An assembly system

Abstract

The patent application discloses an assembly system, which comprises a flexible scheduling device, an automatic assembly device and an intelligent assembly device; the flexible scheduling device is connected with the automatic assembly device and the intelligent assembly device, the flexible scheduling device issues a first assembly instruction to the automatic assembly device, and the flexible scheduling device issues a second assembly instruction to the intelligent assembly device; the automatic assembly device is used for assembling raw materials into semi-finished products according to the first assembly instruction; the intelligent assembly device is used for guiding an operator to assemble raw materials into semi-finished products according to the second assembly instruction; and the intelligent assembly device is also used for guiding the operator to assemble the semi-finished products assembled by the automatic assembly device into finished products according to a first projection operation guiding image input by a user; and the intelligent assembly device is also used for receiving a second projection operation guiding image input by the user, and guiding the operator to complete the assembly of a customized product according to the second projection operation guiding image.

Description

TECHNICAL FIELD

[0001] Embodiments of the present patent application relate to the technical field of intelligent assembly, in particular to an assembly system. BACKGROUND

[0002] With the popularization of intelligent assembly, it is difficult to completely realize automatic assembly for products with complex assembly process, and the training of manual assembly is difficult. The traditional product assembly process guide is mainly to consult the guide book, which is time-consuming and difficult to guide for products with complex assembly process; the assembly method is mainly manual assembly, which has high labor cost, low efficiency and high error rate; it is difficult to train new employees and has high investment cost. SUMMARY

[0003] The present patent application provides an assembly system, which reduces the assembly difficulty, improves the assembly accuracy, and saves the labor cost.

[0004] Embodiments of the present patent application provide an assembly system, which includes a flexible scheduling device, an automatic assembly device and an intelligent assembly device.

[0005] The flexible scheduling device is connected with the automatic assembly device and the intelligent assembly device respectively, and is configured to issue a first assembly instruction to the automatic assembly device and a second assembly instruction to the intelligent assembly device.

[0006] The automatic assembly device is configured to assemble raw materials into semi-finished products according to the first assembly instruction.

[0007] Optionally, the intelligent assembly device is configured to guide an operator to assemble the raw materials into semi-finished products according to the second assembly instruction, and is further configured to guide the operator to assemble the semi-finished products assembled by the automatic assembly device into finished products according to a first projection operation guide image input by a user.

[0008] The intelligent assembly device is further configured to receive a second projection operation guide image input by a user, and guide the operator to complete the assembly of a customized product according to the second projection operation guide image.

[0009] Optionally, the flexible scheduling device includes a scheduling unit and a first human-computer interaction unit connected with each other; the first human-computer interaction unit is configured to display product and order information; and the scheduling unit is configured to issue the first assembly instruction after receiving the first instruction.

[0010] Optionally, the automatic assembly device includes a control unit and an execution unit connected with each other; the control unit is configured to receive the first assembly instruction and control the execution unit to assemble the raw materials into semi-finished products.

[0011] Optionally, the control unit comprises a programmable logic controller.

[0012] Optionally, the intelligent assembly device comprises an intelligent assembly control unit, a projection unit, a sensing unit and a manual assembly workbench.

[0013] A first end of the intelligent assembly control unit is connected with the projection unit and the sensing unit respectively.

[0014] The intelligent assembly control unit is configured to receive a first projection operation guide image input by a user and control the projection unit to project the first projection operation guide image to the manual assembly workbench.

[0015] The sensing unit is configured to collect hand movements of an operator and send the collection result to the intelligent assembly control unit.

[0016] Optionally, the intelligent assembly device further comprises a second human-computer interaction unit, and a second end of the intelligent assembly control unit is connected with the second human-computer interaction unit.

[0017] The second human-computer interaction unit is configured to receive a second projection operation guide image input by a user and send the second projection operation guide image to the intelligent assembly control unit.

[0018] The intelligent assembly control unit is configured to control the projection unit to project the second projection operation guide image to the manual assembly workbench, and an operator completes assembly of a customized product according to guidance of the second projection operation guide image.

[0019] Optionally, the sensing unit comprises a 3D camera.

[0020] Optionally, the scheduling unit comprises a first OPC UA interface, a first REST API interface and a second REST API interface, the first human-computer interaction unit comprises a third REST API interface, and the second REST API interface is connected with the third REST API interface.

[0021] The automatic assembly device comprises a second OPC UA interface, and the intelligent assembly device comprises a fourth REST API interface.

[0022] The first OPC UA interface of the scheduling unit is connected with the second OPC UA interface of the automatic assembly device.

[0023] The first REST API interface of the scheduling unit is connected with the fourth REST API interface of the intelligent assembly device.

[0024] The technical scheme of the embodiment is characterized in that the flexible scheduling device, the automatic assembly device and the intelligent assembly device are cooperated with each other to split and reasonably schedule the assembly of the complex product into automatic assembly and manual assembly, thereby solving the problems of high assembly difficulty, low assembly accuracy, high labor cost and low efficiency, reducing the assembly difficulty, improving the assembly accuracy, saving the labor cost and ensuring the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a structural schematic diagram of an assembly system provided by an embodiment of the patent application;

[0026] Figure 2 is a structural schematic diagram of another assembly system provided by an embodiment of the patent application;

[0027] Figure 3 is a structural schematic diagram of another assembly system provided by an embodiment of the patent application;

[0028] Figure 4 is a structural schematic diagram of another assembly system provided by an embodiment of the patent application. DETAILED DESCRIPTION

[0029] The patent application will be further described in detail below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the patent application, but not to limit the patent application. In addition, it should be noted that, for the convenience of description, only the parts related to the patent application are shown in the drawings, but not all the structures.

[0030] Figure 1 is a structural schematic diagram of an assembly system provided by an embodiment of the patent application, referring to Figure 1 The assembly system comprises a flexible scheduling device 10, an automatic assembly device 20 and an intelligent assembly device 30; wherein the flexible scheduling device 10 is connected with the automatic assembly device 20 and the intelligent assembly device 30 respectively, the flexible scheduling device 10 is used to issue a first assembly instruction to the automatic assembly device 20, and the flexible scheduling device 10 is used to issue a second assembly instruction to the intelligent assembly device 30; the automatic assembly device 20 is used to assemble raw materials into semi-finished products according to the first assembly instruction; the intelligent assembly device 30 is used to guide an operator to assemble raw materials into semi-finished products according to the second assembly instruction; the intelligent assembly device 30 is also used to guide the operator to assemble the semi-finished products assembled by the automatic assembly device 20 into finished products according to a first projection operation guide image input by a user; the intelligent assembly device 30 is also used to receive a second projection operation guide image input by a user, and the intelligent assembly device 30 guides the operator to complete the assembly of the customized product according to the second projection operation guide image.

[0031] Specifically, the flexible scheduling device 10 can include a touch screen on which different working mode selection buttons are arranged for user selection; the automatic assembly device 20 can be a mechanical gripper or a multi-joint robot, which can automatically complete the assembly of the semi-finished product according to the instruction; the intelligent assembly device 30 can guide the operator to complete the assembly of the semi-finished product, the assembly of the finished product and the assembly of the customized product according to the tutorial through the projection of the picture or the playing of the dynamic assembly flowchart.

[0032] The assembly system can provide three working modes of human-machine cooperation, competition mode and customized assembly. The human-machine cooperation refers to that the flexible scheduling device 10 issues a first assembly instruction to the automatic assembly device 20, and the automatic assembly device 20 assembles raw materials into a semi-finished product according to the first assembly instruction; the automatic assembly device 20 monitors the assembly progress of the semi-finished product in real time and feeds back to the flexible scheduling device 10, and after the assembly of the semi-finished product is completed, the flexible scheduling device 10 controls the intelligent assembly device 30 to be in a waiting assembly state after receiving the feedback, and when the intelligent assembly device 30 receives the first projection operation guide image input by the user, the first projection operation guide image is projected onto the workbench to guide the operator to manually assemble according to the flow, and the semi-finished product assembled by the automatic assembly device 20 is assembled into a finished product. It should be noted that the first projection operation guide image is an assembly step diagram of assembling the semi-finished product into a finished product.

[0033] The competition mode refers to that the automatic assembly device 20 and the intelligent assembly device 30 can compete in real time in automatic assembly and manual assembly, the flexible scheduling device 10 issues a first assembly instruction to the automatic assembly device 20 and a second assembly instruction to the intelligent assembly device 30 at the same time; the automatic assembly device 20 assembles a specified product according to the first assembly instruction, for example, assembles raw materials into a semi-finished product, and the intelligent assembly device 30 guides the operator to manually assemble the specified product according to the second assembly instruction, for example, assembles raw materials into a semi-finished product. The automatic assembly device 20 monitors the assembly progress of the semi-finished product in real time and feeds back to the flexible scheduling device 10, the intelligent assembly device 30 monitors the assembly progress of the semi-finished product in real time and feeds back to the flexible scheduling device 10, and the flexible scheduling device 10 receives the feedback of the automatic assembly device 20 and the intelligent assembly device 30 in real time and displays the competition progress, time and result information of the automatic assembly and the manual assembly.

[0034] The customized assembly refers to the intelligent assembly device 30 working alone away from the flexible scheduling device 10 and the automatic assembly device 20. There are many types of customized products, and the assembly steps of each customized product are different. The user can input the corresponding second projection operation guide image into the intelligent assembly device 30 according to the different customized products. The intelligent assembly device 30 receives the second projection operation guide image input by the user. After receiving the third assembly instruction, the intelligent assembly device 30 projects the second projection operation guide image onto the workbench to guide the operator to manually assemble according to the process to complete the assembly of the customized product. The customized assembly is suitable for teaching and training of the assembly process of the customized product. The customized assembly can quickly add new products and configure new guide processes, and can be used for quickly and efficiently training new employees and saving training cost.

[0035] The above three working modes of the assembly system can realize man-machine cooperation, automatically and manually split the assembly process of a complex product, facilitate reasonable division of labor, save labor cost while ensuring production efficiency; the competition mode increases the interaction between automatic and manual assembly; the customized assembly can quickly add new products and configure new assembly processes, and can be used for quickly and efficiently training operators and saving training cost.

[0036] The technical scheme of the embodiment, through the cooperation of the flexible scheduling device, the automatic assembly device and the intelligent assembly device, splits and reasonably schedules the assembly of a complex product, solves the problems of high assembly difficulty, low assembly accuracy, high labor cost and low efficiency, reduces the assembly difficulty, improves the assembly accuracy, saves the labor cost while ensuring the production efficiency.

[0037] Figure 2 is another structure schematic diagram of an assembly system provided by the patent application embodiment, referring to Figure 2 Optionally, the flexible scheduling device 10 comprises a scheduling unit 101 and a first man-machine interaction unit 102 connected with each other; the first man-machine interaction unit 102 is used for displaying product and order information; the scheduling unit 101 is used for generating and issuing a first assembly instruction after generating a first instruction.

[0038] For example, the display interface of the first man-machine interaction unit 102 can pop up a selection box for the user to select the man-machine cooperation mode or the competition mode. When the user confirms to enter the man-machine cooperation mode, the scheduling unit 101 obtains the order from the order system, analyzes the first instruction generated after scheduling, and then issues the first assembly instruction to the automatic assembly device 20. The automatic assembly device 20 automatically assembles raw materials into semi-finished products according to the first assembly instruction.

[0039] The first human-computer interaction unit 102 is used to acquire the first projection operation guidance image input by the user and send it to the intelligent assembly device 30 through the scheduling unit 101. The scheduling unit 101 controls the intelligent assembly device 30 to guide the operator to assemble the semi-finished product assembled by the automatic assembly device 20 into a finished product according to the first projection operation guidance image.

[0040] When the user confirms entry into the competition mode, the scheduling unit 101 issues a first assembly instruction to the automatic assembly device 20. The automatic assembly device 20 automatically assembles the specified product according to the first assembly instruction, such as automatically assembling raw materials into semi-finished products. The scheduling unit 101 automatically issues a second assembly instruction to the intelligent assembly device 30. The intelligent assembly device 30 guides the operator to manually assemble the specified product according to the second assembly instruction, such as assembling raw materials into semi-finished products. The first human-machine interaction unit 102 receives and displays the progress and results of the competition between the automatic assembly device 20 and the intelligent assembly device 30 in real time.

[0041] Continue to refer to Figure 2 Optionally, the automatic assembly device 20 includes a control unit 201 and an execution unit 202 connected to each other; the control unit 201 is used to receive a first assembly command and control the execution unit 202 to assemble the raw materials into semi-finished products.

[0042] The execution unit 202 can be a robotic arm or an industrial robot. When the assembly system is in human-machine collaboration or competition mode, the control unit 201 receives the first assembly command issued by the scheduling unit 101 and controls the execution unit 202 to automatically assemble the raw materials into semi-finished products.

[0043] Optionally, the control unit includes a programmable logic controller.

[0044] Among them, programmable logic controllers (PLCs) have advantages such as high reliability, strong anti-interference ability, convenient maintenance, small size, light weight, and low power consumption. Therefore, PLCs can be selected as control units.

[0045] Continue to refer to Figure 2 Optionally, the intelligent assembly device 30 includes an intelligent assembly control unit 301, a projection unit 303, a sensing unit 304, and a manual assembly workbench 305; the first end of the intelligent assembly control unit 301 is connected to the projection unit 303 and the sensing unit 304 respectively; the intelligent assembly control unit 301 is used to receive the first projection operation guidance image input by the user and control the projection unit 303 to project the first projection operation guidance image onto the manual assembly workbench 305; the sensing unit 304 is used to collect the operator's hand movements and send the collection results to the intelligent assembly control unit 301.

[0046] Specifically, the intelligent assembly control unit 301 stores an intelligent assembly guidance program. After receiving the second assembly command from the scheduling unit 101, the intelligent assembly control unit 301 projects the corresponding guidance image onto the manual assembly workbench 305 via the control projection unit 303. The operator completes the specified assembly actions according to the guidance. The sensing unit 304 collects the operator's hand movements and sends the collection results to the intelligent assembly control unit 301. The intelligent assembly control unit 301 compares the collected hand movements with the intelligent assembly guidance program to determine whether the operator's assembly actions are correct and continues to guide until the guidance process is completed. The operator can manually assemble the raw materials into semi-finished products according to the guidance image projected on the manual assembly workbench 305.

[0047] After receiving the first projected operation guidance image input by the user, the intelligent assembly control unit 301 projects the first projected operation guidance image onto the manual assembly workbench 305 through the control projection unit 303. The operator completes the specified assembly actions according to the guidance. The sensing unit 304 collects the operator's hand movements and sends the collection results to the intelligent assembly control unit 301. The intelligent assembly control unit 301 compares the collected hand movements with the intelligent assembly guidance program, determines whether the operator's assembly actions are correct, and continues to guide until the guidance process is completed. The operator can manually assemble the semi-finished products assembled by the automatic assembly device 20 into finished products according to the first projected operation guidance image projected on the manual assembly workbench 305.

[0048] Figure 3 This is a schematic diagram of another assembly system provided in an embodiment of this patent application, see reference. Figure 3 Optionally, the intelligent assembly device 30 also includes a second human-machine interaction unit 302, and the second end of the intelligent assembly control unit 301 is connected to the second human-machine interaction unit 302.

[0049] The second human-computer interaction unit 302 is used to receive the second projection operation guidance image input by the user and send the second projection operation guidance image to the intelligent assembly control unit 301.

[0050] The intelligent assembly control unit 301 controls the projection unit 303 to project the second projection operation guidance image onto the manual assembly workbench 305, and the operator completes the assembly of the customized product according to the guidance of the second projection operation guidance image.

[0051] Specifically, in customized assembly mode, the intelligent assembly device 30 can operate independently of the flexible scheduling device 10 and the automatic assembly device 20. The second human-machine interaction unit 302 acquires the second projected operation guidance image input by the user and sends it to the intelligent assembly control unit 301. The intelligent assembly control unit 301 controls the projection unit 303 to project the second projected operation guidance image onto the manual assembly workbench 305. The operator completes the specified assembly actions according to the guidance. The sensing unit 304 collects the operator's hand movements and sends the collection results to the intelligent assembly control unit 301. The intelligent assembly control unit 301 compares the collected hand movements with the intelligent assembly guidance program to determine whether the operator's assembly actions are correct and continues to guide until the operator completes the assembly of the customized product following the guidance.

[0052] Optionally, the sensing unit includes a 3D camera.

[0053] Among them, the 3D camera can track the operator's hand movements in real time and compare them with the specified process to determine whether the manual assembly operation is correct and continue to guide until the guidance process is completed.

[0054] Figure 4 This is a schematic diagram of another assembly system provided in an embodiment of this patent application, see reference. Figure 4 Optionally, the scheduling unit 101 includes a first OPC UA interface 11, a first REST API interface 21, and a second REST API interface 22; the first human-computer interaction unit 102 includes a third REST API interface 23; the second REST API interface 22 is connected to the third REST API interface 23; the automatic assembly device 20 includes a second OPC UA interface 12; the intelligent assembly device 30 includes a fourth REST API interface 24; the first OPC UA interface 11 of the scheduling unit 101 is connected to the second OPC UA interface 12 of the automatic assembly device 20; and the first REST API interface 21 of the scheduling unit 101 is connected to the fourth REST API interface 24 of the intelligent assembly device 30.

[0055] The second REST API interface 22 of the scheduling unit 101 communicates with the third REST API interface 23 of the first human-machine interaction unit 102 via the HTTP protocol. A first instruction is sent from the third REST API interface 23 of the first human-machine interaction unit 102 to the second REST API interface 22 of the scheduling unit 101. The first OPC UA interface 11 of the scheduling unit 101 communicates with the second OPC UA interface 12 of the control unit 201 in the automatic assembly device 20 via the OPC UA protocol.

[0056] The first REST API interface 21 of the scheduling unit 101 communicates with the fourth REST API interface 24 of the intelligent assembly control unit 301 in the intelligent assembly device 30 via the HTTP protocol. The first OPC UA interface 11 of the scheduling unit 101 sends the first assembly command to the second OPC UA interface 12 of the control unit 201, and the first REST API interface 21 of the scheduling unit 101 sends the second assembly command to the fourth REST API interface 24 of the intelligent assembly control unit 301.

[0057] Note that the above description is merely a preferred embodiment and the technical principles employed in this patent application. Those skilled in the art will understand that this patent application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of this patent application. Therefore, although this patent application has been described in detail through the above embodiments, this patent application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this patent application, the scope of which is determined by the scope of the appended claims.

Claims

1. An assembly system, characterized in that, The assembly system includes a flexible scheduling device (10), an automatic assembly device (20), and an intelligent assembly device (30). The flexible scheduling device is connected to both the automatic assembly device and the intelligent assembly device. The flexible scheduling device is used to issue a first assembly command to the automatic assembly device in the user-selected human-machine collaboration mode. The automatic assembly device is used to automatically assemble raw materials into semi-finished products according to the first assembly command. The intelligent assembly device is also used to guide the operator to further assemble the semi-finished products assembled by the automatic assembly device into finished products according to the first projected operation guidance image input by the user. The flexible scheduling device is also used to issue the first assembly command to the automatic assembly device and simultaneously issue a second assembly command to the intelligent assembly device in the user-selected competition mode. The automatic assembly device is used to automatically assemble raw materials into semi-finished products according to the first assembly command and monitor the assembly progress of the semi-finished products in real time and provide feedback to the flexible scheduling device. The intelligent assembly device is used to guide the operator to assemble the raw materials into semi-finished products according to the second assembly command and monitor the assembly progress of the semi-finished products in real time and provide feedback to the flexible scheduling device.

2. The assembly system according to claim 1, characterized in that, The intelligent assembly device is also used to receive a second projected operation guidance image input by the user in the customized assembly mode. The intelligent assembly device guides the operator to complete the assembly of the customized product according to the second projected operation guidance image. In the customized assembly mode, the intelligent assembly device works independently of the flexible scheduling device and the automatic assembly device.

3. The assembly system according to claim 2, characterized in that, The flexible scheduling device includes a scheduling unit and a first human-machine interaction unit connected to each other. The first human-machine interaction unit is used to display product and order information, and the scheduling unit is used to issue the first assembly instruction after receiving the first instruction.

4. The assembly system according to claim 2, characterized in that, The automatic assembly device includes a control unit and an execution unit connected to each other. The control unit is used to receive the first assembly command and control the execution unit to assemble the raw materials into semi-finished products.

5. The assembly system according to claim 4, characterized in that, The control unit includes a programmable logic controller.

6. The assembly system according to claim 1, characterized in that, The intelligent assembly device includes an intelligent assembly control unit, a projection unit, a sensing unit, and a manual assembly workbench. The first end of the intelligent assembly control unit is connected to the projection unit and the sensing unit respectively; The intelligent assembly control unit is used to receive a first projection operation guidance image input by the user and control the projection unit to project the first projection operation guidance image onto the manual assembly workbench. The sensing unit is used to collect the operator's hand movements and send the collection results to the intelligent assembly control unit.

7. The assembly system according to claim 6, characterized in that, The intelligent assembly device further includes a second human-machine interaction unit, and the second end of the intelligent assembly control unit is connected to the second human-machine interaction unit; The second human-computer interaction unit is used to receive the second projection operation guidance image input by the user and send the second projection operation guidance image to the intelligent assembly control unit; The intelligent assembly control unit is used to control the projection unit to project the second projection operation guidance image onto the manual assembly workbench, and the operator completes the assembly of the customized product according to the guidance of the second projection operation guidance image.

8. The assembly system according to claim 6, characterized in that, The sensing unit includes a 3D camera.

9. The assembly system according to claim 3, characterized in that, The scheduling unit includes a first OPC UA interface, a first REST API interface, and a second REST API interface; the first human-computer interaction unit includes a third REST API interface; the second REST API interface is connected to the third REST API interface. The automated assembly device includes a second OPC UA interface, and the intelligent assembly device includes a fourth REST API interface. The first OPC UA interface of the scheduling unit is connected to the second OPC UA interface of the automatic assembly device; The first REST API interface of the scheduling unit is connected to the fourth REST API interface of the intelligent assembly device.

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