Gear assembly operation table, gear assembly method and electronic equipment

Abstract

The invention relates to the technical field of mechanical assembly, and particularly discloses a gear assembly operation table, a gear assembly method and electronic equipment. An industrial robot, a quick-change tool module, a three-dimensional storage module, a well type feeding module, a belt conveying module, a visual detection module, a human-computer interface, a rotary feeding module, a robot demonstrator and a carrying module are mounted at the top of the practical training platform; the quick-change tool module is used for providing different clamping tools for the industrial robot, and the clamping tools comprise an arc opening clamping jaw tool, a clamping jaw tool special for a gear, a suction cup tool and a calibration tool. According to the gear assembling operation table, all the modules can work automatically and cooperatively, manual intervention is reduced, human errors are reduced, the assembling speed is further increased, and an operator only needs to conduct monitoring and necessary parameter setting on a human-computer interface, so that automatic operation of the whole assembling process can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical assembly, and in particular to a gear assembly operating table, a gear assembly method and electronic equipment. Background Art

[0002] The industrial robot operating platform can help students understand intelligent manufacturing, master the use and operation principles of related equipment and production lines. Its function depends on the coordination of various functional modules. It can simulate the real production process and help students learn digital twins, visual inspection, industrial robot programming, PLC programming, human-machine interface design and other skills.

[0003] The patent document with patent announcement number: CN108098327A discloses a gear box assembly device, including an assembly platform and an accessory assembly mechanism; the assembly platform includes a base and a rotating disk rotatably connected to the base; it also includes a first driving device that drives the rotating disk to rotate; the accessory assembly mechanism includes a plurality of vibration disks arranged around the base; each vibration disk is connected to a conveying channel, and at least one conveying channel is provided with an oiling device for oiling the workpiece; it also includes a clamping mechanism arranged one-to-one corresponding to each conveying channel; wherein the plurality of clamping mechanisms are arranged around the rotating disk, and each clamping mechanism is used to clamp the workpiece in the corresponding conveying channel to the installation station for installation. In the above technical scheme, a rotatable installation platform is provided by adopting an assembly platform, and the workpieces are successively installed on the installation platform by the accessory assembly mechanism, and the workpieces are provided by the vibration disk, thereby realizing the automatic assembly of the gear box and improving the production efficiency of the gear box.

[0004] The gear assembly method that can be achieved by the above scheme is relatively fixed and cannot meet the requirements of teaching and training. The traditional industrial robot assembly training method is relatively conservative, with a fixed process route that never changes. When students learn and use the industrial robot training platform, after mastering the basic assembly process, they tend to lose their sense of freshness, fail to deeply master knowledge and skills, and fail to inspire creativity. Summary of the invention

[0005] The present invention aims to solve one of the technical problems in the related art to at least a certain extent. To this end, the purpose of the present invention is to provide a gear assembly operating table, a gear assembly method and an electronic device to improve the degree of freedom of the gear assembly method.

[0006] To achieve the above-mentioned purpose, the first embodiment of the present invention proposes a gear assembly operation table, including a training table, on the top of which are installed an industrial robot, a quick-change tool module, a three-dimensional storage module, a well-type feeding module, a belt conveyor module, a visual inspection module, a human-machine interface, a rotary feeding module, a robot teaching pendant and a handling module;

[0007] The quick-change tool module is used to provide different clamping tools for the industrial robot, including arc-mouth clamping tools, gear-specific clamping tools, suction cup tools and calibration tools;

[0008] The three-dimensional storage module is used to store accessories required for gear assembly;

[0009] The well-type feeding module accommodates a variety of gears of different sizes and specifications;

[0010] The belt conveyor module is used to carry and convey various gears;

[0011] The visual inspection module identifies the corresponding gear according to the assembly requirements;

[0012] The rotary feeding module works in coordination with the industrial robot, and the industrial robot places the grasped workpiece on a designated station of the rotary feeding module;

[0013] The transport module is connected to the well-type feeding module, receives the workpiece pushed out by the well-type feeding module, and transports it to the visual inspection module, providing the visual inspection module with materials to be inspected.

[0014] In some embodiments of the present invention, the three-dimensional storage module adopts a multi-layer shelf structure, and the height between each layer of shelves can be adjusted according to the size of the stored accessories.

[0015] In some embodiments of the present invention, the three-dimensional storage module communicates with the human-machine interface, and an operator queries inventory information, views inventory status reports, and performs inventory counting operations through the human-machine interface.

[0016] In some embodiments of the present invention, the silo of the well-type feeding module adopts multiple independent well-type structures, each well-type structure stores gears of a certain size, and a guide device is provided inside the silo to guide the sliding of the gears; a vibration device is installed at the bottom of the silo to prevent the gears from sticking to each other or stacking unevenly.

[0017] In some embodiments of the present invention, the silo of the well-type feeding module is equipped with an independent pushing cylinder, and the stroke and thrust of the pushing cylinder are adjusted according to the size and weight of the gear; the pushing cylinder adopts a high-precision position sensor to ensure that the pushed gear can accurately fall into the belt conveyor module.

[0018] In some embodiments of the present invention, the visual inspection module includes a visual system and an image processing and recognition system, wherein the visual system includes an industrial camera, a light source, and an image acquisition card; the image processing and recognition system can pre-process the collected gear images and identify the specification information of the gears.

[0019] In some embodiments of the present invention, the rotary feeding module includes a rotary worktable, and a slewing bearing and a driving device for supporting the rotary worktable, and a plurality of assembly stations are evenly distributed on the surface of the rotary worktable.

[0020] To achieve the above object, a second embodiment of the present invention provides a gear assembly method, the method comprising the following steps:

[0021] S1, preparation stage: check the inventory of the three-dimensional storage module through the human-machine interface and check the tool status of the quick-change tool module;

[0022] Initialize the industrial robot, visual inspection module, belt conveyor module and rotary feeding module, and detect the operating status of each component;

[0023] S2, gear grabbing and conveying stage: the industrial robot is equipped with an arc-shaped gripper tool, grabs the bottom box from the three-dimensional storage module and places it on the station of the rotary feeding module, and fixes it with its fixture;

[0024] The well-type feeding module pushes the gears to the belt conveyor module in sequence, and the conveyor belt sends the gears to the visual inspection station;

[0025] The visual inspection module captures and processes gear images to identify their feature information;

[0026] Qualified gears are grabbed by the industrial robot equipped with a special gear gripper tool and placed in the assembly station of the rotary feeding module;

[0027] S3, Gear assembly stage: The industrial robot sequentially installs the planetary gears with the front side facing upwards to the planetary carrier, ensuring that the pins and positioning holes are precisely matched and the assembly force is controlled;

[0028] The industrial robot selects the appropriate tool to grab the sun gear, install it to the planet carrier and mesh it correctly;

[0029] The industrial robot then replaces the suction cup tool to grab the driving shaft and install it on the sun gear to ensure a firm and concentric connection;

[0030] Finally, the industrial robot is equipped with an arc-shaped gripper tool to grab the box cover and install it on the bottom box to complete the assembly;

[0031] S4, post-assembly processing stage: use visual inspection modules to inspect finished products, and generate quality assessment reports through the human-machine interface;

[0032] Qualified finished products are transported by industrial robots to the storage area of ​​the three-dimensional storage module, and appropriate tools are selected to ensure safe transportation.

[0033] To achieve the above objectives, a third aspect of the present invention provides an electronic device, comprising a memory, a processor and a computer program stored in the memory, wherein when the computer program is executed by the processor, the above gear assembly method is implemented.

[0034] The gear assembly workbench, gear assembly method and electronic equipment of the embodiments of the present invention are capable of automatically cooperating with each other in the gear assembly workbench, such as automatic feeding by the well-type feeding module, automatic handling by the handling module, automatic grasping and assembly by the industrial robot, etc., which reduces manual intervention, reduces human errors, and further improves the assembly speed. The operator only needs to monitor and set necessary parameters on the human-machine interface to realize the automatic operation of the entire assembly process. The quick-change tool module provides a variety of clamping tools, and the industrial robot can quickly change tools according to the requirements of different assembly tasks. The three-dimensional storage module can store a variety of accessories required for gear assembly, and can quickly provide the required materials according to the assembly plan to meet the needs of different types of gear assembly. The degree of customization is high, which is conducive to teaching and training. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the plan structure of a gear assembly operating table according to an embodiment of the present invention;

[0036] Figure 2 It is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

[0037] Labels: 1. Industrial robot; 2. Quick-change tool module; 3. Training table; 4. Three-dimensional storage module; 5. Pit-type feeding module; 6. Belt conveyor module; 7. Visual inspection module; 8. Human-machine interface; 9. Rotary feeding module; 10. Robot teaching pendant; 11. Handling module. DETAILED DESCRIPTION

[0038] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0039] The gear assembly operating table, gear assembly method and electronic equipment according to embodiments of the present invention will be described below with reference to the accompanying drawings.

[0040] Figure 1 It is a schematic diagram of the plan structure of a gear assembly operating table according to an embodiment of the present invention.

[0041] like Figure 1As shown, the gear assembly operating table includes a training table 3, on the top of which are installed an industrial robot 1, a quick-change tool module 2, a three-dimensional storage module 4, a well-type feeding module 5, a belt conveyor module 6, a visual inspection module 7, a human-machine interface 8, a rotary feeding module 9, a robot teaching pendant 10 and a handling module 11. The industrial robot 1 is located in a suitable position and has enough space to cover various working areas. Its range of motion covers key parts such as the three-dimensional storage module 4 and the rotary feeding module 9, ensuring that material grabbing, handling and assembly operations can be completed efficiently; the quick-change tool module 2 is adjacent to the industrial robot 1, which is convenient for the robot to quickly replace different clamping tools and improve work efficiency; the three-dimensional storage module 4, the well feeding module 5, the belt conveyor module 6, the visual inspection module 7, the rotary feeding module 9, and the handling module 11 are arranged in sequence according to the assembly process flow to form a smooth material supply and assembly operation line; the human-machine interface 8 and the robot teaching pendant 10 are installed in a position that is convenient for the operator to operate and observe, usually on the edge or side of the training table 3, to ensure that the operator can monitor the entire assembly process in real time and make necessary operational interventions.

[0042] As an example, Industrial Robot 1 adopts a multi-joint design and has high-precision position control capabilities. The joints are equipped with high-precision sensors to provide real-time feedback on the joint position and motion state to ensure the accuracy of the motion trajectory. The robotic arm of Industrial Robot 1 has sufficient load capacity and can easily grab and carry various accessories in the gear assembly process, including heavier gear racks and other components. At the same time, the robotic arm has high-speed movement capabilities and can achieve smooth start and stop during high-speed movement to reduce the impact on the assembly process.

[0043] In addition, the industrial robot 1 is tightly integrated with the robot teaching pendant 10 and the control system, and the operator can perform manual operation and programming through the teaching pendant. The programming method supports multiple modes, such as online programming, offline programming, etc., which is convenient for the operator to select the appropriate programming method according to actual needs. The rich instruction set can realize complex assembly action control, such as precise grasping position control, assembly force control, etc., to ensure the accuracy and quality of gear assembly.

[0044] As an example, the quick-change tool module 2 is used to provide different clamping tools for the industrial robot 1, including arc-mouthed jaw tools, gear-specific jaw tools, suction cup tools and calibration tools, wherein;

[0045] Arc jaw tool: The jaw is designed with a specific arc shape, which can closely fit the outer contour of gears and other round accessories, provide stable gripping force, and prevent the workpiece from slipping during gripping and handling. The surface of the jaw is anti-slip to further improve the reliability of gripping.

[0046] Gear-specific clamping tool: An adjustable clamping structure is designed for gears of different sizes and specifications, which can accurately adapt to the tooth shape and size of various gears, ensuring that the gears will not be damaged during the grasping process, while ensuring the accuracy and stability of the grasping.

[0047] Suction cup tool: Equipped with multiple suction cups of different sizes and shapes, you can choose the appropriate suction cup according to the surface shape and material of the workpiece to be adsorbed. The suction cup has a strong adsorption force and can reliably adsorb flat or slightly curved workpieces, such as gear racks, etc.

[0048] Calibration tool: used to regularly calibrate the position accuracy and tool installation accuracy of industrial robots to ensure the accuracy of robots during long-term operation. The calibration tool uses high-precision measuring elements to accurately measure the position deviation of the robot and provide corresponding adjustment data.

[0049] It should be noted that the quick-change tool module 2 adopts rapid automatic replacement technology. When the industrial robot needs to replace the tool, it moves to the designated position of the quick-change tool module 2 and realizes rapid locking and unlocking of the tool through the coordinated action of multiple methods such as mechanical, electrical and pneumatic. The replacement process is completed in a short time, minimizing the production interruption time.

[0050] As an example, the three-dimensional storage module 4 is used to store the accessories needed for gear assembly. The three-dimensional storage module 4 adopts a multi-layer shelf structure. The shelves are made of high-strength steel and have good load-bearing capacity and stability. The height between each layer of shelves can be flexibly adjusted according to the size of the stored accessories to make full use of the storage space. The three-dimensional storage module 4 is equipped with an automatic storage and retrieval system, which realizes the rapid storage and retrieval of accessories through the coordinated work of the control system and the handling device. Each storage location has a unique address code, which is convenient for the control system to locate and manage, and the handling device is such as a stacker or a shuttle.

[0051] In addition, the three-dimensional storage module 4 is also integrated with inventory management software, which can monitor inventory levels in real time and record the entry, exit and inventory changes of accessories. The inventory management software has an inventory warning function. When the inventory quantity of a certain accessory is lower than the set threshold, it automatically issues a reminder so that the inventory can be replenished in time. The three-dimensional storage module 4 is also connected to the human-machine interface 8, and the operator can query inventory information, view inventory status reports, and perform inventory counting and other operations through the human-machine interface.

[0052] As an example, the well-type feeding module 5 accommodates gears of various sizes and specifications; the silo of the well-type feeding module 5 adopts multiple independent well-type structures, each of which can store gears of one size and specification, which is convenient for classification management and feeding. A guide device is provided inside the silo to ensure that the gears can fall smoothly in the silo to avoid getting stuck. In addition, a vibration device is installed at the bottom of the silo, which can be started when necessary to keep the gears loose in the silo to prevent the gears from sticking to each other or piling unevenly, affecting the smoothness of feeding.

[0053] It should be noted that the silo of the well-type feeding module 5 is equipped with an independent push cylinder, and the stroke and thrust of the push cylinder can be adjusted according to the size and weight of the gear. The push cylinder uses a high-precision position sensor to ensure the accurate position of each push, and to ensure that the pushed gear can accurately fall into the belt conveyor module 6; the push action is precisely controlled by the control system, and different push sequences and time intervals can be set according to assembly requirements to achieve combined feeding of multiple gears.

[0054] As an example, the belt conveyor module 6 is used to carry and convey various types of gears. The belt conveyor module 6 includes a conveyor belt and a drive system, as well as a conveying control and auxiliary device; wherein the conveyor belt is made of high-strength, wear-resistant rubber material, and the surface has an anti-slip texture to ensure that the gears will not slip during the conveying process. The width and length of the conveyor belt are determined according to the actual layout and conveying requirements, and can adapt to the conveying of gears of different sizes. The drive system consists of a high-performance motor, a reducer, a drive roller and a driven roller. The motor drives the drive roller to rotate after the reducer reduces speed and increases torque, driving the conveyor belt to run. The surfaces of the drive roller and the driven roller are specially treated to increase the friction between the conveyor belt and ensure the stable operation of the conveyor belt.

[0055] The conveying control and auxiliary device is equipped with a speed sensor and a position sensor to monitor the running speed and material position of the conveyor belt in real time. The control system accurately controls the start and stop of the conveyor belt and speed adjustment according to the information fed back by the sensor to ensure the stability and accuracy of the gears during the conveying process. The conveying control and auxiliary device is also equipped with a tensioning device and a deviation correction device. The tensioning device is used to maintain the appropriate tension of the conveyor belt to prevent the conveyor belt from loosening or deviating; the deviation correction device can monitor the deviation of the conveyor belt in real time and automatically adjust it to ensure that the conveyor belt always remains on the correct running track.

[0056] As an example, the visual inspection module 7 identifies the corresponding gear according to the assembly requirements; the visual inspection module 7 includes a visual system and an image processing and recognition system, wherein the visual system includes an industrial camera, a light source and an image acquisition card.

[0057] Industrial cameras use high-resolution, high-frame-rate cameras that can quickly capture clear images of gears. The camera lens selects the appropriate focal length and aperture according to the detection range and accuracy requirements to ensure that the key features of the gears can be accurately captured. The light source uses a multi-angle, adjustable-brightness lighting system to provide appropriate lighting conditions according to different detection requirements, highlighting the contour, tooth shape, surface defects and other features of the gears, improving the contrast and clarity of the image, and facilitating image processing software to analyze and identify. The image acquisition card is responsible for converting the analog image signal captured by the industrial camera into a digital signal and transmitting it to the computer for processing. The image acquisition card has high-speed data transmission capabilities to ensure real-time acquisition and processing of image data.

[0058] The image processing software uses advanced image processing algorithms and pattern recognition technology to pre-process the collected gear images, such as filtering, denoising, edge enhancement, etc., to improve image quality. Then, through feature extraction and matching algorithms, the type, size, tooth integrity, surface defects and other information of the gear can be identified. The image processing software also has self-learning and adaptive capabilities, and can automatically adjust the recognition parameters according to the characteristics of different batches of gears to improve the accuracy and reliability of detection. At the same time, the image processing software can be integrated with the control system to feed back the test results to the control system in real time, so that unqualified gears can be sorted or corresponding treatment measures can be taken according to the test results.

[0059] As an example, the rotary feeding module 9 includes a rotary table, a slewing bearing and a driving device and a fixture for supporting the rotary table.

[0060] The rotary table uses high-precision slewing bearings and drive devices to ensure the stability and positioning accuracy of the table during rotation. The surface of the table is precisely processed, and the flatness and roughness meet the assembly requirements, providing a stable installation foundation for the fixture. The fixture is designed according to the gear assembly process, with quick clamping and loosening functions, and can accurately fix the position of gears and other assembly parts. The fixture uses replaceable positioning modules, which are convenient for adjustment and replacement according to different assembly tasks, improving the versatility of the module.

[0061] It should be noted that multiple assembly stations are evenly distributed on the surface of the rotary table, and the position and function of each station are clear, such as the workpiece placement station, assembly operation station, and inspection station. The spacing and layout between the stations are optimized to ensure that the industrial robot 1 can operate between the stations conveniently and quickly, while avoiding mutual interference between different stations. The rotational movement of the rotary table is precisely controlled by the control system, and different rotation speeds, dwell times, and rotation angles can be set according to the assembly process flow to achieve orderly switching of stations and coordinated assembly operations.

[0062] The rotary feeding module 9 in the present invention works in coordination with the industrial robot 1 , and the industrial robot 1 places the grasped workpiece on a designated workstation of the rotary feeding module 9 .

[0063] As an example, the handling module 11 adopts a flexible handling mechanism, such as a robotic arm handling device or a combination of a conveyor belt and a transfer mechanism. The robotic arm handling device has multi-degree-of-freedom movement capabilities and can accurately grasp and carry workpieces in three-dimensional space; the combination of a conveyor belt and a transfer mechanism is suitable for long-distance, batch handling scenarios. After the workpiece is transported to the specified location by the conveyor belt, the transfer mechanism accurately places the workpiece at the target location.

[0064] During the assembly process, the handling module 11 works closely with the well-type feeding module 5. After receiving the feeding signal, the pushed-out gears are accurately grasped and transported to the belt conveyor module 6 in a timely manner. During the handling process, the movement speed and action rhythm of the handling module are coordinated with the pushing action of the well-type feeding module 5 to ensure the continuous supply of materials; the handling module 11 works in conjunction with the visual inspection module 7 to accurately transport the gears on the conveyor belt to the visual inspection area. After the inspection is completed, the qualified gears are transported to the subsequent assembly station or the designated storage area according to the inspection results, and the unqualified gears are transported to the sorting area for processing. The motion control of the handling module matches the inspection rhythm of the visual inspection module 7 to avoid reduced inspection efficiency or damage to the workpiece due to untimely handling or misoperation.

[0065] In the present invention, the modules in the gear assembly operation table can automatically work together, such as the automatic feeding of the well-type feeding module 5, the automatic handling of the handling module 11, and the automatic grabbing and assembly of the industrial robot 1, etc., which reduces manual intervention, reduces human errors, and further improves the assembly speed. The operator only needs to monitor and set necessary parameters on the human-machine interface 8 to realize the automatic operation of the entire assembly process. Moreover, the quick-change tool module 2 provides various types of clamping tools, and the industrial robot 1 can quickly change tools according to different assembly task requirements, such as when grabbing gears, bottom boxes, box covers, shafts and other components of different shapes and sizes, the most suitable tool is selected, and flexible processing of various types of workpieces is realized, and different assembly process requirements are adapted; in the present invention, most of the assembly work is completed by the industrial robot 1 and each automation module, and the operator only needs to perform relatively easy work such as equipment monitoring, parameter setting, and troubleshooting, without long-term repetitive physical labor, such as manual handling of heavy objects, precise assembly, etc., which greatly reduces the labor intensity of the operator, thereby improving production efficiency and reducing manpower requirements: Due to the high efficiency and automation of the assembly table, under the same production task, the number of operators required is significantly reduced compared to the traditional assembly method. This not only reduces labor costs, but also reduces the complexity caused by personnel management and training, and improves the production efficiency and competitiveness of the enterprise. At the same time, the stability and consistency of the automated assembly process also help to reduce the scrap rate caused by human factors, further saving production costs.

[0066] The present invention fully demonstrates the entire process from material supply, grasping, assembly to detection in promoting skill training and teaching, which is of great significance for the training and teaching of operators. Trainees can intuitively observe and understand the operation method of each assembly link, the operation principle of the equipment, and the collaborative working relationship between the modules, which helps to quickly master the gear assembly technology and related knowledge. Through the robot teaching pendant 10, trainees can personally operate the industrial robot 1 for manual teaching programming, learn how to control the robot's motion trajectory, speed, grasping force and other parameters, and how to write appropriate programs according to different assembly tasks. At the same time, trainees can also understand and master the image processing, recognition principle and operation and debugging methods of other functional modules of the visual inspection module 7 in actual operation, improve the trainees' practical hands-on ability and ability to solve practical problems, and provide a good platform for cultivating professional talents in the field of intelligent manufacturing.

[0067] The present invention also provides a gear assembly method, comprising the following steps:

[0068] S1, preparation stage: check the inventory of the three-dimensional storage module 4 through the human-machine interface 8, check the tool status of the quick-change tool module 2, ensure that the accessories are sufficient and the tools are in good condition, provide basic guarantee for assembly, and improve operation continuity and flexibility;

[0069] Initialize the industrial robot 1, visual inspection module 7, belt conveyor module 6 and rotary feeding module 9, detect the operating status of each component, ensure that the equipment is in the best working state, improve movement accuracy, image acquisition quality, material conveying stability and rotation positioning accuracy, and avoid faults affecting assembly.

[0070] S2, gear grabbing and conveying stage: the industrial robot 1 changes the arc-mouth gripper tool, grabs the bottom box from the three-dimensional storage module 4 and places it on the station of the rotary feeding module 9, and uses its tooling fixture to fix it, accurately grabs and places the bottom box, laying a stable foundation for subsequent assembly;

[0071] The well-type feeding module 5 pushes the gears to the belt conveyor module 6 in sequence, and the conveyor belt sends the gears to the visual inspection station to ensure smooth supply and stable transportation of the gears, which is convenient for visual inspection;

[0072] The visual inspection module 7 captures and processes the gear image, identifies its characteristic information, and screens out unqualified gears to ensure the quality of the gears entering the assembly process;

[0073] The qualified gears are grabbed by the industrial robot 1 equipped with a special gear gripper tool and placed in the assembly station of the rotary feeding module 9 to accurately grab and place the qualified gears in preparation for assembly.

[0074] S3, gear assembly stage: the industrial robot 1 sequentially installs the planetary gears with the front side facing upwards to the planetary carrier, ensures that the pins and the positioning holes are accurately matched, controls the assembly force, ensures the assembly accuracy and stability of the planetary gear system, and improves the quality;

[0075] Industrial robot 1 selects appropriate tools to grab the sun gear and install it to the planet carrier and mesh it correctly, ensuring the sun gear assembly position and meshing accuracy to ensure the gear transmission performance;

[0076] Then the industrial robot 1 changes the suction cup tool to grab the driving shaft and install it to the sun gear to ensure that the connection is firm and concentric, and to ensure the assembly accuracy of the driving shaft, which affects the power transmission;

[0077] Finally, the industrial robot 1 changes to the arc-mouth gripper tool to grab the box cover and install it to the bottom box to complete the assembly, ensuring that the box cover and the bottom box fit tightly to protect the internal components.

[0078] S4, post-assembly processing stage: Use visual inspection module 7 to inspect finished products, generate quality assessment report through human-machine interface 8, comprehensively inspect the quality of finished products, and provide basis for traceability and improvement;

[0079] Qualified finished products are transported by industrial robot 1 to the storage area of ​​three-dimensional storage module 4. Appropriate tools are selected to ensure safe transportation and classified management of finished products for subsequent use;

[0080] Clean up equipment debris, maintain various functional modules, extend equipment life, improve reliability, and avoid affecting product quality;

[0081] Record assembly data and analyze with software to optimize assembly process, equipment parameters and operation flow, improve efficiency and quality, and reduce costs.

[0082] In this assembly method, each step is closely connected, materials flow in an orderly manner between each functional module, and information is transmitted and shared between devices in a timely and accurate manner. For example, the well-type feeding module 5 feeds materials in a timely manner according to the assembly requirements, the handling module 11 quickly transports the materials to the designated location, and the industrial robot 1 accurately grasps and assembles according to the feedback information of the visual inspection module 7, avoiding material backlog, waiting and erroneous operation, and improving the rhythm and efficiency of the entire assembly process, thereby increasing the output per unit time and improving production efficiency. According to different assembly tasks and workpiece characteristics, the tools in the quick-change tool module 2 are reasonably selected and switched to improve the efficiency of grasping and assembly operations. For example, when grasping gears of different shapes and weights, using the most suitable clamping tool or suction cup tool can quickly and stably complete the grasping action, reduce tool replacement and adjustment time, further optimize the assembly process, and shorten the assembly cycle.

[0083] The assembly method can realize the parallel operation of some assembly operations by setting multiple stations of the rotating feeding module 9. For example, while the gear is assembled at one station, other stations can perform material preparation or testing. At the same time, the coordinated work between the industrial robot 1, each conveying module, and the visual inspection module 7 makes the entire assembly process proceed in an orderly manner, giving full play to the advantages of each device and improving the equipment utilization rate and production efficiency.

[0084] In this assembly method, the well-type feeding module 5 provides gears of various sizes and specifications, the three-dimensional storage module 4 can store various accessories, and the assembly method can adjust the material supply sequence and select suitable accessories for assembly according to the design requirements of different products. This flexibility enables the assembly method to adapt to gear assembly tasks of different types and specifications, meet the diversified needs of the market, and improve the market competitiveness of the enterprise. During the assembly process, the assembly sequence, the use of fixtures, the setting of visual inspection parameters, etc. can all be adjusted according to actual conditions. For example, when the product design changes or a new type of gear is introduced, the new assembly process requirements can be quickly adapted by modifying the program of the industrial robot 1, replacing the fixture of the rotary feeding module 9, and optimizing the algorithm of the visual inspection module 7. There is no need to carry out large-scale transformation of the entire assembly system, which reduces the production cost of the enterprise and the difficulty of product upgrading.

[0085] Corresponding to the above embodiment, the present invention further provides an electronic device.

[0086] like Figure 2 The figure shows a schematic diagram of the structure of an electronic device in the present invention, where the electronic device 200 includes: a processor 201 and a memory 203. The processor 201 and the memory 203 are connected, such as through a bus 202. Optionally, the electronic device 200 may further include a transceiver 204. It should be noted that in actual applications, the transceiver 204 is not limited to one, and the structure of the electronic device 200 does not constitute a limitation on the embodiments of the present invention.

[0087] The processor 201 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. The processor 201 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0088] The bus 202 may include a path to transmit information between the above components. The bus 202 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 202 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 2 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0089] The memory 203 is used to store a computer program corresponding to the dynamic DC bus control method of the above embodiment of the present invention, and the computer program is controlled and executed by the processor 201. The processor 201 is used to execute the computer program stored in the memory 203 to implement the content shown in the above method embodiment.

[0090] The electronic device 200 includes, but is not limited to, mobile terminals such as laptop computers, PADs (tablet computers), and fixed terminals such as desktop computers. Figure 2The electronic device 200 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0091] The electronic device 200 of the embodiment of the present invention reduces manual intervention, reduces human errors, and further improves the assembly speed. The operator only needs to monitor and set necessary parameters on the human-machine interface 8 to realize the automatic operation of the entire assembly process; the quick-change tool module 2 provides a variety of clamping tools, the industrial robot 1 can quickly change tools according to different assembly task requirements, the three-dimensional storage module 4 can store a variety of accessories required for gear assembly, and can quickly provide the required materials according to the assembly plan to meet the needs of different types of gear assembly. It has a high degree of customization and is conducive to teaching and training.

[0092] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, mechanically assemble, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0093] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0094] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0095] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0096] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A gear assembly operating table, including a training table, characterized in that: The top of the training platform is equipped with an industrial robot, a quick-change tool module, a three-dimensional storage module, a well-type feeding module, a belt conveyor module, a visual inspection module, a human-machine interface, a rotary feeding module, a robot teaching pendant and a handling module; The quick-change tool module is used to provide different clamping tools for the industrial robot, including arc-mouth clamping tools, gear-specific clamping tools, suction cup tools and calibration tools; The three-dimensional storage module is used to store accessories required for gear assembly; The well-type feeding module accommodates a variety of gears of different sizes and specifications; The belt conveyor module is used to carry and convey various gears; The visual inspection module identifies the corresponding gear according to the assembly requirements; The rotary feeding module works in coordination with the industrial robot, and the industrial robot places the grasped workpiece on a designated station of the rotary feeding module; The transport module is connected to the well-type feeding module, receives the workpiece pushed out by the well-type feeding module, and transports it to the visual inspection module, providing the visual inspection module with materials to be inspected.

2. The gear assembly operating table according to claim 1, characterized in that: The three-dimensional storage module adopts a multi-layer shelf structure, and the height between each layer of shelves can be adjusted according to the size of the stored accessories.

3. The gear assembly operating table according to claim 1, characterized in that: The three-dimensional storage module communicates with the human-machine interface, and an operator queries inventory information, views inventory status reports, and performs inventory counting operations through the human-machine interface.

4. The gear assembly operating table according to claim 1, characterized in that: The silo of the well-type feeding module adopts multiple independent well-type structures, each well-type structure stores gears of a certain size, and a guide device is provided inside the silo to guide the sliding of the gears; A vibration device is installed at the bottom of the silo to prevent the gears from sticking to each other or stacking unevenly.

5. The gear assembly operation table according to claim 4, characterized in that: The silo of the well-type feeding module is equipped with an independent pushing cylinder, the stroke and thrust of which are adjusted according to the size and weight of the gear; the pushing cylinder adopts a high-precision position sensor to ensure that the pushed gear can accurately fall into the belt conveyor module.

6. The gear assembly operation table according to claim 1, characterized in that: The visual inspection module includes a visual system and an image processing and recognition system, wherein the visual system includes an industrial camera, a light source and an image acquisition card; the image processing and recognition system can pre-process the collected gear images and identify the specification information of the gears.

7. The gear assembly operating table according to claim 1, characterized in that: The rotary feeding module comprises a rotary table, and a slewing bearing and a driving device for supporting the rotary table. A plurality of assembly stations are evenly distributed on the surface of the rotary table.

8. A gear assembly method, characterized in that: The following steps are involved: S1, preparation stage: check the inventory of the three-dimensional storage module through the human-machine interface and check the tool status of the quick-change tool module; Initialize the industrial robot, visual inspection module, belt conveyor module and rotary feeding module, and detect the operating status of each component; S2, gear grabbing and conveying stage: the industrial robot is equipped with an arc-shaped gripper tool, grabs the bottom box from the three-dimensional storage module and places it on the station of the rotary feeding module, and fixes it with its fixture; The well-type feeding module pushes the gears to the belt conveyor module in sequence, and the conveyor belt sends the gears to the visual inspection station; The visual inspection module captures and processes gear images to identify their feature information; Qualified gears are grabbed by the industrial robot equipped with a special gear gripper tool and placed in the assembly station of the rotary feeding module; S3, Gear assembly stage: The industrial robot sequentially installs the planetary gears with the front side facing upwards to the planetary carrier, ensuring that the pins and positioning holes are precisely matched and the assembly force is controlled; The industrial robot selects the appropriate tool to grab the sun gear, install it to the planet carrier and mesh it correctly; The industrial robot then replaces the suction cup tool to grab the driving shaft and install it on the sun gear to ensure a firm and concentric connection; Finally, the industrial robot is equipped with an arc-shaped gripper tool to grab the box cover and install it on the bottom box to complete the assembly; S4, post-assembly processing stage: use visual inspection modules to inspect finished products, and generate quality assessment reports through the human-machine interface; Qualified finished products are transported by industrial robots to the storage area of ​​the three-dimensional storage module, and appropriate tools are selected to ensure safe transportation.

9. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory, wherein when the computer program is executed by the processor, the gear assembly method according to claim 8 is implemented.

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