Control methods for assembly equipment and assembly equipment

Abstract

The present disclosure relates to a control method and device for an assembly device, wherein the assembly device includes a gripping member for gripping a first part to be assembled, and the control method includes: controlling the assembly device to enter a first operation procedure; obtaining the recognition information of the gripping member and the first part to be assembled, and if the recognition is successful, controlling the assembly device to enter a second operation procedure; obtaining the second position information of the gripping member, and if the second position information matches the second preset position information, controlling the assembly device to enter a third operation procedure; controlling the assembly device to enter a fourth operation procedure; obtaining the fifth position information of the first part to be assembled, and if the fifth position information matches the third preset position information, determining that the assembly of the first part to be assembled and the second part to be assembled is completed. The technical solution disclosed in the present disclosure effectively solves the technical problems of low assembly efficiency and low assembly precision of straight valves and stop valves existing in the traditional technology.

Description

Technical Field

[0001] The present disclosure relates to the field of gripping equipment, and in particular to a control method for assembly equipment and the assembly equipment. Background Art

[0002] In the air conditioning industry, the operation of assembling a straight valve on a stop valve is generally done manually. During assembly, the operator first takes the straight valve, then aligns the straight valve with the stop valve, and manually screws it on the stop valve, resulting in a low degree of automation and low production efficiency for the entire assembly operation. In addition, due to the different experience of different operators in assembling straight valves and stop valves, the assembly angles of the straight valves and stop valves are very random, and the assembly accuracy is low, causing quality problems. Summary of the invention

[0003] The present invention provides an assembly device and a control method thereof to solve the technical problems of low assembly efficiency and low assembly precision of straight valves and stop valves existing in the traditional technology.

[0004] To this end, in a first aspect, an embodiment of the present disclosure provides a control method for an assembly device, wherein the assembly device includes a gripping member for gripping a first part to be assembled, and the control method includes:

[0005] Acquire first position information of the assembly equipment;

[0006] Moving the assembly equipment to a first preset position according to the first position information, and controlling the assembly equipment to enter a first operation procedure;

[0007] Obtaining the recognition information of the grasped part and the first part to be assembled, and if the recognition is successful within the first time, controlling the assembly equipment to enter the second operation procedure;

[0008] Acquire the second position information of the grasping part, and if the second position information matches the second preset position information, control the assembly equipment to enter the third operation procedure;

[0009] Acquire the third position information of the first to-be-assembled component and the fourth position information of the second to-be-assembled component, and if the third position information matches the fourth position information, control the assembly equipment to enter a fourth operation procedure;

[0010] The fifth position information of the first component to be assembled is obtained, and if the fifth position information matches the third preset position information, it is determined that the first component to be assembled and the second component to be assembled are assembled completely.

[0011] In a possible implementation, the assembly device further includes a driving component, the gripping member is connected to one end of the driving component, and the specific steps of controlling the assembly device to enter the first operation procedure include:

[0012] The driving assembly is controlled to extend and rotate at the same time.

[0013] In a possible implementation, the driving assembly includes a first driving member and a second driving member, the second driving member is disposed at one end of the first driving member, the grabbing member is connected to an end of the second driving member away from the first driving member, and the specific steps of controlling the driving assembly to extend and simultaneously controlling the driving assembly to rotate include:

[0014] Controlling the first driving member to extend;

[0015] At the same time, the second driving member is controlled to rotate at a speed of 2 to 8 rpm and a torque of 2 to 3 N.M.

[0016] In a possible implementation manner, the gripping member is a flexible member, and the specific steps of controlling the assembly equipment to enter the first operation procedure further include:

[0017] The maximum shaft displacement value and the minimum shaft displacement value of the gripping member are obtained, and the difference between the maximum shaft position value and the minimum shaft displacement value is calculated. If the difference satisfies 0 to 2 mm, the assembly equipment is controlled to maintain the first operation procedure.

[0018] In a possible implementation, the specific steps of controlling the assembly equipment to enter the second operation procedure include:

[0019] The second driving member is controlled to stop rotating, and the first driving member is controlled to continue extending.

[0020] In a possible implementation, the assembly device further includes a locking member, the locking member is connected to the driving assembly, and the locking member and the grabbing member are arranged on the same side. The specific steps of controlling the assembly device to enter the third operation procedure include:

[0021] Control the driving component to stop working, and control the locking member to lock the first component to be assembled;

[0022] The assembly equipment is controlled to move so as to drive the first component to be assembled to move.

[0023] In a possible implementation manner, the specific steps of controlling the assembly equipment to enter the fourth operation procedure include:

[0024] Control the drive assembly to extend;

[0025] Controlling the locking component to release the first component to be assembled;

[0026] Control the rotation of the drive assembly.

[0027] In a possible implementation, the specific steps of controlling the rotation of the driving assembly include:

[0028] The driving assembly is controlled to rotate at a speed of 350 to 450 rpm and a torque of 1.2 to 1.8 NM.

[0029] In a possible implementation manner, after the step of obtaining the cap recognition information of the grabbing member and the first part to be assembled, the step further includes:

[0030] If the cap recognition is unsuccessful within the first time, the assembly device is controlled to move to the first preset position, and the assembly device is controlled to enter the first operation procedure.

[0031] In a second aspect, the present disclosure further provides an assembly device, which adopts the control method of the assembly device as described above.

[0032] In a third aspect, the present disclosure further provides a computer-readable storage medium, comprising instructions, which, when executed on a computer, enable the computer to execute the control method of the assembly equipment as described above.

[0033] In a fourth aspect, the present disclosure further provides an electronic device, comprising: a memory storing computer program instructions; and a processor, which implements the control method of the assembly device as described above when the computer program instructions are executed by the processor.

[0034] According to the control method and device of the assembly equipment provided by the embodiment of the present disclosure, the assembly equipment includes a gripping member for gripping a first part to be assembled, and the control method includes: obtaining the first position information of the assembly equipment; moving the assembly equipment to the first preset position according to the first position information, and controlling the assembly equipment to enter the first operation procedure; obtaining the recognition information of the gripping member and the first part to be assembled, and if the recognition is successful within the first time, controlling the assembly equipment to enter the second operation procedure; obtaining the second position information of the gripping member, and if the second position information matches the second preset position information, controlling the assembly equipment to enter the third operation procedure; obtaining the third position information of the first part to be assembled and the fourth position information of the second part to be assembled, and if the third position information matches the fourth position information, controlling the assembly equipment to enter the fourth operation procedure; obtaining the fifth position information of the first part to be assembled, and if the fifth position information matches the third preset position information, judging that the assembly of the first part to be assembled and the second part to be assembled is completed. The technical solution disclosed in the present disclosure realizes the automatic and precise assembly of the first part to be assembled and the second part to be assembled by optimizing the control method of the assembly equipment, thereby improving the production efficiency of the air conditioner. Furthermore, the automated assembly control method provided by the present disclosure effectively improves the precise grasping of the first component to be assembled, and at the same time, effectively improves the precise assembly of the first component to be assembled and the second component to be assembled. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. In addition, in the drawings, the same parts are marked with the same reference numerals, and the drawings are not drawn according to the actual scale.

[0036] Figure 1 A control flow chart of an assembly device provided for the first embodiment of the present disclosure;

[0037] Figure 2 A flowchart of a first operation procedure provided for the second embodiment of the present disclosure;

[0038] Figure 3 A flowchart of a third operating procedure provided for the second embodiment of the present disclosure;

[0039] Figure 4 A flowchart of a fourth operation procedure provided for the second embodiment of the present disclosure;

[0040] Figure 5 A flowchart of a first operation procedure provided for the third embodiment of the present disclosure;

[0041] Figure 6 A flowchart of a second operation procedure provided for the third embodiment of the present disclosure;

[0042] Figure 7 A flowchart of a first operation procedure provided for the fourth embodiment of the present disclosure;

[0043] Figure 8 A schematic diagram of the three-dimensional structure of the assembly equipment provided in the first embodiment of the present disclosure.

[0044] Description of reference numerals:

[0045] 110. Grabbing member; 120. Driving assembly; 121. First driving member; 122. Second driving member; 130. Locking member; 140. Support plate; 150. Connecting flange. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0047] First embodiment

[0048] Figure 1 A flow chart showing a control method of an assembly device in a first embodiment; Figure 8 A schematic three-dimensional structure diagram of the assembly equipment in the first embodiment is shown.

[0049] See also Figure 1 and Figure 8 The embodiment of the present disclosure provides a control method for an assembly device, wherein the assembly device includes a gripping member 110 for gripping a first part to be assembled, and the control method includes:

[0050] Step S1, obtaining first position information of an assembly device;

[0051] Step S2, moving the assembly equipment to a first preset position according to the first position information, and controlling the assembly equipment to enter a first operation procedure;

[0052] Step S3, obtaining the recognition information of the gripping member 110 and the first part to be assembled, and if the recognition is successful within the first time, controlling the assembly equipment to enter the second operation procedure;

[0053] Step S4: If the cap recognition is unsuccessful within the first time, the assembly device is controlled to move to the first preset position, and the assembly device is controlled to enter the first operation procedure;

[0054] Step S5, obtaining the second position information of the grabbing member 110, and if the second position information matches the second preset position information, controlling the assembly device to enter the third operation procedure;

[0055] Step S6, obtaining the third position information of the first to-be-assembled component and the fourth position information of the second to-be-assembled component, and if the third position information matches the fourth position information, controlling the assembly equipment to enter the fourth operation procedure;

[0056] Step S7, obtaining the fifth position information of the first component to be assembled, and if the fifth position information matches the third preset position information, it is determined that the first component to be assembled and the second component to be assembled are assembled completely.

[0057] In this embodiment, the control method of the assembly equipment is optimized to realize the automatic assembly and precise assembly of the first and second parts to be assembled, thereby effectively improving the production efficiency of the air conditioner. In addition, the control method for automatic assembly provided in this embodiment effectively improves the precise grasping of the first part to be assembled, and also effectively improves the precise assembly of the first and second parts to be assembled.

[0058] Specifically, the present embodiment first obtains the first position information of the assembly equipment, then compares the first position information with the first preset position information, and calculates and obtains the movement information of the assembly equipment according to the difference value between the first position information and the first preset position information, and finally moves the assembly equipment to the first preset position according to the movement information. For example but not limited to, the first position information is the spatial position information of the assembly equipment, the first preset position information is also the spatial position information, and the movement information includes at least movement data in three dimensions (X, Y, and Z directions). It should be explained that the first preset position corresponds to the position of the first part to be assembled, so the assembly equipment is first moved to a position close to the first part to be assembled to reduce the subsequent operation intensity and energy consumption of the assembly equipment.

[0059] Furthermore, after the assembly device is moved to the vicinity of the first part to be assembled (i.e., the first preset position), the assembly device is controlled to enter the first operation procedure. In the first operation procedure, the assembly device drives the gripping member 110 to move (mainly drives the gripping member 110 to move and rotate in the direction close to the first part to be assembled); and in order to improve the gripping accuracy of the gripping member 110 on the first part to be assembled, a cap recognition operation of the gripping member 110 and the first part to be assembled is also set in the first operation procedure to improve the gripping accuracy of the gripping member 110 and the first part to be assembled.

[0060] Specifically, the present embodiment also includes operation procedures when the cap recognition is successful and when the cap recognition is unsuccessful. When the cap recognition is unsuccessful within the first time, the assembly device is controlled to enter the previous procedure, that is, the movement information of the assembly device is calculated according to the difference between the real-time position information of the assembly device and the first preset position information, and the assembly device is moved to the first preset position according to the movement information, and then the assembly device is controlled to start the first operation procedure.

[0061] When the cap recognition is successful within the first time, the assembly device is controlled to enter the second operation procedure. In the second operation procedure, the assembly device drives the grasping member 110 to move (mainly drives the grasping member 110 to move in the direction of continuing to insert the first to-be-assembled part), so as to accommodate part or all of the first to-be-assembled part in the accommodating chamber of the grasping member 110, thereby achieving the grasping of the first to-be-assembled part.

[0062] Specifically, the present embodiment also includes an operation procedure after the first part to be assembled is successfully grasped. In order to nest the first part to be assembled into the bottom of the grasping member 110 to increase the contact area between the grasping member 110 and the first part to be assembled, thereby improving the stability of the first part to be assembled during the grasping process, a second position information of the grasping member 110 is obtained, and the obtained second position information is compared with the second preset position information. If the obtained second position information completely matches and overlaps with the second preset position information, it is determined that the obtained second position information matches the second preset position information. At this time, the assembly equipment needs to be controlled to enter the third operation procedure. In the third operation procedure, the assembly equipment clamps the first part to be assembled to keep it in a stable state; and after the assembly equipment clamps the first part to be assembled, in order to realize the assembly between the first part to be assembled and the second part to be assembled, an operation of moving the first part to be assembled to the vicinity of the second part to be assembled is also provided.

[0063] Of course, if it is determined that the second position information does not match the second preset position information, the assembly equipment can continue to be controlled in the second operation procedure until the two are the same.

[0064] For example, but not limited to, the second position information may be spatial position information, in which case the second preset position information is spatial position information. In other embodiments, the second position information may also be a displacement value along the length direction of the grabbing member 110 itself, in which case the second preset position information is a specific length value, which is less than or equal to the length of the first assembly itself.

[0065] Specifically, the present embodiment also includes an operation procedure after the first part to be assembled is moved to the vicinity of the second part to be assembled. In order to achieve the alignment of the first part to be assembled and the second part to be assembled, it is set to simultaneously obtain the third position information of the first part to be assembled and the fourth position information of the second part to be assembled, and compare the third position information and the fourth position information. When the third position information matches the fourth position information, it is determined that the first part to be assembled and the second part to be assembled are aligned and aligned, and the assembly equipment is controlled to enter the fourth operation procedure. In the fourth operation procedure, the assembly equipment releases the clamping of the first part to be assembled so that the first part to be assembled can be assembled to the second part to be assembled; and the assembly equipment drives the grabbing member 110 to rotate to drive the first part to be assembled to rotate. At this time, the position of the second part to be assembled remains relatively fixed. In this way, the first part to be assembled can be screwed into the second part to be assembled to achieve the preliminary assembly of the first part to be assembled and the second part to be assembled.

[0066] It should be explained that the third position information is the position information in the vertical direction and the position information in the horizontal direction and perpendicular to the axial direction of the second part to be assembled, and the fourth position information is the position information in the vertical direction and the position information in the horizontal direction and perpendicular to the axial direction of the first part to be assembled.

[0067] Specifically, the present embodiment also includes an operating procedure for detecting the assembly accuracy of the first part to be assembled and the second part to be assembled. In order to tighten the first part to be assembled into place, a procedure is provided for obtaining the fifth position information of the first part to be assembled, and comparing the fifth position information with the third preset position information. When the fifth position information matches the third preset position information, it can be determined that the first part to be assembled is assembled into place. It should be explained that the fifth position information can be position information in the horizontal direction and along the axial direction of the second part to be assembled. In this case, the third preset position information is a determined value in the horizontal direction and along the axial direction of the second part to be assembled. Of course, the fifth position information can also be spatial position information. In this case, the third preset position information is spatial position information.

[0068] Optionally, the position information of the assembly setting can be obtained by setting an industrial camera to take pictures.

[0069] In summary, the technical solution of this embodiment improves the production efficiency of the air conditioner by optimizing the control method of the assembly equipment to realize the automatic and precise assembly of the first to-be-assembled part and the second to-be-assembled part. In addition, the automatic assembly control method provided by this embodiment effectively improves the precise grasping of the first to-be-assembled part, and at the same time, effectively improves the precise assembly of the first to-be-assembled part and the second to-be-assembled part.

[0070] In a possible implementation, the first time is 1 to 1.5 seconds. Preferably, the first time is 1.2 seconds.

[0071] In a second aspect, an embodiment of the present disclosure further provides an assembly device, which adopts the control method of the assembly device as described above.

[0072] In this embodiment, the assembly device is connected to a robot and is moved by the robot. The assembly device includes a gripper 110, which has a receiving chamber for receiving a first part to be assembled, and is used to grip the first part to be assembled. For example but not limited to, the gripper 110 is a sleeve structure, and the open end of the sleeve structure is arranged toward the first part to be assembled, so as to facilitate gripping the first part to be assembled.

[0073] Second embodiment

[0074] The control method in this embodiment is similar to the control method in the first embodiment, except that in this embodiment, the structure of the assembly equipment is specifically optimized, and more specific control parameters are designed in combination with the optimized structure. Specifically, the assembly equipment in this embodiment includes a gripping member 110, a driving assembly 120, and a locking member 130, wherein the locking member 130 is connected to the driving assembly 120, and the gripping member 110 is connected to the driving assembly 120. For the convenience of assembly, the driving assembly is disposed on a support plate 140, and a connecting flange 150 is also connected to the other side of the support plate 140. The assembly equipment is connected to the robot via the connecting flange 150, and the movement is performed by the robot (not shown in the figure). For example, but not limited to, the locking member 130 is a claw clamp.

[0075] Figure 2 A flowchart showing a first operation procedure in the second embodiment; Figure 3 A flowchart showing the third operation procedure in the second embodiment; Figure 4 A flowchart showing a fourth operation procedure in the second embodiment; Figure 8 A schematic three-dimensional structure diagram of the assembly equipment in the second embodiment is shown.

[0076] See also Figure 2 and Figure 8 In a possible implementation manner, the specific steps of controlling the assembly equipment to enter the first operation procedure include:

[0077] Step S21 , controlling the driving assembly 120 to extend and controlling the driving assembly 120 to rotate.

[0078] In this embodiment, after the assembly device is moved to the first preset position, in order to improve the efficiency of grabbing the first part to be assembled, a program is set to simultaneously control the extension and rotation of the driving assembly 120, so that when the grabbing member 110 approaches the first part to be assembled, the cap recognition operation between the two can be started. This effectively avoids the traditional operation of controlling the grabbing member 110 to approach the first part to be assembled, then driving the grabbing member 110 to rotate, and starting the cap recognition operation between the grabbing member 110 and the first part to be assembled, effectively reducing the occurrence of instability such as swaying and tilting of the first part to be assembled due to drastic changes in the airflow around the first part to be assembled, and improving the environmental stability when the grabbing member 110 and the first part to be assembled are aligned.

[0079] See also Figure 3 In a possible implementation manner, the specific steps of controlling the assembly equipment to enter the third operation procedure include:

[0080] Step S51, controlling the driving assembly 120 to stop working, and controlling the locking member 130 to lock the first component to be assembled;

[0081] Step S52: Control the assembly equipment to move so as to drive the first component to be assembled to move.

[0082] In this embodiment, after the first part to be assembled is completely inserted into the grasping member 110, a locking procedure is set to improve the stability of the first part to be assembled during the movement to the second part to be assembled. Specifically, after the grasping member 110 moves to the second preset position, that is, after the grasping member 110 grasps the first part to be assembled, the operation of the driving component 120 is stopped, and the locking member 130 is controlled to lock the first part to be assembled, so that the first part to be assembled and the grasping member 110 remain relatively still, which facilitates the transfer of the first part to be assembled. Then, the entire assembly equipment is controlled to move by the robot to drive the entire assembly equipment to a position close to the second part to be assembled. It should be understood that during the movement of the assembly equipment, the driving component 120 remains stationary and remains relatively still with other components.

[0083] In one embodiment, the third operation procedure further includes:

[0084] Step S53, obtaining the sixth position information of the assembly equipment and the seventh position information of the second to-be-assembled component, and if the sixth position information matches the seventh position information, determining that the assembly equipment is moved to the fourth designated position.

[0085] Specifically, the sixth position information of the assembly equipment is obtained, and the seventh position information of the second part to be assembled is obtained at the same time, and then the movement data of the assembly equipment is calculated according to the difference value between the sixth position information and the seventh position information, and the assembly equipment is moved to the fourth designated position according to the movement data to move the first part to be assembled to the vicinity of the second part to be assembled.

[0086] It should be explained that the sixth position information may be spatial position information, in which case the seventh position information is also spatial position information. Of course, in other embodiments, the sixth position information may also be position information in the vertical direction and position information in the horizontal direction and perpendicular to the axial direction of the second to-be-assembled part, in which case the seventh position information is position information in the vertical direction and position information in the horizontal direction and perpendicular to the axial direction of the second to-be-assembled part.

[0087] See also Figure 4 In a possible implementation manner, the specific steps of controlling the assembly equipment to enter the fourth operation procedure include:

[0088] Step S61, controlling the driving assembly 120 to extend;

[0089] Step S62, controlling the locking member 130 to release the first component to be assembled;

[0090] Step S63, controlling the driving assembly 120 to rotate at a speed of 350-450 rpm and a torque of 1.2-1.8 NM.

[0091] In this embodiment, after aligning the first and second parts to be assembled, in order to realize the automatic assembly of the first and second parts to be assembled and ensure the assembly accuracy, the specific parameter values ​​during assembly are also optimized and set. Specifically, when the first and second parts to be assembled are aligned, the first and second parts to be assembled are on the same horizontal straight line. At this time, the drive assembly 120 is first controlled to extend to align the first part to be assembled with the interface of the second part to be assembled, and then the locking of the first part to be assembled is loosened to facilitate the subsequent screwing of the first and second parts to be assembled. Finally, the drive assembly 120 is controlled to rotate under the optimized parameters to realize the assembly operation of the first and second parts to be assembled. It should be understood that the first and second parts to be assembled are threaded assembly structures. When assembling, it is necessary to consider the tolerable torque and assembly speed between the first and second parts to be assembled. If the torque is too large, it will cause damage to the first part to be assembled; if the torque is too small, it is impossible to ensure that the first and second parts to be assembled are assembled. If the assembly speed is too fast, it will cause the problem of over-assembly of the first and second parts to be assembled, which is not conducive to subsequent maintenance and disassembly; if the assembly speed is too slow, it will affect the assembly efficiency, and since the stability of the assembly environment of the first and second parts to be assembled cannot be guaranteed for a long time, the slow assembly speed will also cause the problem that the first part to be assembled cannot be assembled on the second part to be assembled.

[0092] Preferably, the drive assembly 120 rotates at a speed of 400 rpm and a torque of 1.5 NM.

[0093] Third embodiment

[0094] The control method in this embodiment is similar to the control method in the second embodiment, except that in this embodiment, the structure of the drive assembly 120 is specifically optimized, and more specific control parameters are designed in combination with the optimized structure. Specifically, in this embodiment, the drive assembly 120 is configured as a combined component including a first drive member 121 and a second drive member 122, and the second drive member 122 is disposed on the first drive member 121, so that the movement of the second drive member 122 can be achieved through the first drive member 121. The gripping member 110 is disposed at an end of the second drive member 122 away from the first drive member 121, so that it can move with the second drive member 122. Specifically, the first drive member 121 can control the extension and retraction of the gripping member 110, and the second drive member 122 can control the rotation of the gripping member 110.

[0095] Figure 5 A flowchart showing a first operation procedure in the third embodiment; Figure 6 A flowchart showing the second operation procedure in the third embodiment; Figure 8 A schematic three-dimensional structure diagram of the assembly equipment in the first embodiment is shown.

[0096] See also Figure 5 and Figure 8 In a possible implementation manner, the specific steps of controlling the driving assembly 120 to extend and simultaneously controlling the driving assembly 120 to rotate include:

[0097] Step S211, controlling the first driving member 121 to extend;

[0098] Step S212: At the same time, control the second driving member 122 to rotate at a speed of 2 to 8 rpm and a torque of 2 to 3 N.M.

[0099] In this embodiment, the structure of the driving assembly 120 is further optimized, and at least two driving members are provided to independently realize the movement and rotation of the grabbing member 110. For example, but not limited to, the first driving member 121 is a driving cylinder, and the second driving member 122 is a servo motor. The power of the servo motor is about 100W, so as to realize the miniaturization of the assembly equipment.

[0100] Specifically, after the first assembly device is moved to the first preset position, in order to improve the efficiency of cap recognition, the first driving member 121 is controlled to extend and the second driving member 122 is controlled to rotate. In this way, the first driving member 121 can drive the second driving member 122 and the grabbing member 110, which is an integral component, to extend together. At the same time, the grabbing member 110 keeps rotating under the rotation of the second driving member 122, so as to achieve the simultaneous movement and rotation of the grabbing member 110. In addition, the structural setting of the driving assembly 120 can also achieve the separate control of the movement and rotation of the grabbing member 110. It should be understood that when the grabbing member 110 and the first part to be assembled are subjected to the cap recognition process, the influence of the grabbing member 110 driving the surrounding air to rotate during the rotation process on the stability of the first part to be assembled should be considered. If the grabbing member 110 rotates too fast and the rotation torque is too small, the first part to be assembled will be moved and tilted, making the cap recognition between the two more difficult, and the grabbing operation between the grabbing member 110 and the first part to be assembled more difficult.

[0101] Preferably, the second driving member 122 rotates at a speed of 5 rpm and a torque of 2.5 NM.

[0102] See also Figure 6 In a possible implementation manner, the specific steps of controlling the assembly equipment to enter the second operation procedure include:

[0103] Step S311 , controlling the second driving member 122 to stop rotating, and controlling the first driving member 121 to continue extending.

[0104] In this embodiment, after the grabbing member 110 and the first part to be assembled have successfully recognized each other, in order to improve the stability of the first part to be assembled moving to the vicinity of the second part to be assembled and increase the contact area between the first part to be assembled and the grabbing member 110, a procedure for deeply grabbing the first part to be assembled is also set. Specifically, after the grabbing member 110 and the first part to be assembled have successfully recognized each other, the rotation of the second driving member 122 is immediately stopped, so as to stop the rotation of the grabbing member 110; and the first driving member 121 is immediately controlled to continue to extend in the direction close to the first part to be assembled, so as to completely cover the grabbing member 110 on the outside of the first part to be assembled, so as to increase the grabbing area of ​​the grabbing member 110 for the first part to be assembled.

[0105] Fourth embodiment

[0106] The control method in this embodiment is similar to the control method in the third embodiment, except that the material of the gripping member 110 is embodied in this embodiment so that the gripping member 110 is flexible, rather than a conventional rigid gripping member 110. It should be understood that the flexible material has the characteristic of being deformed but the material properties remain unchanged. The control method provided in this embodiment utilizes this flexible characteristic to detect the deformation amount of the gripping member 110 during the movement, so as to ensure that the gripping member 110 does not produce an excessive deformation amount during the movement, making it more difficult for the gripping member 110 to return to its original shape. Furthermore, in conjunction with the actual operating parameter range of the second driving member 122, the flexible characteristics of the grasping member 110 can also be used to improve the fault tolerance range of the grasping member 110 for the first part to be assembled, so that the interface size of the grasping member 110 actually docking with the first part to be assembled is larger, which is more conducive to the grasping of the first part to be assembled by the grasping member 110; at the same time, there is a certain gap between the first part to be assembled and the fixing device that fixes the first part to be assembled, and the size of the first part to be assembled is not necessarily exactly the same. Therefore, the flexible characteristics of the grasping member 110 can also take into account the gap deviation between the first part to be assembled and the fixing device, and the size deviation of the incoming material of the first part to be assembled, so that the grasping member 110 is more adaptable to the part to be assembled products to be grasped and has a wider range of applications.

[0107] In a possible implementation manner, the specific step of controlling the assembly equipment to enter the first operation procedure further includes:

[0108] Step S22, obtaining the maximum shaft displacement value and the minimum shaft displacement value of the gripping member 110, and calculating the difference between the maximum shaft position value and the minimum shaft displacement value. If the difference satisfies 0-2 mm, controlling the assembly equipment to maintain the first operation procedure.

[0109] In this embodiment, after the assembly equipment is moved to the first preset position, the operation procedure of the drive assembly 120 is optimized. Specifically, in the first operation procedure, the first drive member 121 is controlled to extend and the second drive member 122 is controlled to rotate at the same time, and the second drive member 122 is guaranteed to rotate at a speed of 2 to 8 rpm and a torque of 2 to 3 N.M. In this way, the gripping member 110 is controlled to extend and maintain a rotation state of rotating at a speed of 2 to 8 rpm and a torque of 2 to 3 N.M, so that the gripping member 110 can start the cap recognition operation between the two as soon as it approaches the first part to be assembled. In addition, when the gripping member 110 maintains a rotating state, in order to monitor the flexible characteristics of the gripping member 110, a control program for real-time monitoring of the movement of the axis of the gripping member 110 is also set. Specifically, the deviation between each rear position of the axis of the grabbing member 110 and its position in the static state in that direction does not exceed 2 mm, thereby improving the fault tolerance of the grabbing member 110 and ensuring the deformation degree of the grabbing member 110 to avoid excessive deformation that cannot be restored.

[0110] In addition, the present disclosure also provides a computer-readable storage medium, including instructions, which, when executed on a computer, enable the computer to execute the control method of the assembly equipment as described above.

[0111] In addition, the present disclosure also provides an electronic device, including: a memory storing computer program instructions; and a processor, which implements the control method of the assembly device as described above when the computer program instructions are executed by the processor.

[0112] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0113] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for assembly equipment, characterized in that: The assembly device includes a gripping member for gripping a first part to be assembled, and the control method includes: Acquiring first position information of the assembly equipment; Moving the assembly device to a first preset position according to the first position information, and controlling the assembly device to enter a first operation procedure; Acquire the recognition information of the gripping part and the first part to be assembled, and if the recognition is successful within the first time, control the assembly device to enter the second operation procedure; Acquiring second position information of the gripping member, and if the second position information matches the second preset position information, controlling the assembly device to enter a third operation procedure; Acquire the third position information of the first to-be-assembled component and the fourth position information of the second to-be-assembled component, and if the third position information matches the fourth position information, control the assembly device to enter a fourth operation procedure; The fifth position information of the first component to be assembled is obtained, and if the fifth position information matches the third preset position information, it is determined that the first component to be assembled and the second component to be assembled are assembled completely.

2. The control method of assembly equipment according to claim 1, characterized in that: The assembly device further includes a driving component, the grabbing member is connected to one end of the driving component, and the specific steps of controlling the assembly device to enter the first operation procedure include: The driving assembly is controlled to extend and simultaneously controlled to rotate.

3. The control method of assembly equipment according to claim 2, characterized in that: The driving assembly includes a first driving member and a second driving member, the second driving member is arranged at one end of the first driving member, the grabbing member is connected to an end of the second driving member away from the first driving member, and the specific steps of controlling the driving assembly to extend and simultaneously controlling the driving assembly to rotate include: Controlling the first driving member to extend; At the same time, the second driving member is controlled to rotate at a speed of 2 to 8 rpm and a torque of 2 to 3 N.M.

4. The control method of assembly equipment according to claim 3, characterized in that: The gripping member is a flexible member, and the specific steps of controlling the assembly equipment to enter the first operation procedure also include: The maximum axial displacement value and the minimum axial displacement value of the gripping member are obtained, and the difference between the maximum axial displacement value and the minimum axial displacement value is calculated. If the difference satisfies 0 to 2 mm, the assembly equipment is controlled to maintain the first operation procedure.

5. The control method of assembly equipment according to claim 3, characterized in that: The specific steps of controlling the assembly equipment to enter the second operation procedure include: The second driving member is controlled to stop rotating, and the first driving member is controlled to continue extending.

6. The control method of assembly equipment according to claim 2, characterized in that: The assembly device further comprises a locking member, the locking member is connected to the driving assembly, the locking member and the grabbing member are arranged on the same side, and the specific steps of controlling the assembly device to enter the third operation procedure include: Control the driving assembly to stop working, and control the locking member to lock the first component to be assembled; The assembly device is controlled to move so as to drive the first component to be assembled to move.

7. The control method of assembly equipment according to claim 6, characterized in that: The specific steps of controlling the assembly equipment to enter the fourth operating procedure include: Controlling the driving assembly to extend; Controlling the locking member to release the first component to be assembled; The driving assembly is controlled to rotate.

8. The control method of assembly equipment according to claim 7, characterized in that: The specific steps of controlling the rotation of the driving assembly include: The driving assembly is controlled to rotate at a speed of 350 to 450 rpm and a torque of 1.2 to 1.8 NM.

9. The control method of assembly equipment according to claim 1, characterized in that: After the step of obtaining the identification information of the grabbing member and the first to-be-assembled member, the following step is further included: If the cap recognition is unsuccessful within the first time, the assembly device is controlled to move to a first preset position, and the assembly device is controlled to enter a first operation procedure.

10. An assembly device, characterized in that: A control method for assembly equipment as claimed in any one of claims 1 to 9 is adopted.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes instructions, and when the instructions are executed on a computer, the computer executes the control method of the assembly equipment according to any one of claims 1 to 9.

12. An electronic device, characterized in that: include: a memory storing computer program instructions; A processor, when the computer program instructions are executed by the processor, implements the control method of the assembly equipment according to any one of claims 1 to 9.

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