An automated production line intelligent improvement digital conversion comprehensive application training system and a training method thereof

Abstract

The application relates to an automatic production line intelligent improvement data conversion comprehensive application practical training system, which comprises an intelligent storage unit, an intelligent identification and transfer unit, an intelligent assembly and detection unit, an AMR carrying robot unit, a control unit, an SCADA unit, a WMS storage management unit, an MES production management unit, a robot data acquisition unit and a digital twin unit. The system can embody a typical automatic production line, students can contact advanced intelligent manufacturing technology, and corresponding use, debugging and maintenance and repair skills of intelligent manufacturing can be cultivated.

Description

Technical Field

[0001] This invention relates to a training system, and more particularly to a training system and training method for the integrated application of intelligent transformation and digital conversion of automated production lines. Background Technology

[0002] To improve students' hands-on skills and keep up with market technology trends, student training needs to be practical. For example, CN206400929U discloses an industrial robot application training device, including a training platform, an RFID automatic feeding and transmission line, a palletizing training module, a robot body, an automated assembly training fixture, and an automated warehousing training module. The robot body is used for material transfer between the RFID automatic feeding and transmission line, the palletizing training module, the automated assembly training fixture, and the automated warehousing training module. The RFID automatic feeding and transmission line includes an automatic belt conveyor and a material bin. The bottom of the material bin has an opening slot, one side of which has a push plate that can extend into it, and the other side of the opening slot is adjacent to the automatic belt conveyor. The front end of the automatic belt conveyor has an RFID reader / writer. The automated assembly training fixture includes a positioning mechanism. The automated warehousing training module includes a storage rack and storage material racks stacked on the storage rack. This industrial robot application training device facilitates the development of training courses by allowing for the individual application and flexible combination of modules, enabling multi-purpose use and diverse functions, effectively reducing investment costs and saving training room space. However, the device's warehousing system is too simple and differs significantly from actual automated warehousing. Another example is CN215006362U, a PLC-based automated sorting, handling, and warehousing control system, which includes a PLC controller for the control system. The PLC controller is connected to a material handling and sorting system, a rotary conveying system, and a warehousing system. A material handling and sorting system drive unit is connected between the material handling and sorting system and the PLC controller; a rotary conveying system drive unit is connected between the rotary conveying system and the PLC controller; and a warehousing system drive unit is connected between the warehousing system and the PLC controller. The PLC controller also has a touch screen and a main power supply connected to it. Although the system uses PLC to control each drive unit, enabling the various parts of the system to work together and solve practical problems through PLC programming, and vividly and intuitively demonstrates the workflow between the various parts of the system, which is beneficial for students to create real physical control objects based on different control objects during practical training, it still differs from reality as a whole. It is a partial implementation system and cannot reflect the model of a large-scale automated production line.

[0003] In addition, as high-end manufacturing equipment is used more and more widely in industry, enterprises are increasingly demanding highly skilled personnel for the design, installation, programming, debugging, maintenance and repair of digital production workstation systems, and the systems disclosed in the above patents cannot meet the requirements. Summary of the Invention

[0004] To address the aforementioned issues of incompatibility with actual large-scale production lines, this invention provides a comprehensive application training system for intelligent transformation and digital conversion of automated production lines. The specific technical solution is as follows:

[0005] An integrated training system for intelligent transformation and digital conversion of automated production lines includes: an intelligent warehousing unit, an intelligent identification and transfer unit, an intelligent assembly and inspection unit, an AMR (Automatic Mobile Robot) transport robot unit, a pallet, a control unit, a SCADA (Supervisory Control and Data Acquisition) unit, a WMS (Warehouse Management System) unit, a MES (Manufacturing Execution System) unit, a robot data acquisition unit, and a digital twin unit. The control unit is used for network communication between the various units and for controlling the intelligent warehousing unit, the intelligent identification and transfer unit, the intelligent assembly and inspection unit, and the AMR transport robot unit. The intelligent identification and transfer unit is used to identify information about workpieces to be assembled or finished workpieces and transmit it to the main controller and the SCADA system. The RFID reader / writer module can read and write information based on the intelligent... The results of the vision system recognition are used to update the data of the RFID chip embedded in the pallet, enabling information-based tracking of the work process. The intelligent warehousing unit updates the status information of each storage location to the WMS warehouse management system. Then, orders are placed through the MES system to determine the production order plan. The WMS warehouse management system plans the optimal outbound method based on the order plan. The robot data acquisition unit is used to collect robot data in real time and provide real-time robot operation data to the MES production management unit and the digital twin unit. The digital twin unit is used for virtual model building, virtual debugging simulation, and virtual-real integration, and achieves real-time communication between sensor data and external control data through industrial communication protocols.

[0006] A training method for a comprehensive application training system for intelligent transformation and digital conversion of automated production lines includes:

[0007] Training methods for raw material quality inspection and warehousing;

[0008] Finished product assembly and return-to-warehouse training methods; and

[0009] A comprehensive automated training method for raw material quality inspection and warehousing, finished product assembly, and return to the warehouse.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] The present invention provides an integrated training system for intelligent transformation and digital conversion of automated production lines, which can reflect typical automated production lines, allowing students to be exposed to advanced intelligent manufacturing technologies and cultivate corresponding skills in the use, debugging, maintenance and repair of intelligent manufacturing.

[0012] It requires collaboration between students and teachers majoring in industrial robot technology, intelligent robot technology, intelligent control technology, and industrial internet application technology, demonstrating teamwork spirit, and also comprehensively assessing the school's teaching achievements and students' knowledge and abilities from multiple perspectives.

[0013] It meets the demand for professionals in intelligent manufacturing, intelligent robots, industrial internet and other related fields. Attached Figure Description

[0014] Figure 1 This is a diagram illustrating the application process;

[0015] Figure 2 This is a structural diagram of an intelligent warehousing unit;

[0016] Figure 3 This is a front view of an intelligent storage unit;

[0017] Figure 4 This is an assembly diagram of the moving device and the feeding / discharging device;

[0018] Figure 5 This is a schematic diagram of the feeding and discharging device;

[0019] Figure 6 This is a side view of the feeding and discharging device;

[0020] Figure 7 This is a schematic diagram of the structure of the feeding and discharging device after the tray is hidden;

[0021] Figure 8 yes Figure 7 The front view;

[0022] Figure 9 yes Figure 7 Rear view;

[0023] Figure 10 This is a schematic diagram of a material support device equipped with a tray;

[0024] Figure 11 This is a schematic diagram of the material support device;

[0025] Figure 12 This is a front view of the material support device;

[0026] Figure 13 This is a structural diagram of an AGV (Automated Guided Vehicle).

[0027] Figure 14This is a schematic diagram of the intelligent identification and transfer unit and the intelligent assembly and inspection unit;

[0028] Figure 15 yes Figure 14 Top view;

[0029] Figure 16 This is a schematic diagram of the input device;

[0030] Figure 17 This is a schematic diagram of the temporary storage device;

[0031] Figure 18 This is a structural diagram of the assembly and testing module;

[0032] Figure 19 This is a front view of the assembly and testing module;

[0033] Figure 20 This is a schematic diagram of the network topology of this application;

[0034] Figure 21 This is a flowchart of the training method for raw material quality inspection and warehousing;

[0035] Figure 22 This is a flowchart of the training method for finished product assembly and return to warehouse;

[0036] Figure 23 This is a flowchart of a comprehensive automated training method for raw material quality inspection and warehousing, as well as finished product assembly and return to the warehouse. Detailed Implementation

[0037] The present invention will now be further described with reference to the accompanying drawings.

[0038] Example 1

[0039] This system is designed for students majoring in industrial robot technology, intelligent robot technology, intelligent control technology, and industrial internet applications in higher vocational colleges. It covers core technologies from professional courses such as intelligent sensing technology, visual inspection technology, RFID radio frequency identification technology, SLAM technology, industrial internet technology, digital twin technology, MES production management technology, WMS warehouse management technology, and SCADA data acquisition and monitoring technology. Graduates are primarily employed in positions related to intelligent robot programming and operation, workstation installation and debugging, system integration, and on-site maintenance. Furthermore, by using this system, students can also master intelligent manufacturing information management technology and digital twin technology, and become familiar with the overall operation process of intelligent manufacturing systems and virtual debugging.

[0040] Centered on the digital and intelligent upgrading and transformation of typical automated production lines, this program is equipped with intelligent warehousing, intelligent assembly and testing, intelligent robots, AMR autonomous mobile robots, intelligent vision, and other intelligent equipment. Through technologies such as intelligent sensing, visual inspection, RFID, SLAM, industrial internet, digital twins, MES (Manufacturing Execution System), WMS (Warehouse Management System), and SCADA (Supervisory Control and Data Acquisition) systems, it constructs a fully perceptive, seamlessly connected, and highly intelligent digital automated production line. Primarily targeting the comprehensive application-oriented teaching direction of related majors such as intelligent manufacturing, intelligent robotics, and industrial internet, the program provides systematic practical training to master advanced intelligent manufacturing and digital technologies. It strengthens students' professional abilities in installation, wiring, programming, debugging, fault diagnosis, and maintenance of various types of intelligent automated production lines, cultivating innovative, application-oriented, and technically skilled compound talents for the digital transformation of my country's equipment manufacturing industry.

[0041] This system showcases the achievements of vocational colleges in teaching reforms in intelligent manufacturing technology, intelligent robotics technology, and industrial internet applications through integrated theory and practice training. It guides and promotes teaching reforms in related majors, stimulates and mobilizes the initiative and enthusiasm of industries and enterprises to pay attention to and participate in professional teaching reforms, and promotes the improvement of applied professional talent training levels in vocational colleges. The system integrates teaching, practical training, competitions, and skills assessments, making it an ideal platform for universities and colleges to conduct comprehensive engineering practice, teaching training, enterprise training, competition assessments, and skills evaluations.

[0042] like Figures 1 to 20As shown, an integrated training system for intelligent transformation and digital conversion of automated production lines includes: an intelligent warehousing unit, an intelligent identification and transfer unit, an intelligent assembly and inspection unit, an AMR (Automatic Mobile Robot) transport robot unit, a pallet, a control unit, a SCADA (Supervisory Control and Data Acquisition) unit, a WMS (Warehouse Management System) unit, a MES (Manufacturing Execution System) unit, a robot data acquisition unit, and a digital twin unit. The control unit is used for network communication between the various units and for controlling the intelligent warehousing unit, the intelligent identification and transfer unit, the intelligent assembly and inspection unit, and the AMR transport robot unit. The intelligent identification and transfer unit is used to identify information about workpieces to be assembled or finished workpieces and transmit it to the main controller and the SCADA system. The RFID reader / writer module can read and write information according to the intelligent... The results of the vision system's recognition are used to update the data of the RFID chip embedded in the pallet, enabling information-based tracking of the work process. The intelligent warehousing unit updates the status information of each storage location to the WMS warehouse management system. Then, orders are placed through the MES system to determine the production order plan. The WMS warehouse management system plans the optimal outbound method based on the order plan. The robot data acquisition unit is used to collect robot data in real time and provide real-time robot operation data to the MES production management unit and the digital twin unit. The digital twin unit is used for virtual model building, virtual debugging and simulation, and virtual-real integration. It also enables real-time communication between sensor data and external control data through industrial communication protocols.

[0043] The intelligent warehousing unit includes: an automated warehouse with several storage locations; a palletizer located inside the automated warehouse for inbound and outbound handling; a first RFID reader / writer module for identifying the status information of the storage locations and the workpiece information on the pallets located within the storage locations; an electronic Kanban board located outside the automated warehouse for transparent management by the WMS warehouse management system; a first electrical control module connected to the automated warehouse, the palletizer, the first RFID reader / writer module, and the electronic Kanban board; and a first touch control module connected to the first electrical control module and the control unit.

[0044] The palletizer includes a moving device and an infeed / outfeed device mounted on the moving device. The infeed / outfeed device includes: an infeed / outfeed base mounted on the moving device; an infeed / outfeed bottom plate slidably mounted on the infeed / outfeed base; a pallet slidably mounted on the infeed / outfeed bottom plate; an infeed / outfeed drive device mounted on the infeed / outfeed base and connected to the infeed / outfeed bottom plate, used to drive the infeed / outfeed bottom plate and the pallet to extend or retract; and an infeed / outfeed linkage device connected to the infeed / outfeed base, the infeed / outfeed bottom plate and the pallet respectively, used to drive the pallet to extend or retract.

[0045] The intelligent identification and transfer unit includes: an input device connected to the control unit; an identification device located above the assembly conveyor line and connected to the control unit for identifying workpieces; a second RFID read / write module located on the input device and connected to the control unit for updating data on the RFID chip embedded in the pallet; and a stacking device located on one side of the input device for temporarily storing the pallet.

[0046] The intelligent assembly and inspection unit includes: an intelligent robot for transporting workpieces; a temporary storage device located on one side of the intelligent robot for temporarily storing workpieces; an assembly and inspection module located on one side of the intelligent robot for assembling and inspecting the assembly status; a second electrical control unit connected to both the intelligent robot and the assembly and inspection module; and a second touch control module connected to both the second electrical control unit and the control unit.

[0047] The assembly inspection module includes: an assembly base plate; a clamping cylinder located at one end of the assembly base plate; a clamping seat slidably mounted on the assembly base plate and connected to the clamping cylinder; a movable tilting cylinder located on the clamping seat; a movable chuck located on the movable tilting cylinder; a fixed tilting cylinder located at the other end of the assembly base plate; a fixed chuck located on the fixed tilting cylinder and opposite to the movable chuck; an assembly bracket located on the assembly base plate and between the fixed chuck and the movable chuck, positioned in a third workpiece slot for positioning the workpiece; a reset device connected to both the assembly bracket and the fixed tilting cylinder, the assembly bracket slidably mounted on the assembly base plate, and the reset device used to reset the assembly bracket; and a displacement sensor located on either the fixed tilting cylinder or the movable tilting cylinder.

[0048] The control unit includes: several routers connected to the main control unit; an industrial firewall located on the active unit; and several switches connected to the routers, the main control unit, the intelligent warehousing unit, the intelligent identification and transfer unit, the intelligent assembly and inspection unit, the AMR transport robot unit, the main control unit, the SCADA unit, the WMS warehouse management unit, the MES production management unit, the robot data acquisition unit, and the digital twin unit, respectively.

[0049] Industrial firewalls can manage access permissions and monitor data at different network levels, ensuring stable communication and data security.

[0050] The router supports wireless access and internet behavior management such as application restrictions, website filtering, intelligent bandwidth, web security, and access control lists. It also supports various network security functions such as ARP protection, DoS protection, and scanning attack protection.

[0051] A switch (also known as a switching hub) is a network device used for forwarding electrical (or optical) signals. It provides a dedicated electrical signal path for any two network nodes connected to the switch. The function of a switch can be understood as connecting machines to form a local area network (LAN). Routers, on the other hand, differ significantly from switches; their function is to connect different network segments and find the most suitable path for data transmission within the network.

[0052] The SCADA system consists of industrial gateways, a SCADA cloud platform, and supports communication methods such as Modbus (RTU / ASCII), Modbus TCP, TCP / IP, and OPC. Based on a B / S architecture, the system supports both cloud and local deployment, is compatible with mainstream browsers, allows for lightweight deployment, and utilizes web configuration technology. It features low-code development capabilities, enabling the creation of new projects and the addition of multiple sub-pages within each project, achieving configuration functions similar to an HMI (Human-Machine Interface). The platform supports simultaneous data acquisition from multiple gateways. By simply arranging the built-in components (including buttons, tables, indicator lights, commonly used graphics libraries, pointer instruments, and graphs), a visual data dashboard can be created on the web.

[0053] Industrial gateway

[0054] Equipped with an industrial-grade gateway, utilizing industrial-grade materials, design, and processes, it ensures operation under extreme conditions and strong interference. It supports WiFi and 100Mbps Ethernet network access, featuring three 100Mbps Ethernet ports and standardized APIs for easy and rapid development of various IoT cloud platforms. Cloud-adaptive access is supported, allowing connection to multiple types of cloud platforms, and a quick-access device maintenance line enables fully remote operation and management of the equipment.

[0055] The gateway has rich protocol parsing capabilities and can communicate with field devices such as temperature and humidity sensors, single-phase energy meters, and PLCs to realize data acquisition and control of field devices. It also has edge computing functions such as data grouping, data filtering, data alarm, multiplier formula calculation, and data standardization.

[0056] SCADA Cloud Platform

[0057] Main functions of SCADA system:

[0058] 1) Technical Platform: The system is developed based on a B / S architecture, supports mainstream browsers, and all functions and configurations of the platform can be operated in the browser. The platform supports the MQTT protocol to communicate with the gateway.

[0059] 2) Gateway Configuration: Supports centralized management of multiple gateways, allows viewing or setting gateway locations on a map, debugging the current gateway, and viewing data communication and gateway connection status;

[0060] 3) Project Creation: In a new project, you can customize the canvas size or make it adapt to different sizes. Each canvas page in the project supports mouse hover preview, allowing for quick and easy selection of the canvas for editing and previewing.

[0061] 4) Flowchart drawing: Provides a rich variety of basic graphic components, with a variety of basic geometric shapes built-in. These basic shapes can be dragged and dropped in the browser for layout and connection operations, satisfying the drawing of various flowcharts.

[0062] 5) Web Configuration: Provides a powerful industrial control configuration system. Supports various controls such as buttons, dashboards, line graphs, pie charts, tables, and custom images. Page layouts can be dragged and dropped in the browser. Combined with a smart gateway, real-time data binding and display can be performed, enabling the development of various customized data dashboards. Canvas import and export functions are supported.

[0063] 6) Application Deployment: Supports access to the data dashboard via PC, mobile app, etc. A project can be deployed as an EXE application, which can be installed and accessed on Windows. An APK Android application can also be deployed for access on Android phones.

[0064] 7) Scripting Functionality: The platform supports scripting, including both SQL and JavaScript. SQL can be used to access the backend database, while JavaScript can be used to handle simple business logic. (A software demonstration video will be provided during the bidding process.)

[0065] 8) Web Configuration: Provides a full-featured visualization engine integrating dynamic interaction, rich display, and data management, offering convenient operation for the Internet of Things (IoT) and the Industrial Internet. Users can create new canvases, drag and drop components from the left-hand component library to the right-hand canvas, and set the appearance, events, and data bindings for each different component. The system supports MQTT data subscription-publishing mode to enable interaction between the interface and devices, supports viewing historical data to prevent user errors, and supports importing and exporting canvas data.

[0066] The WMS warehouse management system mainly consists of WMS warehouse management software and intelligent warehouse hardware equipment to complete tasks such as acquiring inbound and outbound data, inventory counting, allocation, and setting related parameters.

[0067] The system adopts a B / S architecture, supports lightweight deployment, and can be deployed in either the cloud or on-premises. The platform can directly collect PLC data from intelligent warehousing units through backend services, enabling data collection and visualization for intelligent warehousing. It performs statistical analysis on production orders, displaying the results in visual graphical icons. Upper and lower limits for inventory quantities can be set, and alerts will be generated when these limits are exceeded. Simultaneously, it can achieve automatic inventory counting in intelligent warehousing based on RFID, and can monitor and control the reading and writing of RFID information.

[0068] It possesses warehouse location information management capabilities, enabling the display and query of warehouse status information. It can control the stop, reset, and start of palletizers, and manage the inbound, outbound, and transfer of raw materials in designated locations. The inventory management page allows for querying inventory information, monitoring the status of raw materials and finished products, and displaying inventory alarm information. It also allows for the statistical analysis of production data and the querying of RFID-related information. Furthermore, it enables palletizers to read and compare RFID data of warehouse goods, facilitating automated inventory counting.

[0069] The system enables the transfer of a specified number of goods within a warehouse, facilitating in-warehouse allocation. It also manages special items by dividing warehouse locations into zones, allowing for the separate management of raw materials, finished products, and non-conforming goods.

[0070] The WMS warehouse management system allows users to draw network topology diagrams of the system on a web page, set important system operation parameters, and back up and restore data. It also supports the management of system operation logs.

[0071] The MES production management system consists of MES production management software and other components. As the digital and information management center of the entire system, it takes the intelligent manufacturing MES production management software as its core, and achieves collaborative work and efficient data exchange through Ethernet to realize the interconnection of the entire system. It can also realize system monitoring and information status display through monitoring and information display terminals.

[0072] MES (Manufacturing Execution System) production management software features a user-friendly, clean, and standardized interface with strong operability. It manages orders and monitors production across all equipment on the production line, working in conjunction with PLCs to ensure the safe and orderly operation of the entire production process. The MES software can be divided into modules such as process design, order management, equipment dashboards, system control, data dashboards, and system management.

[0073] The robot data acquisition software is developed using C#, supporting data acquisition from various robot brands and converting this data into a unified OPC UA protocol to ensure data transmission security. The software can acquire robot I / O signals, joint coordinates, and other data in real time. It provides real-time robot operation data for third-party software or systems such as MES systems, digital twin software, and data visualization dashboards. The software has a simple and aesthetically pleasing interface, is easy to learn and use, and runs stably, and has been widely used in numerous projects. It provides accurate and reliable real-time data for data visualization dashboards and MES systems, and also provides real-time and reliable equipment status data for predictive maintenance systems. The software is highly scalable and can be quickly integrated using interfaces provided by other robot manufacturers.

[0074] Digital twin system

[0075] The digital twin system is equipped with a mechatronics digital twin kit, including mechatronics digital twin software, models, and resources, enabling functions such as virtual model building, virtual debugging and simulation, and virtual-real integration. It supports multiple common industrial communication protocols such as OPC, TCP / IP, and PROFINET, allowing real-time communication between sensor data and external control data. It also supports communication and integration with various real control devices such as PLCs, microcontrollers, and robot controllers.

[0076] The system is configured with mobile terminals, which are mainly used for system operation, data analysis and display.

[0077] The data dashboard configuration includes a movable stand and is primarily used for programming design, network management, system operation, data analysis and display, making the system visual and traceable, and possessing the basic characteristics of information management.

[0078] The Integrated Application Training System for Intelligent Transformation and Digitalization of Automated Production Lines is rooted in real-world production practices and aligns with pedagogical principles. It comprehensively integrates practical training in related majors such as intelligent robotics, intelligent manufacturing, and the Industrial Internet. Through system-based training, it cultivates innovative, application-oriented, and technically skilled professionals geared towards my country's digital industrial transformation. The system's surrounding environment is equipped with safety barriers and other safety measures to facilitate teaching and training. The platform can be widely applied in various scenarios, including vocational college teaching activities, social skills training, teacher research and development projects, vocational skills competitions, and vocational skills level assessments.

[0079] like Figures 2 to 13 As shown, the intelligent warehousing unit includes an automated warehouse, a palletizer, pallets, a first RFID reader / writer module, a first electrical control module, and a first touch control module.

[0080] The automated warehouse includes an outer frame 11 and storage racks 13. The palletizer includes a moving device 3 and a feeding / discharging device 33. Both the storage rack 13 and the moving device 3 are installed inside the outer frame 11, with the moving device 3 located on one side of the storage rack 13; the feeding / discharging device 33 is installed on the moving device 3; the pallet 2 is used to place workpieces and is movably placed on the supporting device 10; the feeding / discharging device 33 is used to move the pallet 2 into or out of the supporting device 10, and the moving device 3 is used to move the pallet 2 to the corresponding supporting device 10.

[0081] The outer frame 11 is made of aluminum profiles and has four feet at the bottom. The storage rack 13, the moving device 3, and the feeding / discharging device 33 are located inside the outer frame 11, which improves safety. The feeding / discharging device 33 is used to feed and discharge the pallet 2, which greatly reduces the overall width and simplifies the structure and control.

[0082] The outer frame 11 is equipped with a display screen 12, which is mainly used for transparent management of the WMS warehouse management system. It displays the on-site situation by using visual and intuitive information, and plays the role of displaying work statistics results.

[0083] like Figure 2 and Figure 3 As shown, the storage rack 13 is made of aluminum profiles, and several material support devices 10 for placing pallets 2 are arrayed on the storage rack 13. Figures 9 to 11 As shown, the material handling device 10 includes a first material handling plate 14, a second material handling plate 15, an empty space detection switch 16, and a status indicator light 17. The first material handling plate 14 and the second material handling plate 15 are arranged opposite to each other and are both installed on the support beam 131 of the storage rack 13. The distance between the first material handling plate 14 and the second material handling plate 15 is greater than the width of the feeding / discharging device 33, forming a working space for the feeding / discharging device 33, which facilitates lifting the pallet 2 from below. The empty space detection switch 16 is a micro switch, limit switch, proximity switch, or photoelectric switch, etc., used to detect whether there is a pallet 2. The empty space detection switch 16 is installed in the inspection slot of the second material handling plate 15. The status indicator light 17 is also installed on the second material handling plate 15 and is located at the end of the storage rack 13 for easy observation. When there is a pallet 2 on the second material handling plate 15, the empty space detection switch 16 sends a signal, and the status indicator light 17 lights up, indicating that there is a pallet 2 in that location.

[0084] To prevent the pallet 2 from shifting or sliding out of the material support device 10, the tails of the first material support plate 14 and the second material support plate 15 are equipped with positioning parts, which can be positioning blocks, positioning posts, etc., and can block the pallet 2.

[0085] like Figure 11As shown, pallet 2 has several positioning slots 21 for placing workpieces. To further prevent workpieces from slipping, pallet 2 also has a storage slot 22, with the positioning slots 21 located at the bottom. This allows for the placement of both small and large workpieces, improving the versatility of pallet 2. Pallet 2 is a rectangular plate with elastic pads 23 at each of its four corners. The height of the elastic pads 23 is higher than that of pallet 2, allowing for the stacking of pallets 2. Pallet 2 is equipped with RFID electronic tags 24, which are located in tag slots and do not affect the transfer of pallets 2. The RFID electronic tags 24 store location and workpiece information.

[0086] The first RFID reader / writer module 37 is installed on the feeding / discharging device 33 and is used to read and write information on the RFID electronic tag 24.

[0087] like Figure 4 As shown, the moving device 3 includes a horizontal linear module 31 and a vertical linear module 32. The horizontal linear module 31 is installed at the bottom inside the outer frame 11 and is located on one side of the storage rack 13. The vertical linear module 32 is installed on the horizontal slide 311 of the horizontal linear module 31 and is perpendicular to the horizontal linear module 31. The horizontal linear module 31 is in a horizontal state and is used for reciprocating movement along the X-axis, while the vertical linear module 32 is in a vertical state and is used for reciprocating movement along the Z-axis.

[0088] like Figures 5 to 7 As shown, the feeding / discharging device 33 includes a feeding / discharging base 30, a feeding / discharging bottom plate 331, a pallet 334, a feeding / discharging drive device, a feeding / discharging linkage device, and a position detection device. The feeding / discharging base 30 is mounted on the vertical slide table 321 of the vertical linear module 32. The feeding / discharging bottom plate 331 is slidably mounted on the feeding / discharging base 30, and the pallet 334 is slidably mounted on the feeding / discharging bottom plate 331, with both sliding in the same direction. The feeding / discharging drive device is mounted on the feeding / discharging base 30 and connected to the feeding / discharging bottom plate 331, and is used to drive the feeding / discharging bottom plate 331 and the pallet 334 to extend or retract. The feeding / discharging linkage device is connected to the feeding / discharging base 30, the feeding / discharging bottom plate 331, and the pallet 334 respectively, and is used to drive the pallet 334 to extend or retract.

[0089] The inlet / outlet base plate 331 is slidably connected to the inlet / outlet base 30 via roller guide rail 332. The tray 2 is connected to the inlet / outlet base plate 331 via roller guide rail 332, or it can be connected via other guide rails. The tray 334, roller guide rail 332, inlet / outlet base plate 331, roller guide rail 332 and inlet / outlet base 30 are arranged sequentially from top to bottom.

[0090] To increase friction and prevent the pallet 2 from sliding, a rubber plate 335 can be installed on the pallet 334. This will not only ensure friction and prevent the pallet 2 from sliding, but also reduce shock and decrease the vibration generated when in contact with the pallet 2, thus preventing the workpiece from falling out of the positioning groove 21 due to vibration.

[0091] The infeed and discharge base 30 is also equipped with baffles 336 on both sides. The baffles 336 are also movable on both sides below the tray 334 to achieve the closure of both ends of the infeed and discharge device and improve safety.

[0092] The first RFID reader / writer module 37 is installed on the infeed / outfeed base 30.

[0093] The infeed / outfeed drive device includes an infeed / outfeed drive motor 341, an infeed / outfeed drive gear 343, and an infeed / outfeed drive rack 344. The infeed / outfeed drive motor 341 is mounted on the bottom of the infeed / outfeed base 30 and is equipped with a drive pulley. The infeed / outfeed drive gear 343 is rotatably mounted on the bottom of the infeed / outfeed base 30 via a drive seat 342 and is connected to a driven pulley. The driven pulley is connected to the drive pulley via a synchronous belt, thereby enabling the infeed / outfeed drive motor 341 to drive the infeed / outfeed drive gear 343 to rotate. The infeed / outfeed drive rack 344 is mounted on the infeed / outfeed base plate 331 and is arranged parallel to the roller guide rail 332. The infeed / outfeed drive rack 344 also meshes with the infeed / outfeed drive gear 343.

[0094] The feed and discharge linkage device includes a feed pulley 352, a feed belt 353, a discharge pulley 362, and a discharge belt 363. The feed pulley 352 and the discharge pulley 362 are rotatably mounted at both ends of the feed and discharge base plate 331, respectively. The two ends of the feed belt 353 are mounted on the same end of the feed and discharge base 30 and the support plate 334 through the first belt fixing seat 351 and the second belt fixing seat 354, respectively, and are located at both ends of the feed and discharge base plate 331, respectively, along with the feed pulley 352. The feed belt 353 is also sleeved on the feed pulley 352. The two ends of the discharge belt 363 are mounted on the feed and discharge base 30 and the support plate 334 through the third belt fixing seat 361 and the fourth belt fixing seat 364, respectively, and are located at the other end of the feed and discharge base 30 and the support plate 334, respectively. The discharge belt 363 is also located at both ends of the feed and discharge base plate 331, along with the discharge pulley 362, respectively. The discharge belt 363 is also sleeved on the discharge pulley 362.

[0095] The inlet / outlet base plate 331 is also equipped with a first positioning seat 365, which is arranged opposite to the fourth belt fixing seat 364 to limit the extreme position of the extension and prevent derailment. Correspondingly, a second positioning seat 355 is also provided, which is arranged opposite to the second belt fixing seat 354 to realize the extreme limit of the other end.

[0096] like Figure 9As shown, the position detection device includes a first sensor 371, a second sensor 372, a third sensor 373, and a detection plate 374. The first sensor 371 and the third sensor 373 are respectively installed at both ends of the infeed / outfeed base 30. The second sensor 372 is located between the first sensor 371 and the third sensor 373. The detection plate 374 is installed on the infeed / outfeed base plate 331 and is positioned opposite to the first sensor 371, the second sensor 372, and the third sensor 373. The first sensor 371 controls the position where the material extends into the storage rack 13, the second sensor 372 controls the zero position, and the third sensor 373 controls the extension position during discharge, achieving accurate control of the three stations.

[0097] When the infeed / outfeed base plate 331 moves, since one end of the infeed belt 353 and the outfeed belt 363 are fixed to the infeed / outfeed base 30 and the other end is fixed to the pallet 334, the infeed belt 353 and the outfeed belt 363 drive the pallet 334 to move in the same direction as the infeed / outfeed base plate 331 through the infeed pulley 352 and the outfeed pulley 362 respectively, thus extending or retracting. The infeed / outfeed device 33 forms a three-section guide rail structure, and the pallet 334 and the infeed / outfeed base plate 331 extend synchronously, which can ensure the extension length while shortening the overall length and reducing the width. The infeed / outfeed drive motor 341 pushes the infeed / outfeed plate to move through gears and racks. Forward rotation and rotation respectively realize the movement of the pallet 2 between the storage rack 13 and the AGV trolley 4.

[0098] During loading, the moving device 3 drives the infeed / outfeed device 33 to the AGV trolley 4. Then, the infeed / outfeed device 33 starts, and the infeed / outfeed drive motor 341 drives the infeed / outfeed drive rack 344 through the infeed / outfeed drive gear 343. The infeed / outfeed drive rack 344 drives the infeed / outfeed base plate 331 to move towards the conveyor line of the AGV trolley 4. Due to the action of the infeed / outfeed linkage device, the pallet 334 extends under the action of the infeed belt 353 and the outfeed belt 363 and inserts into the moving conveyor line 41 of the AGV trolley 4, so that the pallet 334 is located below the tray 2. Then, the moving device 3... The pallet 2 is lifted, disengaging from the moving conveyor 41. Then, the feeding / discharging device 33 retracts the pallet 2 back to its zero position. Next, the moving device 3 moves the pallet 2 to the corresponding compartment on the storage rack 13. The feeding / discharging device 33 extends towards the supporting device 10, positioning the pallet 2 above the first supporting plate 14 and the second supporting plate 15 of that compartment. Then, the moving device 3 lowers the feeding / discharging device 33, placing the pallet 2 on the first supporting plate 14 and the second supporting plate 15. The empty space detection switch 16 receives a signal, and the status indicator light 17 illuminates. The supporting plate 334 of the feeding / discharging device 33 retracts to its zero position.

[0099] The discharge process is the reverse of the loading process, moving the pallet 3 from the bin to the moving conveyor 41.

[0100] like Figures 14 to 19 As shown, the intelligent identification and transfer unit includes an input device, an identification device, a second RFID read / write module, and a stacking device 53. The input device is connected to the control unit; the identification device is located above the assembly conveyor line and connected to the control unit, used to identify workpieces; the second RFID read / write module is located on the input device and connected to the control unit, used to update data on the RFID chip embedded in the tray; the stacking device is located on one side of the input device, used to temporarily store the tray. The intelligent assembly and inspection unit includes an intelligent robot 61, a temporary storage device, an assembly and inspection module, a second electrical control unit, and a second touch control unit. The intelligent robot is used to transport workpieces; the temporary storage device is located on one side of the intelligent robot, used to temporarily store workpieces; the assembly and inspection module is located on one side of the intelligent robot, used to assemble and inspect the assembly status; the second electrical control unit is connected to both the intelligent robot and the assembly and inspection module; the second touch control module is connected to both the second electrical control unit and the control unit.

[0101] The intelligent robot 61 is equipped with a gripping device 62 for gripping workpieces and assembled sets of workpieces. The input device 5, temporary storage device, and assembly inspection device 7 are all located around the intelligent robot 61 and within its working range. The input device 5 moves the tray 2 to a set position and delivers the tray 2 containing the assembled workpieces; the identification device 52 is located to one side of the input device 5 for identifying workpieces; the temporary storage device is used to place workpieces and assembled sets of workpieces; the assembly inspection device 7 assists the intelligent robot 61 in assembling workpieces; and the stacking device 53, located to one side of the assembly conveyor line 51, is used to stack the trays 2. The intelligent robot 61 uses the gripping device 62 to move the workpiece identified by the identification device 52 to the temporary storage device, and then moves the workpiece from the temporary storage device to the assembly inspection device 7 for assembly.

[0102] The gripping device 62 can be a pneumatic gripper, vacuum suction cup, etc., and can be set according to actual needs.

[0103] like Figure 16As shown, the input device 5 includes an assembly conveyor line 51, a tray 2, an anti-detachment baffle 515, an infeed / outfeed sensor 514, and an input positioning device. The assembly conveyor line 51 is a belt conveyor line, with two belts symmetrically arranged on both sides of the conveyor frame to support the tray 2 from both sides. The tray 2 is used to place workpieces or sets of workpieces, and is also used to feed or discharge the assembly conveyor line 51. The infeed / outfeed sensor 514 is installed at the feed end of the assembly conveyor line 51 to detect the entry and exit of the tray 2. The input positioning device includes an input sensor 511, an input positioning cylinder 513, and two input positioning blocks 512. Two input positioning cylinders 513 and two input positioning blocks 512 are provided. The two input positioning blocks 512 are respectively installed on the two input positioning cylinders 513, and the distance between the two input positioning blocks 512 matches the tray 2. An input sensor 511 is installed on the assembly conveyor line 51, located between two input positioning cylinders 513. The input sensor 511 is used to detect the pallet 2. When the pallet 2 is detected, the input positioning cylinder 513 raises the input positioning block 512 to position the pallet 2, making it fixed in a position so that the intelligent robot 61 can easily pick up workpieces or place sets of workpieces. An anti-detachment baffle 515 is installed at the discharge end of the assembly conveyor line 51 to prevent the pallet 2 from falling off the assembly conveyor line 51.

[0104] like Figure 16 As shown, the identification device 52 includes an identification camera 522 and an identification frame 521. The identification frame 521 is located on one side of the assembly conveyor line 51. The identification camera 522 is mounted on the identification frame 521 and is located above the input device 5 and upstream of the input positioning device. It is used to identify workpieces or sets of workpieces and will not interfere with the intelligent robot 61, which facilitates the operation of the intelligent robot 61.

[0105] like Figure 17 As shown, the temporary storage device includes a first temporary storage seat 63 and a second temporary storage seat 64. The first temporary storage seat 63 has several grooves 631 for placing disc-shaped first workpieces, and the first workpiece grooves 631 are circular grooves. The second temporary storage seat 64 has several grooves 641 for placing shaft-shaped parts or sets of workpieces, and the second workpiece grooves 641 are V-shaped grooves. The disc is placed in the first workpiece groove 631 and has a through hole that matches the shaft.

[0106] The first temporary storage seat 63 serves as a temporary storage area for cylindrical raw materials, where cylindrical parts are placed. A through hole is provided below the first workpiece groove 631, and a sensor is installed to detect whether there is a workpiece in the first workpiece groove 631.

[0107] The second temporary storage seat 64 serves as a temporary storage area for shaft raw materials, where shaft parts or finished products are placed. A through hole is provided below the second workpiece groove 641, and a sensor is installed to detect whether there is a workpiece in the second workpiece groove 641.

[0108] like Figure 18 and Figure 19 As shown, the assembly testing device 7 includes an assembly base plate 71, a clamping cylinder 72, a clamping seat 73, a movable tilting cylinder 74, a movable chuck 75, a fixed tilting cylinder 78, a fixed chuck 79, an assembly bracket 76, a reset device, and a displacement sensor 70. A clamping cylinder 72 is fixed to one end of the assembly base plate 71 and connected to a clamping seat 73. The clamping seat 73 is slidably mounted on the assembly base plate 71 via a linear guide pair. A movable tilting cylinder 74 is fixed to the top of the clamping seat 73 and is connected to a movable chuck 75 via a first connecting plate 741. A fixed tilting cylinder 78 is mounted on the other end of the assembly base plate 71 via a first cylinder fixing seat 781 and is connected to a fixed chuck 79 via a second connecting plate 782. The fixed chuck 79 is also opposite to the movable chuck 75 and is coaxial. An assembly bracket 76 is slidably mounted on the assembly base plate 71 via a linear guide pair and is also located between the fixed chuck 79 and the movable chuck 75. A third workpiece groove 761 for positioning the workpiece is provided on the assembly bracket 76. The third workpiece groove 761 is a V-shaped groove. The reset device includes a reset spring 772 and a reset rod 771. One end of the reset rod 771 is fixed to the first cylinder mounting base 781, and the other end is provided with a limiting ring. The reset rod 771 is movably inserted into the assembly bracket 76. The reset spring 772 is movably inserted into the reset rod 771, and its two ends abut against the first cylinder mounting base 781 and the assembly bracket 76, respectively. The limiting ring is used to limit the position of the assembly bracket 76, forming the zero position of the assembly bracket 76. The assembly bracket 76 moves with the movable chuck 75 when the clamping cylinder 72 is working. A displacement sensor 70 is also included, mounted on the first cylinder mounting base 781 and positioned opposite the clamping base 73. A laser displacement sensor 70 can be used to detect the assembly distance, ensuring that the assembly is completed to the set state, forming a complete set of workpieces.

[0109] The movable tilting cylinder 74 and the fixed tilting cylinder 78 can tilt the fixed chuck 79 and the movable chuck 75 to a horizontal position, making it easier for the intelligent robot 61 to place the disc onto the fixed chuck 79 and the movable chuck 75, reducing the operating difficulty of the intelligent robot 61 and improving the assembly efficiency.

[0110] During operation, the pallet 2 for assembling workpieces is fed onto the assembly conveyor line 51 by an AGV trolley. When the infeed / outfeed sensor 514 detects the pallet 2, the recognition camera 522 starts after a delay, taking a picture when the pallet 2 moves under the recognition camera 522 to identify the shape and position information of the workpiece. When the input sensor 511 detects the pallet 2, the input positioning cylinder 513 drives the input positioning block 512 to rise, and the pallet 2 is positioned by the input positioning block 512. Then, the intelligent robot 61 uses the gripping device 62 to transfer the shaft and disk to the second workpiece slot 641 and the first workpiece slot 631, respectively. At this time, the clamping cylinder 72 is in the retracted state, and then the movable flipping cylinder 74 and the fixed flipping cylinder 78 flip the movable chuck 75 and the fixed chuck 79 to a horizontal state, respectively. After the workpiece transfer is completed, the intelligent robot 61 moves the pallet 2 to the stacking device 53 for stacking, and then the intelligent robot 61 uses the gripping device 62 to stack the first workpiece slot 641 and the first workpiece slot 631, respectively. The discs in workpiece slot 631 are placed into fixed chuck 79 and movable chuck 75 respectively. Fixed chuck 79 and movable chuck 75 clamp the discs. Then, movable tilting cylinder 74 and fixed tilting cylinder 78 both tilt the discs to a vertical position. Then, intelligent robot 61 transfers the shaft from the second workpiece slot 641 to the third workpiece slot 761 of assembly bracket 76 through gripping device 62. Then, clamping cylinder 72 drives movable chuck 75 to move towards fixed chuck 79. The discs at both ends of the shaft are inserted into the ends of the shaft under the action of clamping cylinder 72. Assembly bracket 76 moves with movable chuck 75. Return spring 772 keeps assembly bracket 76 in the center position of fixed chuck 79 and movable chuck 75 in the initial state, without affecting the tilting of fixed chuck 79 and movable chuck 75, and also facilitates the placement of shaft. When displacement sensor 70 detects the set distance, it means that the assembly is complete. If the set distance is not detected, it means that the assembly has failed and an alarm is issued. While the assembly and testing device 7 is assembling, the intelligent robot 61 can transfer the workpieces from the next pallet 2. After assembly is completed, the intelligent robot 61 moves the assembled complete set of workpieces to the empty pallet 2, and the assembly conveyor line 51 reverses to send the pallet 2 out. The pallet 2 returns to the AGV trolley, and the AGV trolley carries the pallet 2 into the automated warehouse to store the complete set of workpieces.

[0111] The intelligent robot 61 can also move the assembled complete set of workpieces to the second workpiece slot 641 for temporary storage as needed, and move the complete set of workpieces from the second workpiece slot 641 to the tray 2 above the assembly conveyor line 51 when appropriate.

[0112] The practical automated assembly can complete complex assembly and form complete sets of workpieces, fully simulating actual working conditions. Furthermore, the assembly efficiency is improved by using fixed tilting cylinder 78 and movable tilting cylinder 74, providing teaching insights on how to improve work efficiency. It also enables the intelligent robot 61 to perform interlacing work and complete complex rhythms, greatly improving students' hands-on skills.

[0113] It can realize multiple functions, including transporting workpieces from the warehouse for assembly and sending workpieces from the temporary storage device back into the warehouse.

[0114] Assembly conveyor line 51 is also an assembly line.

[0115] Example 2

[0116] like Figure 21 As shown, the training methods for raw material quality inspection and warehousing include:

[0117] S11. Manually place shaft-type workpieces and cylindrical workpieces in the shaft-type raw material temporary storage area and the cylindrical raw material temporary storage area. The shaft-type workpieces and the cylindrical workpieces include qualified workpieces and unqualified workpieces (defective parts). One part is placed in each compartment. No more than 4 workpieces are placed in the shaft-type raw material temporary storage area and no more than 8 workpieces are placed in the cylindrical raw material temporary storage area.

[0118] S12. Based on the number of shaft-type and cylindrical workpieces placed, place the corresponding number of empty pallets in the pallet storage compartment.

[0119] S13, the WMS system plans the raw material quality inspection and warehousing sequence based on the raw material warehouse location information and then proceeds to S20;

[0120] S14. Activate the virtual linkage function of the digital twin system;

[0121] S15. Maintain synchronization with physical equipment information, work processes, and equipment actions;

[0122] Step S11 also simultaneously performs S10, synchronously updating the raw material silo information to the WMS system, and then updating the information in step S13;

[0123] S20: Have all raw materials and workpieces been put into storage? If all have been put into storage, the process ends; otherwise, proceed to S21 and S200.

[0124] S21. The intelligent robot sequentially picks up an empty pallet from the pallet storage compartment and places it at the vision recognition station.

[0125] S22. The intelligent robot sequentially grabs / picks up a shaft or cylindrical workpiece from the shaft material storage area and the cylindrical material storage area, and places it in an empty tray at the vision recognition station.

[0126] S23. Intelligent vision identifies workpieces and obtains quality inspection information such as workpiece type and color;

[0127] S24. Use the RFID reader at the visual recognition station to write the workpiece information into the pallet chip;

[0128] S25, the assembly line rotates in reverse;

[0129] S26. The assembly line transports the pallet to the upper conveyor belt of the AMR transport robot;

[0130] S27. The production line stops rotating;

[0131] S28, the AMR transport robot moves to the warehouse unit's inbound docking point;

[0132] S29. Based on the workpiece type identified by visual recognition, the palletizer transfers the pallet to the designated raw material area or waste area, updates the WMS / SCADA system information, and returns S29.

[0133] S200 and AMR transport robots move to the loading and unloading docking point in the intelligent vision area and then enter S26.

[0134] Example 3

[0135] like Figure 22 As shown, the training methods for finished product assembly and return to warehouse are as follows:

[0136] S31. Manually place a workpiece at any random position in the tray, requiring that the position and orientation of the workpiece are random and unpredictable;

[0137] S32. Using the RFID reader / writer configured in the storage unit, manually write the RFID chip embedded in the pallet. The written information includes the session number, whether workpiece 1 is present or absent, whether workpiece 2 is present or absent, whether workpiece 3 is present or absent, storage location number, part status, etc. The above information is required to be updated and displayed in the WMS system synchronously. Then, manually place the pallet in the storage location with the corresponding storage location number.

[0138] S33. According to the requirements of the test question, place the specified number of pallets and workpieces in the storage unit;

[0139] S34. According to the requirements of the test question, operate in the MES system to complete the production order placement task, start the automated process, and then proceed to S39.

[0140] Based on order information, the S35 and WMS systems plan the pallet outbound sequence and proceed to S40, S36 and S38 respectively.

[0141] S36. The warehouse unit palletizer takes out the pallets from the designated warehouse locations in sequence according to the planned outbound sequence and places them on the upper conveyor belt of the AMR transport robot. The upper conveyor belt rotates in the opposite direction. The AMR transport robot unit can transfer 3 pallets at a time.

[0142] S37, the AMR transport robot moves to the loading / unloading (inbound / outbound) docking point of the identification and transfer unit;

[0143] S38, the AMR transport robot moves to the outbound docking point of the storage unit and enters S36;

[0144] S39. Activate the virtual linkage function of the digital twin system to maintain synchronization with the physical equipment information, work process, and equipment execution actions;

[0145] S40: Have all workpieces required by the order been shipped out? If the shipment is completed, proceed to S61; otherwise, proceed to S41.

[0146] The upper conveyor belt of the S41 AMR transport robot rotates in the forward direction. At the same time, the identification and transfer unit's assembly line also rotates in the forward direction, transporting all the pallets on the conveyor belt to the identification and transfer unit's assembly line.

[0147] S42. The tray moves along the assembly line to the camera photo recognition station;

[0148] S43. The camera and light source work together to identify the color, type and coordinate angle (x / y / theta) information of the workpiece, and then proceed to S51 and S44.

[0149] S44. The pallet moves toward the workstation to be grabbed.

[0150] S45. Check if there is a tray at the grabbing station. If it is grabbed, proceed to S46; otherwise, proceed to S47.

[0151] S46. Wait for the previous pallet to finish being grabbed, and proceed to S47;

[0152] S47. The pallet arrives at the gripping station and proceeds to S52;

[0153] S51, PLC acquires the color, type and coordinate angle information of the workpiece, and calculates the target position for the intelligent robot to grasp the workpiece;

[0154] S52. The intelligent robot picks up the workpiece and places it in the temporary storage area;

[0155] S53. Does the assembly condition meet? If yes, proceed to S54; otherwise, proceed to S57.

[0156] S54. The intelligent robot assembles finished parts, measures their dimensions, and places them in the temporary storage area.

[0157] S55. Has the MES order been completed? If yes, proceed to S56; otherwise, proceed to S57.

[0158] S56. Initiate the finished parts return process and proceed to S71;

[0159] S57. The intelligent robot grabs an empty pallet, places it at the empty pallet collection point, and then proceeds to S51.

[0160] S61, the AMR transport robot moves to the loading / unloading (inbound / outbound) docking point of the identification and transfer unit;

[0161] S62. The intelligent robot picks up an empty pallet and places it at the picking station on the assembly line.

[0162] S63. The intelligent robot picks up the finished part and places it in an empty pallet;

[0163] S64, The assembly line rotates in reverse;

[0164] S65, the tray moves to the camera image recognition station;

[0165] S66. The camera and light source work together to identify information about finished parts;

[0166] S67. Use an RFID reader to write information into the tray chip and update it to the MES system;

[0167] S68, The assembly line transports the pallet onto the upper conveyor belt of the AMR transport robot;

[0168] S69, AMR transport robot moves to the warehouse unit's inbound docking point;

[0169] The S70 palletizer transfers pallets to designated storage locations (finished product area / waste area) and updates RFID and WMS / SCADA system information;

[0170] S71. Have all MES orders been entered into the warehouse? If so, proceed to S72; otherwise, proceed to S61.

[0171] S72, Output production unit data application analysis charts.

[0172] Example 4

[0173] like Figure 23 As shown, the integrated automated training method for raw material quality inspection and warehousing, finished product assembly, and return to warehouse includes the following steps:

[0174] S811. Manually place a workpiece at any random position in the tray, requiring that the position and orientation of the workpiece are random and unpredictable;

[0175] S812. Using the RFID reader / writer configured in the storage unit, manually write information to the RFID chip embedded in the pallet. The written information includes session number, presence / absence of workpiece 1, presence / absence of workpiece 2, presence / absence of workpiece 3, storage location number, and part status. This information must be synchronously updated and displayed in the WMS system. Manually place the pallet in the corresponding storage location.

[0176] S813. As required, place the specified number of pallets and workpieces into the storage unit in sequence;

[0177] S814. Manually place shaft-type workpieces and cylindrical workpieces in the shaft-type material storage area and the cylindrical material storage area, and simultaneously proceed to S810 and S815.

[0178] S815. Information on whether raw materials are available in the storage location is simultaneously updated to the WMS system.

[0179] S816. As required, operate in the MES system to complete the production order issuance task and start the automated process;

[0180] S817 and WMS systems plan the raw material quality inspection and warehousing sequence based on the raw material warehouse location and the storage unit location information, and simultaneously enter S818 and S820.

[0181] S818, Activate the virtual linkage function of the digital twin system;

[0182] S819. Maintain synchronization with physical equipment information, work processes, and equipment actions;

[0183] S810: Information on whether raw materials are available in the storage location is updated synchronously to the WMS system and then entered into S817.

[0184] S820: Have all raw materials and workpieces been put into storage? If all have been put into storage, proceed to S891; otherwise, proceed to S821 and S890.

[0185] The S821 intelligent robot sequentially picks up an empty pallet from the pallet storage compartment and places it at the vision recognition station.

[0186] S822: The intelligent robot sequentially grabs / picks up a shaft or cylindrical workpiece from the shaft material storage area and the cylindrical material storage area, and places it in an empty tray at the vision recognition station.

[0187] S823: Intelligent vision identifies workpieces and obtains quality inspection information such as workpiece type and color;

[0188] S824. Use the RFID reader / writer at the visual recognition station to write workpiece information into the pallet chip;

[0189] S825, the assembly line rotates in reverse;

[0190] S826, The assembly line transports the pallet onto the upper conveyor belt of the AMR transport robot;

[0191] S827, The production line stops rotating;

[0192] The S828 and AMR transport robots move to the warehouse unit's inbound docking point.

[0193] S829. Based on the workpiece type identified by visual recognition, the palletizer transfers the pallet to the designated raw material area or waste area, updates the WMS / SCADA system information, and returns S29.

[0194] The S890 and AMR transport robots move to the loading and unloading docking point in the intelligent vision area and then enter the S826.

[0195] Based on order information, the S891 and WMS systems plan the pallet outbound sequence in the automated storage unit and simultaneously enter S892, S893 and S840.

[0196] S892, the AMR transport robot moves to the outbound docking point of the storage unit and enters S893;

[0197] S893, The warehouse unit palletizer takes out the pallets from the designated warehouse locations in sequence according to the planned outbound sequence and places them on the upper conveyor belt of the AMR transport robot. The upper conveyor belt keeps rotating in the opposite direction. The AMR transport robot unit can transfer 3 pallets at a time and enter S894.

[0198] S894, the AMR transport robot moves to the loading and unloading docking point in the intelligent vision area and enters S841;

[0199] S840: Have all workpieces required by the order been shipped out? If the shipment is completed, proceed to S861; otherwise, proceed to S841.

[0200] The upper conveyor belt of the S841 AMR transport robot rotates in the forward direction. At the same time, the identification and transfer unit's assembly line also rotates in the forward direction, transporting all the pallets on the conveyor belt to the identification and transfer unit's assembly line.

[0201] S842, The tray moves along the assembly line to the camera photo recognition station;

[0202] S843, The camera and light source work together to identify the color, type and coordinate angle (x / y / theta) information of the workpiece, and then proceed to S851 and S844.

[0203] S844, The pallet moves toward the workstation to be grabbed;

[0204] S845: Is there a tray at the grabbing station? If it is grabbed, proceed to S846; otherwise, proceed to S847.

[0205] S846, Wait for the previous tray to finish being grabbed, and proceed to S847;

[0206] S847, The pallet arrives at the gripping station and proceeds to S852;

[0207] S851 and PLC acquire the color, type and coordinate angle information of the workpiece, and calculate the target position for the intelligent robot to grasp the workpiece.

[0208] S852, The intelligent robot picks up the workpiece and places it in the temporary storage area;

[0209] S853. Does the assembly condition meet? If yes, proceed to S854; otherwise, proceed to S857.

[0210] S854. The intelligent robot assembles finished parts, measures their dimensions, and places them in the temporary storage area.

[0211] S855. Has the MES order been completed? If yes, proceed to S856; otherwise, proceed to S857.

[0212] S856, Initiate the finished parts return process and proceed to S871;

[0213] S857, The intelligent robot grabs an empty pallet, places it at the empty pallet collection point, and then enters S851;

[0214] S861, the AMR transport robot moves to the loading / unloading (inbound / outbound) docking point of the identification and transfer unit;

[0215] S862, Intelligent robot grabs empty pallets and places them at the grabbing station on the assembly line;

[0216] S863: The intelligent robot picks up the finished part and places it in an empty pallet;

[0217] S864, the assembly line rotates in reverse;

[0218] S865, pallet movement to camera image recognition station;

[0219] S866: The camera and light source work together to identify information about finished parts;

[0220] S867. Use an RFID reader to write information into the tray chip and update it to the MES system;

[0221] S868, the assembly line transports the pallet to the upper conveyor belt of the AMR transport robot;

[0222] The S869 AMR transport robot moves to the warehouse unit's inbound docking point;

[0223] The S870 palletizer transfers pallets to designated storage locations (finished product area / waste area) and updates RFID and WMS / SCADA system information;

[0224] S871. Have all MES orders been entered into the warehouse? If so, proceed to S72; otherwise, proceed to S61.

[0225] S872, Output production unit data application analysis charts.

[0226] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the claims of the present invention.

Claims

1. A comprehensive application training system for intelligent transformation and digital conversion of automated production lines, characterized in that, include: Intelligent warehousing unit, intelligent identification and transfer unit, intelligent assembly and inspection unit, AMR transport robot unit, pallet, control unit, SCADA unit, WMS warehouse management unit, MES production management unit, robot data acquisition unit and digital twin unit; The control unit is used for network communication of each unit, as well as to control the intelligent warehousing unit, intelligent identification and transfer unit, intelligent assembly and inspection unit and AMR transport robot unit; The intelligent identification and transfer unit is used to identify the information of the workpiece to be assembled or the finished workpiece and transmit it to the main controller and SCADA system. The RFID reading and writing module can update the data of the RFID chip embedded in the tray according to the identification result of the intelligent vision system, so as to realize the information tracking of the operation process. The intelligent warehousing unit is used to update the status information of each warehouse location to the WMS warehouse management system. Then, it places an order through the MES system to determine the production order plan. The WMS warehouse management system plans the optimal outbound method based on the order plan. The robot data acquisition unit is used to collect robot data in real time and provide real-time robot operation data to the MES production management unit and digital twin unit; Digital twin units are used for virtual model building, virtual debugging and simulation, and virtual-real integration, and enable real-time communication between sensor data and external control data through industrial communication protocols; The intelligent assembly inspection unit includes: Intelligent robots are used to move workpieces; An assembly inspection module is located on one side of the intelligent robot and is used to assemble and inspect the assembly status. The assembly inspection module includes: Assembly base plate; clamping cylinder, located at one end of the assembly base plate; The clamping seat is slidably disposed on the assembly base plate and connected to the clamping cylinder; An active tilting cylinder is mounted on the clamping seat; A movable chuck is provided on the movable tilting cylinder; A fixed tilting cylinder is located at the other end of the assembly base plate; A fixed chuck is mounted on the fixed tilting cylinder and is positioned opposite to the movable chuck. An assembly bracket is provided on the assembly base plate and located between the fixed chuck and the movable chuck, and is provided in the third workpiece slot for positioning the workpiece. A reset device is connected to both the assembly bracket and the fixed tilting cylinder. The assembly bracket is slidably mounted on the assembly base plate. The reset device is used to reset the assembly bracket. A displacement sensor is installed on the fixed or movable tilting cylinder.

2. The integrated application training system for intelligent transformation and digital conversion of automated production lines according to claim 1, characterized in that, The intelligent warehousing unit includes: The automated warehouse has several storage spaces. A palletizer, installed within the automated warehouse, is used for inbound and outbound handling; and The first RFID reader / writer module is used to identify the status information of the storage location and the workpiece information on the pallet located in the storage location. Electronic Kanban boards, located on the exterior of the automated warehouse, are used for transparent management by the WMS warehouse management system. The first electrical control module is connected to the automated warehouse, the palletizer, the first RFID reader / writer module, and the electronic Kanban; and The first touch control module is connected to both the first electrical control module and the control unit.

3. The integrated application training system for intelligent transformation and digital conversion of automated production lines according to claim 2, characterized in that, The palletizer includes a moving device and a feeding / discharging device disposed on the moving device, the feeding / discharging device comprising: The inlet and outlet bases are mounted on the moving device; The inlet / outlet base plate is slidably mounted on the inlet / outlet base; The pallet is slidably mounted on the inlet and outlet bottom plate; An infeed / outfeed drive device, mounted on the infeed / outfeed base and connected to the infeed / outfeed bottom plate, is used to drive the infeed / outfeed bottom plate and the pallet to extend or retract; and The infeed / outfeed linkage device is connected to the infeed / outfeed base, the infeed / outfeed bottom plate, and the pallet, respectively, and is used to drive the pallet to extend or retract.

4. The integrated application training system for intelligent transformation and digital conversion of automated production lines according to claim 1, characterized in that, The intelligent identification and transfer unit includes: An input device is connected to the control unit; An identification device is located above the assembly conveyor line of the input device and connected to the control unit for identifying workpieces; A second RFID reader / writer module, located on the input device and connected to the control unit, is used to update the data of the RFID chip embedded in the tray; and A stacking device, located on one side of the input device, is used for temporary storage of trays.

5. The integrated application training system for intelligent transformation and digital conversion of automated production lines according to claim 1, characterized in that, The intelligent assembly inspection unit also includes: A temporary storage device is located on one side of the intelligent robot and is used to temporarily store workpieces; The second electrical control unit is connected to both the intelligent robot and the assembly testing module; and The second touch control module is connected to the second electrical control unit and the control unit, respectively.

6. A training method applied to the integrated application training system for intelligent transformation and digital conversion of automated production lines as described in any one of claims 1-5, characterized in that, include: Training methods for raw material quality inspection and warehousing; Training methods for finished product assembly and return to warehouse; as well as A comprehensive automated training method for raw material quality inspection and warehousing, finished product assembly, and return to the warehouse.

7. The training method of the integrated application training system for intelligent transformation and digital conversion of automated production lines according to claim 6, characterized in that, The training methods for raw material quality inspection and warehousing include: S11. Manually place shaft-type workpieces and cylindrical workpieces in the shaft-type raw material temporary storage area and the cylindrical raw material temporary storage area. The shaft-type workpieces and the cylindrical workpieces include qualified workpieces and unqualified workpieces. S12. Based on the number of shaft-type and cylindrical workpieces placed, place the corresponding number of empty pallets in the pallet storage compartment. S13, the WMS system plans the raw material quality inspection and warehousing sequence based on the raw material warehouse location information and then proceeds to S20; S14. Activate the virtual linkage function of the digital twin system; S15. Maintain synchronization with physical equipment information, work processes, and equipment actions; Step S11 also simultaneously performs S10, synchronously updating the raw material silo information to the WMS system, and then updating the information in step S13; S20: Have all raw materials and workpieces been put into storage? If all have been put into storage, the process ends; otherwise, proceed to S21 and S200. S21. The intelligent robot sequentially picks up an empty pallet from the pallet storage compartment and places it at the vision recognition station. S22. The intelligent robot sequentially grabs / picks up a shaft or cylindrical workpiece from the shaft material storage area and the cylindrical material storage area, and places it in an empty tray at the vision recognition station. S23. Intelligent vision identifies the workpiece and obtains quality inspection information, including workpiece type and color. S24. Use the RFID reader at the visual recognition station to write the workpiece information into the pallet chip; S25, the assembly line rotates in reverse; S26. The assembly line transports the pallet to the upper conveyor belt of the AMR transport robot; S27. The production line stops rotating; S28, the AMR transport robot moves to the warehouse unit's inbound docking point; S29. Based on the workpiece type identified by visual recognition, the palletizer transfers the pallet to the designated raw material area or waste area, updates the WMS / SCADA system information, and returns S29. S200 and AMR transport robots move to the loading and unloading docking point in the intelligent vision area and then enter S26.

8. The training method of the integrated application training system for intelligent transformation and digital conversion of automated production lines according to claim 6, characterized in that, The finished product assembly and return-to-warehouse training method includes the following steps: S31. Manually place a workpiece at any random position in the tray, requiring that the position and orientation of the workpiece are random and unpredictable; S32. Using the RFID reader / writer configured in the storage unit, manually write the RFID chip embedded in the pallet. The written information includes the session number, whether workpiece 1 is present or absent, whether workpiece 2 is present or absent, whether workpiece 3 is present or absent, storage location number, and part status. The above information is required to be updated and displayed in the WMS system synchronously. Then, manually place the pallet in the storage location with the corresponding storage location number. S33. According to the requirements of the test question, place the specified number of pallets and workpieces in the storage unit; S34. According to the requirements of the test question, operate in the MES system to complete the production order placement task, start the automated process, and then proceed to S39. Based on order information, the S35 and WMS systems plan the pallet outbound sequence and proceed to S40, S36 and S38 respectively. S36. The warehouse unit palletizer takes out the pallets from the designated warehouse locations in sequence according to the planned outbound sequence and places them on the upper conveyor belt of the AMR transport robot. The upper conveyor belt rotates in the opposite direction. The AMR transport robot unit can transfer 3 pallets at a time. S37, the AMR transport robot moves to the loading and unloading docking point of the identification and transfer unit; S38, the AMR transport robot moves to the outbound docking point of the storage unit and enters S36; S39. Activate the virtual linkage function of the digital twin system to maintain synchronization with the physical equipment information, work process, and equipment execution actions; S40: Have all workpieces required by the order been shipped out? If the shipment is completed, proceed to S61; otherwise, proceed to S41. The upper conveyor belt of the S41 AMR transport robot rotates in the forward direction. At the same time, the identification and transfer unit's assembly line also rotates in the forward direction, transporting all the pallets on the conveyor belt to the identification and transfer unit's assembly line. S42. The tray moves along the assembly line to the camera photo recognition station; S43. The camera and light source work together to identify the color, type and coordinate angle information of the workpiece, and then proceed to S51 and S44. S44. The pallet moves toward the workstation to be grabbed. S45. Check if there is a tray at the grabbing station. If it is grabbed, proceed to S46; otherwise, proceed to S47. S46. Wait for the previous pallet to finish being grabbed, and proceed to S47; S47. The pallet arrives at the gripping station and proceeds to S52; S51, PLC acquires the color, type and coordinate angle information of the workpiece, and calculates the target position for the intelligent robot to grasp the workpiece; S52. The intelligent robot picks up the workpiece and places it in the temporary storage area; S53. Does the assembly condition meet? If yes, proceed to S54; otherwise, proceed to S57. S54. The intelligent robot assembles finished parts, measures their dimensions, and places them in the temporary storage area. S55. Has the MES order been completed? If yes, proceed to S56; otherwise, proceed to S57. S56. Initiate the finished parts return process and proceed to S71; S57. The intelligent robot grabs an empty pallet, places it at the empty pallet collection point, and then proceeds to S51. S61, the AMR transport robot moves to the loading and unloading docking point of the identification and transfer unit; S62. The intelligent robot picks up an empty pallet and places it at the picking station on the assembly line. S63. The intelligent robot picks up the finished part and places it in an empty pallet; S64, The assembly line rotates in reverse; S65, the tray moves to the camera image recognition station; S66. The camera and light source work together to identify information about finished parts; S67. Use an RFID reader to write information into the tray chip and update it to the MES system; S68, The assembly line transports the pallet onto the upper conveyor belt of the AMR transport robot; S69, AMR transport robot moves to the warehouse unit's inbound docking point; The S70 palletizer transfers pallets to designated storage locations and updates RFID and WMS / SCADA system information. S71. Have all MES orders been entered into the warehouse? If so, proceed to S72; otherwise, proceed to S61. S72, Output production unit data application analysis charts.

9. The training method of the integrated application training system for intelligent transformation and digital conversion of automated production lines according to claim 6, characterized in that, The integrated automated training method for raw material quality inspection and warehousing, finished product assembly, and return to warehouse includes the following steps: S811. Manually place a workpiece at any random position in the tray, requiring that the position and orientation of the workpiece are random and unpredictable; S812. Using the RFID reader / writer configured in the storage unit, manually write the RFID chip embedded in the pallet. The written information includes session number, presence or absence of workpiece 1, presence or absence of workpiece 2, presence or absence of workpiece 3, storage location number, and part status. The above information is required to be updated and displayed in the WMS system synchronously. Manually place the pallet in the storage location corresponding to the storage location number. S813. As required, place the specified number of pallets and workpieces into the storage unit in sequence; S814. Manually place shaft-type workpieces and cylindrical workpieces in the shaft-type material storage area and the cylindrical material storage area, and simultaneously proceed to S810 and S815. S815. Information on whether raw materials are available in the storage location is simultaneously updated to the WMS system. S816. As required, operate in the MES system to complete the production order issuance task and start the automated process; S817 and WMS systems plan the raw material quality inspection and warehousing sequence based on the raw material warehouse location and the storage unit location information, and simultaneously enter S818 and S820. S818, Activate the virtual linkage function of the digital twin system; S819. Maintain synchronization with physical equipment information, work processes, and equipment actions; S810: Information on whether raw materials are available in the storage location is updated synchronously to the WMS system and then entered into S817. S820: Have all raw materials and workpieces been put into storage? If all have been put into storage, proceed to S891; otherwise, proceed to S821 and S890. S821: The intelligent robot sequentially picks up an empty pallet from the pallet storage compartment and places it at the vision recognition station; S822: The intelligent robot sequentially grabs / picks up a shaft or cylindrical workpiece from the shaft material storage area and the cylindrical material storage area, and places it in an empty tray at the vision recognition station. S823: Intelligent vision identifies workpieces and obtains quality inspection information, including workpiece type and color. S824. Use the RFID reader / writer at the visual recognition station to write workpiece information into the pallet chip; S825, the assembly line rotates in reverse; S826, The assembly line transports the pallet onto the upper conveyor belt of the AMR transport robot; S827, The production line stops rotating; The S828 and AMR transport robots move to the warehouse unit's inbound docking point; S829. Based on the workpiece type identified by visual recognition, the palletizer transfers the pallet to the designated raw material area or waste area, updates the WMS / SCADA system information, and returns S29. S890, the AMR transport robot moves to the loading and unloading docking point in the intelligent vision area and enters S826; Based on order information, the S891 and WMS systems plan the pallet outbound sequence in the automated storage unit and simultaneously enter S892, S893 and S840. S892, the AMR transport robot moves to the outbound docking point of the storage unit and enters S893; S893, The warehouse unit palletizer takes out the pallets from the designated warehouse locations in sequence according to the planned outbound sequence and places them on the upper conveyor belt of the AMR transport robot. The upper conveyor belt keeps rotating in the opposite direction. The AMR transport robot unit can transfer 3 pallets at a time and enter S894. S894, the AMR transport robot moves to the loading and unloading docking point in the intelligent vision area and enters S841; S840: Have all workpieces required by the order been shipped out? If the shipment is completed, proceed to S861; otherwise, proceed to S841. The upper conveyor belt of the S841 AMR transport robot rotates in the forward direction. At the same time, the identification and transfer unit's assembly line also rotates in the forward direction, transporting all the pallets on the conveyor belt to the identification and transfer unit's assembly line. S842, The tray moves along the assembly line to the camera photo recognition station; S843, The camera and light source work together to identify the color, type and coordinate angle information of the workpiece, and then proceed to S851 and S844. S844, The pallet moves toward the workstation to be grabbed; S845: Is there a tray at the grabbing station? If it is grabbed, proceed to S846; otherwise, proceed to S847. S846, Wait for the previous tray to finish being grabbed, and proceed to S847; S847, The pallet arrives at the gripping station and proceeds to S852; S851 and PLC acquire the color, type and coordinate angle information of the workpiece, and calculate the target position for the intelligent robot to grasp the workpiece. S852, The intelligent robot picks up the workpiece and places it in the temporary storage area; S853. Does the assembly condition meet? If yes, proceed to S854; otherwise, proceed to S857. S854. The intelligent robot assembles finished parts, measures their dimensions, and places them in the temporary storage area. S855. Has the MES order been completed? If yes, proceed to S856; otherwise, proceed to S857. S856, Initiate the finished parts return process and proceed to S871; S857, The intelligent robot grabs an empty pallet, places it at the empty pallet collection point, and then enters S851; S861, the AMR transport robot moves to the loading and unloading docking point of the identification and transfer unit; S862, Intelligent robot grabs empty pallets and places them at the grabbing station on the assembly line; S863: The intelligent robot picks up the finished part and places it in an empty pallet; S864, the assembly line rotates in reverse; S865, pallet movement to camera image recognition station; S866: The camera and light source work together to identify information about finished parts; S867. Use an RFID reader to write information into the tray chip and update it to the MES system; S868, the assembly line transports the pallet to the upper conveyor belt of the AMR transport robot; The S869 AMR transport robot moves to the warehouse unit's inbound docking point; The S870 palletizer transfers pallets to designated storage locations and updates RFID and WMS / SCADA system information. S871. Have all MES orders been entered into the warehouse? If so, proceed to S72; otherwise, proceed to S61. S872, Output production unit data application analysis charts.

Images