unit, comparing the manual assembly time with the single assembly time, judging that the assembly process is abnormal when the single assembly time is more than or equal to the manual assembly time, generating an assembly abnormal signal and transmitting the assembly abnormal signal to the early warning processing unit, calculating a time difference value when the single assembly time is less than the manual assembly time, and marking the time difference value as an efficiency time difference;

step S25: and sequencing the efficiency time differences according to the sequence of the efficiency time differences to obtain the assembly process of three corresponding parts with the minimum efficiency time differences, automatically performing three-dimensional simulation on the assembly process, and when the ratio of the time length used by the three-dimensional simulation result to the single assembly time of the corresponding parts is less than 0.85, determining that the assembly of the parts does not need to be optimized, otherwise, sending the three-dimensional simulation result of the corresponding parts to a control terminal and finally to a mobile phone terminal of a producer who uploads an assembly task form, so that the corresponding producer adjusts the assembly sequence of the parts of the corresponding parts, and uploading the adjusted assembly task form again through a task formulation unit.

After the early warning processing unit receives the abnormal assembly signal, power-off protection is carried out immediately, the multi-axis manipulator returns to the initial state, an abnormal log of the abnormal assembly condition is directly sent to a mobile phone terminal of a corresponding producer, and the abnormal log comprises an assembly part, an assembly position and the assembly time of the part when the abnormality occurs.

Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.