Electrical equipment flexible production detection line and control method thereof

Abstract

The invention relates to the technical field of electrical equipment manufacturing, in particular to an electrical equipment flexible production detection line and a control method thereof. Comprising an assembly robot, a shell assembly working module, an assembly assisting manipulator working module, a plurality of longitudinal assembly working modules, two rotary reversing modules, a detection module, a detection station, an off-line module, a line body RGV, a line body personnel safety protection device, a plurality of line body outer material AGVs, a plurality of station material vehicles, a line body rail and a robot gripper. According to the design, the production line RGV serves as a link, all station modules of the production line are organically connected in series and cooperate with the AGV outside the production line, material supply and product station circulation are achieved through dispatching of the production line dispatching control system, the product quality and traceability are effectively guaranteed, and meanwhile the labor intensity of workers is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of electrical equipment manufacturing, and in particular to a flexible production and testing line for electrical equipment and a control method thereof. Background Art

[0002] The reliability of power supply is closely related to the national economy and people's daily life. Power supply and distribution electrical equipment is the key equipment of the power system, and its quality directly affects the reliability of power supply.

[0003] The general scheme of existing electrical equipment production and manufacturing is: the sheet metal forming components of the electrical equipment shell are manually transferred to the shell assembly area for assembly to form the equipment shell, and the shell is manually transferred to the final assembly area. At the same time, various materials such as conductive parts and components required for the final assembly of the electrical equipment are also manually transferred to the final assembly area, and the above materials are manually assembled into the equipment shell. After assembly, they are manually transferred to the inspection area, and the electrical equipment that has passed the inspection is manually transferred to the finished product area.

[0004] However, the current assembly and production of power supply and distribution electrical equipment mainly relies on manual methods, resulting in poor consistency in product quality control and traceability. At the same time, it requires high operational skills of employees and is labor-intensive. Moreover, with the continuous improvement of personalized needs, the customization, small batch and short-term delivery of power supply and distribution electrical equipment bring more challenges to manufacturing companies. Summary of the invention

[0005] The purpose of the present invention is to provide a flexible production inspection line for electrical equipment and a control method thereof, aiming to solve the problems in the prior art that the current assembly and production of power supply and distribution electrical equipment relies mainly on manual methods, resulting in poor consistency in product quality control and traceability; at the same time, it requires high operational skills of employees and high labor intensity; and with the continuous improvement of personalized needs, the customization, small batch and short-term delivery of power supply and distribution electrical equipment bring more challenging technical problems to manufacturing companies.

[0006] To achieve the above-mentioned purpose, the present invention adopts a flexible production and inspection line for electrical equipment, including an assembly robot, a shell assembly working module, an assembly assisting manipulator working module, multiple longitudinal assembly working modules, two rotation reversing modules, a detection module, a detection station, an offline module, a line body RGV vehicle, a line body personnel safety protection device, multiple line body external material AGV vehicles, multiple station material vehicles, a line body track, a station MES terminal and a production line scheduling control terminal. A robot gripper and a VR vision mechanism are arranged above the assembly robot; the shell assembly working module includes two horizontal assembly working modules and a station truss, and two sets of tooling fixtures are arranged on the horizontal assembly working module, and the two horizontal assembly working modules are symmetrically arranged on the two inner sides of the station truss respectively; the detection module is in the detection station; the detection station is provided with an independent grounding system; the detection module and the detection An interlocking safety device is arranged between stations; the rotary reversing module comprises an auxiliary assembly working module and a steering mechanism, the auxiliary assembly working module is provided with a flipping mechanism, and the auxiliary assembly working module is arranged on the steering mechanism; the structures of the offline module, the longitudinal assembly working module, the transverse assembly working module and the auxiliary assembly working module are the same; line personnel safety protection mechanisms are arranged on both sides of the line track; the assembly robot, the shell assembly working module, the assembly assisting manipulator working module, multiple longitudinal assembly working modules, two rotary reversing modules, the detection module, the offline module, and the production line scheduling control terminal are all arranged around the outside of the line track, and multiple off-line material AGV vehicles deliver the corresponding workstation material vehicles to the corresponding workstations according to the needs of each workstation of the line, and the line RGV vehicle is arranged on the line track.

[0007] Among them, the assembly power-assist manipulator working module includes an operating handle, a tooling fixture and a power-assist manipulator body. The power-assist manipulator body is provided with an A joint, the A joint is provided with a floating balancing mechanism, the floating balancing mechanism is provided with a B joint, the B joint is provided with a C joint, and the C joint is provided with a D joint. The operating handle is provided on the output shaft of the D joint, the tooling fixture is provided at the end of the output shaft of the D joint, the power-assist manipulator body is provided on the outside of the assembly power-assist manipulator working module, and the tooling fixture has multiple sets, which can be manually switched according to the needs of specific online products.

[0008] Among them, the longitudinal assembly working module includes a transmission gear driving mechanism, a transmission chain, a plurality of transmission rollers and an aluminum profile frame, a driven gear is arranged at the outer end of the transmission roller, the transmission gear driving mechanism and the driven gear are respectively meshed with the transmission chain, a module support leg and a laser scanning in-position signal terminal are arranged below the aluminum profile frame, an in-position anti-collision mechanism is arranged at one end of the aluminum profile frame, the transmission gear driving mechanism is arranged on one side of the aluminum profile frame, a plurality of transmission rollers are respectively rotatably connected to the aluminum profile frame and are located inside the aluminum profile frame, the upper surface of the transmission roller is higher than the upper surface of the aluminum profile frame, the transmission roller is installed at the upper end of the aluminum profile frame, the tangent surface of the transmission roller is a horizontal plane higher than the upper end of the aluminum profile frame, guide rollers are installed on both sides of the outer end of the transmission roller, and the entrance is a bell mouth.

[0009] Among them, the detection module includes a detection platform, two insulating guide rails and a belt transmission mechanism. Four insulating friction wheels are arranged at the lower part of the detection platform, and the four insulating friction wheels are placed on the two insulating guide rails; the detection platform includes a transmission gear driving mechanism, a transmission chain, a plurality of transmission rollers and an aluminum profile frame. A driven gear is arranged at the outer end of the transmission roller, and the transmission gear driving mechanism and the driven gear are respectively engaged with the transmission chain; module support legs and laser scanning in-position signal terminals are arranged below the aluminum profile frame, an in-position anti-collision mechanism is arranged at one end of the aluminum profile frame, the transmission gear driving mechanism is arranged on one side of the aluminum profile frame, and the plurality of transmission rollers are respectively rotatably connected to the aluminum profile frame and are located inside the aluminum profile frame, and the upper surface of the transmission roller is higher than the upper surface of the aluminum profile frame.

[0010] Among them, the line body RGV vehicle includes a conveying module and a vehicle frame. The vehicle frame is provided with a workstation docking hydraulic drive mechanism, a safety protection mechanism, an infrared transmission component, a laser ranging mechanism, an electrical control mechanism, a plate shell package, a reciprocating drive mechanism, a three-color warning light and a material arrival signal terminal. A friction walking wheel assembly is provided under the vehicle frame, and the friction walking wheel assembly is arranged on the line body track. The conveying module is arranged in the vehicle frame.

[0011] Among them, the linear track includes multiple track covers and friction wheel power tracks, a track support mechanism is arranged below the friction wheel power track, track end blocking plates are arranged at both ends of the friction wheel power track, and an infrared data transmission receiving end and a laser positioning reference end are arranged on one of the track end blocking plates.

[0012] The present invention also provides a method for controlling flexible production of electrical equipment, which is applied to the flexible production and testing line of electrical equipment described above, and comprises the following steps:

[0013] S1: After the production line scheduling control terminal receives the production task issued by the MES system, it issues a material delivery instruction to the off-line material AGV vehicle, and the off-line material AGV vehicle delivers the materials required by each workstation through the workstation material vehicle as required.

[0014] S2: After the assembly robot receives the assembly operation instruction, the robot gripper sequentially takes the sheet metal parts from the work station material cart, and uses the work station truss, the tooling fixture, and the VR visual mechanism to collaboratively complete the orderly assembly of the product;

[0015] S3: After the cabinet is assembled, it is transmitted to the rotary reversing module by the shell assembly working module. The rotary reversing module completes the 90° flipping of the product from horizontal to vertical by the flipping mechanism, and then completes the 90° turning by the steering mechanism. After the cabinet is flipped and turned, the driving roller of the rotary reversing module is connected with the conveying module to complete the online operation. After the rotary reversing module completes the product feeding, it reverses and reverses to reset and waits for the next task to be executed;

[0016] S4: The line RGV vehicle moves to one of the longitudinal assembly work modules and docks with it. The electrical control mechanism controls the station docking hydraulic drive mechanism to extend until the transmission gear drive mechanism is engaged. The conveying module rotates the roller to connect with the transmission gear drive mechanism and synchronously drives the transmission roller to transport the cabinet to be assembled to the specified position. When the laser scans the position signal end and receives a signal, the conveying module stops rotating, and the station docking hydraulic drive mechanism retracts and resets to the initial state. The longitudinal assembly work module completes the corresponding operation task, and the station MES terminal collects relevant operation information.

[0017] S5: After all assembly tasks are completed, the product to be inspected is formed and is transferred to the inspection platform of the inspection module by the line RGV vehicle. The inspection platform moves to the inspection position. The product to be inspected is connected to the inspection equipment for inspection and corresponding performance inspection is carried out. The inspection result data is collected by the inspection station MES terminal.

[0018] S6: The inspected products are returned to the line RGV vehicle through the inspection platform. The line RGV vehicle transports the inspected products to the offline module. The offline module transports the finished products to the off-line material AGV vehicle. The off-line material AGV vehicle transports the inspected products to the finished product area to form a finished product cabinet. At the same time, the product information is transmitted to the production line scheduling control terminal.

[0019] A flexible production inspection line for electrical equipment and a control method thereof of the present invention include an assembly robot, a shell assembly work module, an assembly assisting manipulator work module, a plurality of longitudinal assembly work modules, two rotation reversing modules, a detection module, an offline module, a line body RGV vehicle, a plurality of line body external material AGV vehicles, a plurality of station material vehicles and a line body track. A robot gripper and a VR vision mechanism are arranged above the assembly robot. The shell assembly work module includes two transverse assembly work modules and a station truss. Two sets of tooling fixtures are arranged on the transverse assembly work module. An inspection station is arranged at the detection module. The rotation reversing module includes an auxiliary assembly work module and a steering mechanism. The auxiliary assembly work module is provided with a flipping mechanism. This design uses the production line RGV as a link to organically connect the station modules of the production line in series, and coordinates The AGV outside the same production line is dispatched by the production line dispatching and control system to realize the flexible coordination of material supply and product station flow. The data of each operation is uploaded to the production line MES system through the MES terminal to realize the traceability and statistics of operation data and quality data. This flexible production inspection line and its control system can realize the flexible production and JIT fast delivery of multiple varieties and small batches of electrical equipment, and effectively guarantee the product quality and its traceability, while greatly reducing the labor intensity of workers. In this way, it effectively solves the current problem that the main assembly and production of power supply and distribution electrical equipment relies on manual methods, and the product quality control consistency is poor and the traceability is poor; at the same time, it requires high operating skills and high labor intensity of employees; and with the continuous improvement of personalized needs, the customization, small batch and short-term delivery of power supply and distribution electrical equipment bring more challenging technical problems to manufacturing companies. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a structural schematic diagram of the flexible production detection line of electrical equipment and the control method thereof of the present invention.

[0022] Figure 2 It is a structural schematic diagram of an assembly robot in a flexible production and testing line for electrical equipment and a control method thereof of the present invention.

[0023] Figure 3 This is a structural schematic diagram of the housing assembly working module in the flexible production and testing line of electrical equipment and the control method thereof of the present invention.

[0024] Figure 4It is a structural schematic diagram of an assembly assisting manipulator working module in the flexible production and testing line for electrical equipment and the control method thereof of the present invention.

[0025] Figure 5 It is a structural schematic diagram of a longitudinal assembly working module in a flexible production and testing line for electrical equipment and a control method thereof of the present invention.

[0026] Figure 6 It is a structural schematic diagram of a rotary reversing module in a flexible production and testing line for electrical equipment and a control method thereof of the present invention.

[0027] Figure 7 It is a structural schematic diagram of a detection module in a flexible production detection line for electrical equipment and a control method thereof of the present invention.

[0028] Figure 8 It is a structural schematic diagram of a line track in a flexible production inspection line for electrical equipment and a control method thereof of the present invention.

[0029] Fig. 9 It is a structural schematic diagram of the line body RGV vehicle in the electrical equipment flexible production and testing line and control method thereof of the present invention.

[0030] Fig.10 It is a three-dimensional stereogram of the line body RGV vehicle in the electrical equipment flexible production inspection line and control method thereof of the present invention.

[0031] 1 is the assembly robot, 1-1 is the VR vision mechanism, 1-2 is the robot gripper, 2 is the shell assembly working module, 2-1 is the workstation truss, 2-2 is the tooling fixture, 3 is the assembly assist manipulator working module, 3-1 is the assist manipulator body, 3-2 is the operating handle, 3-3 is the tooling fixture, 3-4 is the A joint, 3-5 is the B joint, 3-6 is the C joint, 3-7 is the D joint, 3-8 is the floating balance mechanism, 4 is the longitudinal assembly working module, 4-1 is the transmission Roller, 4-2 is aluminum profile frame, 4-3 is module support leg, 4-4 is transmission gear drive mechanism, 4-5 is laser scanning in place signal terminal, 4-6 is in place anti-collision mechanism, 4-7 is driven gear, 5 is rotation reversing module, 5-1 is steering mechanism, 5-2 is flip mechanism, 6 is detection module, 6-1 is insulating friction wheel, 6-2 is detection platform, 6-3 is platform roller transmission gear, 6-4 is platform conveying roller, 6-5 is platform moving drive mechanism, 6 -6 is the material position detection end, 6-7 is the insulating guide rail, 7 is the detection station, 8 is the offline module, 9 is the line track, 9-1 is the infrared data transmission receiving end, 9-2 is the laser positioning reference, 9-3 is the friction wheel power track, 9-4 is the track cover, 9-5 is the track support mechanism, 9-6 is the track end blocking plate, 10 is the line RGV car, 10-1 is the car frame, 10-2 is the friction walking wheel assembly, 10-3 is the station docking hydraulic drive mechanism, 10-4 is Safety protection mechanism, 10-5 is an infrared transmission component, 10-6 is a laser ranging mechanism, 10-7 is an electrical control mechanism, 10-8 is a panel shell package, 10-9 is a conveying module, 10-10 is a reciprocating drive mechanism, 10-11 is a three-color warning light, 10-12 is a material arrival signal terminal, 11 is an off-line material AGV vehicle, 12 is a workstation material vehicle, 13 is a line personnel safety protection mechanism, 14 is a production line scheduling control terminal, and 15 is a workstation MES terminal. DETAILED DESCRIPTION

[0032] 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.

[0033] See also Figures 1 to 10The present invention provides a flexible production and testing line for electrical equipment, comprising an assembly robot 1, a shell assembly working module 2, an assembly assisting manipulator working module 3, a plurality of longitudinal assembly working modules 4, two rotation reversing modules 5, a detection module 6, a detection station, an offline module 8, a line body RGV vehicle 10, a line body personnel safety protection mechanism, a plurality of line body external material AGV vehicles 11, a plurality of station material vehicles 12, a line body track 9, a station MES terminal and a production line scheduling control terminal. A robot gripper 1-2 and a VR vision mechanism 1-1 are arranged above the assembly robot 1; the shell assembly working module 2 comprises two transverse assembly working modules and a station truss 2-1, two sets of tooling fixtures 2-2 are arranged on the transverse assembly working module, and the two transverse assembly working modules are symmetrically arranged on the two inner sides of the station truss respectively; the detection module 6 is in the detection station 7, and the detection station 7 is provided with an independent grounding system; the detection module 6 and the detection station 7 are connected An interlocking safety device is provided; the rotary reversing module 5 includes an auxiliary assembly working module and a steering mechanism 5-1, the auxiliary assembly working module is provided with a flipping mechanism 5-2, and the auxiliary assembly working module is arranged on the steering mechanism 5-1; the offline module 8, the longitudinal assembly working module 4, the transverse assembly working module and the auxiliary assembly working module have the same structure; both sides of the line track 9 are provided with line personnel safety protection mechanisms 13, the assembly robot 1, the shell assembly working module 2, the assembly assisting manipulator working module 3, multiple longitudinal assembly working modules 4, two rotary reversing modules 5, the detection module 6, the offline module 8, and the production line scheduling control terminal are all arranged around the outer side of the line track 9, and multiple line external material AGV vehicles 11 deliver the corresponding station material vehicles 12 to the corresponding stations according to the needs of each station of the line, and the line RGV vehicle 10 is arranged on the line track 9.

[0034] In this embodiment, this design uses the production line RGV as a link to organically connect the various workstation modules of the production line, and coordinate with the AGV outside the production line. The production line scheduling control system schedules to realize flexible coordination of material supply and product workstation flow. Each operation data is uploaded to the production line MES system through the MES terminal to realize the traceability and statistics of operation data and quality data. This flexible production inspection line and its control system can realize flexible production and JIT fast delivery of multiple varieties and small batches of electrical equipment, and effectively guarantee product quality and its traceability, while greatly reducing the labor intensity of workers. In this way, it effectively solves the current problem that the main assembly and production of power supply and distribution electrical equipment relies on manual methods, and the product quality control consistency is poor and the traceability is poor; at the same time, it requires high operating skills and high labor intensity of employees; and with the continuous improvement of personalized needs, the customization, small batch and short-term delivery of power supply and distribution electrical equipment bring more challenging technical problems to manufacturing companies.

[0035] Furthermore, the assembly assist manipulator working module 3 includes an operating handle 3-2, a fixture 3-3 and an assist manipulator body 3-1, the assist manipulator body 3-1 is provided with an A joint 3-4, the A joint 3-4 is provided with a floating balancing mechanism 3-8, the floating balancing mechanism 3-8 is provided with a B joint 3-5, the B joint 3-5 is provided with a C joint 3-6, the C joint 3-6 is provided with a D joint 3-7, the operating handle 3-2 is provided on the output shaft of the D joint, the fixture 3-3 is provided at the end of the output shaft of the D joint 3-7, the assist manipulator body 3-1 is provided on the outside of the assembly assist manipulator working module 3, and there are multiple sets of fixtures 3-3, which can be manually switched according to the needs of specific online products.

[0036] In this embodiment, the manual operation for large and heavy-loaded materials can use the assembly assisting manipulator working module 3 to control the operating handle 3-2 to drive the clamp 3-3 to loosen, and the clamp 3-3 can be replaced with a variety of forms to grab the material to be transported, and then the assisting manipulator body 3-1 is rotated to allow the material to reach a suitable assembly position, wherein the A joint 3-4, the C joint 3-6, and the D joint 3-7 divide the space into 3 planes, which can be turned horizontally in the 3 planes, and the B joint 3-5 is vertical up and down movement, so that Through the cooperation of these four joints, spatial movement with the A joint 3-4 as the origin is realized, and the power-assisted manipulator body 3-1 is rotated to allow the material to reach a suitable assembly position. The floating balancing mechanism 3-8 is essentially a lever, one end of which is loaded with heavy materials, and the other end is pushed downward by atmospheric pressure to achieve balance. Both ends are in a suspended state, which reduces gravity and can control the operating handle 3-2 to easily clamp materials. The quantity is based on the actual needs of the product and is mainly used for the assembly of large components and panels to effectively reduce manual labor intensity and improve assembly work efficiency.

[0037] Furthermore, the longitudinal assembly working module 4 includes a transmission gear driving mechanism 4-4, a transmission chain, a plurality of transmission rollers 4-1 and an aluminum profile frame 4-2, a driven gear 4-7 is arranged at the outer end of the transmission roller 4-1, the transmission gear driving mechanism 4-4 and the driven gear 4-7 are respectively meshed with the transmission chain, a module support leg 4-3 and a laser scanning in-position signal terminal 4-5 are arranged below the aluminum profile frame 4-2, an in-position anti-collision mechanism 4-6 is arranged at one end of the aluminum profile frame 4-2, the transmission gear driving mechanism 4-4 is arranged on one side of the aluminum profile frame 4-2, a plurality of the transmission rollers 4-1 are respectively rotatably connected to the aluminum profile frame 4-2 and are located inside the aluminum profile frame 4-2, and the upper surface of the transmission roller 4-1 is higher than the upper surface of the aluminum profile frame 4-2.

[0038] In this embodiment, the transmission roller 4-1 is installed on the upper end of the aluminum profile frame 4-2, and the tangent plane of the transmission roller 4-1 is a horizontal plane higher than the upper end of the aluminum profile frame 4-2, which is conducive to the rolling of the cabinet. Guide rollers are installed on both sides of the outer end of the transmission roller 4-1, and the entrance is a trumpet mouth to prevent the cabinet from deviating from the movement path. The lower end of the aluminum profile frame 4-2 is installed on the upper end of the module support leg 4-3, and the lower end of the module support leg 4-3 is tightly fitted with the ground to achieve fixation, and the anti-collision mechanism made of polyurethane material is provided at the tail end to prevent the cabinet from rushing out.

[0039] Furthermore, the detection module 6 includes a detection platform 6-2, two insulating guide rails 6-7 and a belt transmission mechanism, and four insulating friction wheels 6-1 are arranged at the lower part of the detection platform 6-2, and the four insulating friction wheels 6-1 are placed on the two insulating guide rails 6-7; the detection platform 6-2 includes a transmission gear drive mechanism 4-4, a transmission chain, a plurality of transmission rollers 4-1 and an aluminum profile skeleton 4-2, and the outer end of the transmission roller 4-1 is provided with a driven gear 4-7, and the transmission gear drive mechanism 4-4, the driven gear The wheels 4-7 are respectively engaged with the transmission chains; module support legs 4-3 and laser scanning in-position signal terminals 4-5 are arranged below the aluminum profile skeleton 4-2; an in-position anti-collision mechanism is arranged at one end of the aluminum profile skeleton 4-2; the transmission gear drive mechanism 4-4 is arranged on one side of the aluminum profile skeleton 4-2; a plurality of transmission rollers 4-1 are respectively rotatably connected to the aluminum profile skeleton 4-2 and are located inside the aluminum profile skeleton 4-2; the upper surface of the transmission roller 4-1 is higher than the upper surface of the aluminum profile skeleton 4-2.

[0040] In this embodiment, when the line RGV vehicle 10 is docked with the detection platform 6-2, the electrical control mechanism 10-7 controls the workstation docking hydraulic drive mechanism 10-3 to extend until the platform roller transmission gear 6-3 is engaged, and the conveying module 10-9 rotates the roller together with the platform roller transmission gear 6-3 to synchronously drive the platform conveying roller 6-4 to move the switch cabinet product to be inspected to the detection platform 6-2. When the material position detection end 6-6 mechanism receives a signal, the conveying module 10-9 stops rotating, and the workstation docking hydraulic drive mechanism 10-3 retracts and returns to its initial state.

[0041] Furthermore, the line RGV vehicle 10 includes a conveying module 10-9 and a vehicle frame 10-1, and the vehicle frame 10-1 is provided with a workstation docking hydraulic drive mechanism 10-3, a safety protection mechanism 10-4, an infrared transmission component 10-5, a laser ranging mechanism 10-6, an electrical control mechanism 10-7, a plate shell package 10-8, a reciprocating drive mechanism 10-10, a three-color warning light 10-11 and a material arrival signal terminal 10-12, and a friction walking wheel assembly 10-2 is arranged below the vehicle frame 10-1, and the friction walking wheel assembly 10-2 is arranged on the line track 9, and the conveying module 10-9 is arranged in the vehicle frame 10-1.

[0042] In this embodiment, the top part of the vehicle frame 10-1 of the line RGV vehicle 10 is equipped with the friction walking wheel assembly 10-2, the workstation docking hydraulic drive mechanism 10-3, the infrared transmission assembly 10-5, the conveying laser ranging mechanism 10-6, the electrical control mechanism 10-7, the conveying module 10-9, and the material arrival signal terminal 10-12, the end part is provided with the reciprocating drive mechanism 10-10, the hollow part adopts the plate shell package 10-8, the top of the plate shell package 10-8 is equipped with the three-color warning light 10-11, and the side of the plate shell package 10-8 is equipped with the safety protection mechanism 10-4.

[0043] Furthermore, the linear track 9 includes a plurality of track covers 9-4 and a friction wheel power track 9-3, a track support mechanism 9-5 is arranged below the friction wheel power track 9-3, track end blocking plates 9-6 are arranged at both ends of the friction wheel power track 9-3, and an infrared data transmission receiving terminal 9-1 and a laser positioning base 9-2 are arranged on one of the track end blocking plates 9-6.

[0044] In this embodiment, the linear track 9 is provided with a plurality of track support mechanisms 9-5, the bottom of which is fixed to the ground, the friction wheel power track 9-3 is installed on the top, and the hollowed-out part is closed with the track cover 9-4, and the track end blocking plates 9-6 are provided at the top and the end to prevent the linear RGV vehicle 10 from rushing out of the linear track 9 due to failure, and the infrared data transmission receiving terminal 9-1 and the laser positioning base 9-2 are installed outside the top edge.

[0045] In this embodiment, the linear RGV vehicle 10 is placed on the linear track 9, and the friction walking wheel assembly 10-2 is fitted with the friction wheel power track 9-3 so as to achieve reciprocating translation on the linear track 9; the laser ranging mechanism 10-6 at the top of the linear RGV vehicle 10 corresponds to the quasi-end of the laser positioning base 9-2, and the reciprocating translation distance of the linear RGV vehicle 10 is calculated by the laser ranging mechanism 10-6 with the quasi-end of the laser positioning base 9-2 as the origin to obtain the effective distance so that the reciprocating drive mechanism 10-10 controls the friction walking wheel assembly 10-2 to achieve the purpose of precise positioning; the safety protection mechanism 10-4 of the linear RGV vehicle 10 sends a command to the electrical control mechanism 10-7 to stop the movement when the linear RGV vehicle 10 encounters an obstacle during the reciprocating motion, and the three-color warning light 10-11 flashes as an alarm.

[0046] In this embodiment, the inspection underlying data information of the key assembly process and finished product inspection of the flexible production inspection line of electrical equipment is transmitted to the workstation MES terminal 15. The workstation MES terminal 15 automatically determines whether each inspection item is qualified based on the test item threshold, gives an alarm for unqualified products and automatically transfers them to the production line cache station or the corresponding unqualified area for disposal; the workstation MES terminal 15 will be synchronized to the background monitoring, which is used to statistically analyze the data trend based on historical data to determine whether it is stable, convergent or divergent. When the divergent trend exceeds the predetermined requirements, the system will automatically give an alarm prompt for analysis and improvement.

[0047] In this embodiment, the processes of the flexible production and testing line for electrical equipment are arranged in a "non"-shaped order, and the interval distance between each process can be well controlled. The cycle time can be improved or the product variety can be responded to by simply deleting and adding workstations, so as to better adapt to changes in demand.

[0048] In this embodiment, the MES data information of the production line scheduling control terminal 14 can be synchronously transmitted to the background monitoring center.

[0049] The present invention also provides a method for controlling flexible production of electrical equipment, which is applied to the flexible production and testing line of electrical equipment described above, and comprises the following steps:

[0050] S1: After the production line scheduling control terminal 14 receives the production task issued by the MES system, it issues a material delivery instruction to the off-line material AGV vehicle 11. The off-line material AGV vehicle 11 delivers the required materials to each workstation through the workstation material vehicle 12 as required.

[0051] S2: After the assembly robot 1 receives the assembly operation instruction, the robot gripper 1-2 takes the sheet metal parts from the work station material cart 12 in an orderly manner, and with the help of the work station truss 2-1 and the tooling fixture 2-2, and then through the VR visual mechanism 1-1, the orderly assembly of the product is completed in coordination;

[0052] S3: After the cabinet is assembled, it is transmitted to the rotating reversing module 5 by the shell assembly working module 2. The rotating reversing module 5 completes the 90° flipping of the product from horizontal to vertical by the flipping mechanism 5-2, and then completes the 90° turning by the steering mechanism 5-1. After the cabinet is flipped and turned, the driving roller 4-1 of the rotating reversing module 5 is connected with the conveying module 10-9 to complete the online operation. After the rotating reversing module 5 completes the product feeding, it reverses and reverses to reset and waits for the next task to be executed;

[0053] S4: The line body RGV vehicle 10 moves to one of the longitudinal assembly work modules 4 and docks with it, the electrical control mechanism 10-7 controls the station docking hydraulic drive mechanism 10-3 to extend until the transmission gear drive mechanism 4-4 is engaged, the conveying module 10-9 rotates the roller to connect with the transmission gear drive mechanism 4-4 and synchronously drives the transmission roller 4-1 to transport the cabinet to be assembled to the specified position, when the laser scans and the signal terminal 4-5 receives a signal, the conveying module 10-9 stops rotating, the station docking hydraulic drive mechanism 10-3 retracts and resets to the initial state, the longitudinal assembly work module 4 completes the corresponding operation task, and the station MES terminal 15 collects relevant operation information;

[0054] S5: After all assembly tasks are completed, the product to be inspected is formed and is transferred to the inspection platform 6-2 of the inspection module 6 by the line RGV vehicle 10. The inspection platform 6-2 moves to the inspection position. The product to be inspected is connected to the inspection equipment for inspection and corresponding performance inspection is carried out. The inspection result data is collected by the inspection station MES terminal 15.

[0055] S6: The inspected products are returned to the line RGV vehicle 10 through the inspection platform 6-2. The line RGV vehicle 10 transports the inspected products to the offline module 8. The offline module 8 transports the finished products to the off-line material AGV vehicle 11. The off-line material AGV vehicle 11 transports the inspected products to the finished product area to form a finished product cabinet. At the same time, the product information is transmitted to the production line scheduling control terminal 14.

[0056] In the present invention, in step S2, the main production task of the production line is released through the background monitoring and transmitted to the production line scheduling control terminal 14. The production line scheduling control terminal 14 issues the task to the off-line material AGV vehicle 11 and each execution module; the sheet metal parts, components and other types of materials required for each operation module of the production line are received by the off-line material AGV vehicle 11, and then connected to the corresponding workstation material vehicle 12 to deliver the required external materials to the place, and the product flow of each workstation module in the production line is executed by the line body RGV vehicle 10 after receiving the instruction.

[0057] In the present invention, in step S5, the detection platform 6-2 is spatially insulated from the line RGV vehicle 10, and the insulating guide rails 6-7 are laid to form insulation to the ground, and the shielding partition completely wraps the detection module 6 and is provided with a safety door. When the detection equipment detects the switch cabinet product to be inspected, personnel are not allowed to approach and the safety door can only be closed. Otherwise, it cannot work to prevent electric shock, and an independent grounding system is installed.

[0058] In the present invention, the intelligent manufacturing system is mainly built for the production, manufacturing, quality traceability and digital management of electrical equipment products. The goal is to improve the production of power supply and distribution equipment. Only a very small number of enterprises adopt power assembly lines, and most of the production and testing equipment do not have digital interfaces. The production process and means are relatively backward, the production energy consumption is large, the product added value is low, and the quality reliability is poor. With the continuous improvement of personalized needs, there will be more and more small batch orders. Once the original large-scale production mode of the factory is applied to small batch orders, the cost will be greatly increased, the efficiency will be greatly reduced, and the energy consumption will grow exponentially. Through digital twins, digital models such as product models, manufacturing models, management models, and quality models are constructed, and the interconnected product information and the production execution of the management cockpit are integrated through the optimization configuration of the data center. On the basis of a unified data platform, different digital models are constructed to realize model-based digital product process manufacturing and information-based enterprise management; the core manufacturing links of the switch cabinet produced, online detection, digital twins and information data system integration and other processes are constructed to realize a new model of intelligent manufacturing, reduce production costs, improve production efficiency, reduce defective product rates, and improve energy utilization. Through the application of this project, it is possible to realize the automated and large-scale production of electrical equipment products from raw materials, basic parts to complete finished products, realize rapid production and delivery driven by orders, effectively reduce the overall operating costs, and significantly enhance the core competitiveness of the enterprise.

[0059] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A flexible production and testing line for electrical equipment, characterized in that: It includes an assembly robot, a shell assembly working module, an assembly assisting manipulator working module, multiple longitudinal assembly working modules, two rotation reversing modules, a detection module, a detection station, an offline module, a line body RGV vehicle, a line body personnel safety protection device, multiple line body external material AGV vehicles, multiple station material vehicles, a line body track, a station MES terminal and a production line scheduling control terminal. A robot gripper and a VR vision mechanism are arranged above the assembly robot; the shell assembly working module includes two horizontal assembly working modules and a station truss, and two sets of tooling fixtures are arranged on the horizontal assembly working module, and the two horizontal assembly working modules are symmetrically arranged on the two inner sides of the station truss respectively; the detection module is in the detection station; the detection station is provided with an independent grounding system; an interlocking safety device is arranged between the detection module and the detection station; The rotary reversing module includes an auxiliary assembly working module and a steering mechanism, the auxiliary assembly working module is provided with a flipping mechanism, and the auxiliary assembly working module is arranged on the steering mechanism; the structures of the offline module, the longitudinal assembly working module, the transverse assembly working module and the auxiliary assembly working module are the same; line personnel safety protection mechanisms are arranged on both sides of the line track; the assembly robot, the shell assembly working module, the assembly assisting manipulator working module, multiple longitudinal assembly working modules, two rotary reversing modules, the detection module, the offline module, and the production line scheduling control terminal are all arranged around the outside of the line track, and multiple off-line material AGV vehicles deliver the corresponding workstation material vehicles to the corresponding workstations according to the needs of each workstation of the line, and the line RGV vehicle is arranged on the line track.

2. The flexible production and testing line for electrical equipment according to claim 1, characterized in that: The working module of the assembly power-assist manipulator includes an operating handle, a tooling fixture and a power-assist manipulator body. The power-assist manipulator body is provided with an A joint, the A joint is provided with a floating balancing mechanism, the floating balancing mechanism is provided with a B joint, the B joint is provided with a C joint, and the C joint is provided with a D joint. The operating handle is provided on the output shaft of the D joint, the tooling fixture is provided at the end of the output shaft of the D joint, the power-assist manipulator body is provided on the outside of the working module of the assembly power-assist manipulator, and the tooling fixture has multiple sets, which can be manually switched according to the needs of specific online products.

3. The flexible production and testing line for electrical equipment according to claim 1, characterized in that: The longitudinal assembly working module includes a transmission gear driving mechanism, a transmission chain, a plurality of transmission rollers and an aluminum profile frame. A driven gear is arranged at the outer end of the transmission roller. The transmission gear driving mechanism and the driven gear are respectively meshed with the transmission chain. A module supporting leg and a laser scanning in-position signal terminal are arranged below the aluminum profile frame. An in-position anti-collision mechanism is arranged at one end of the aluminum profile frame. The transmission gear driving mechanism is arranged on one side of the aluminum profile frame. A plurality of transmission rollers are respectively rotatably connected to the aluminum profile frame and are located inside the aluminum profile frame. The upper surface of the transmission roller is higher than the upper surface of the aluminum profile frame. The transmission roller is installed at the upper end of the aluminum profile frame. The tangent surface of the transmission roller is a horizontal plane higher than the upper end of the aluminum profile frame. Guide rollers are installed on both sides of the outer end of the transmission roller, and the entrance is a bell mouth.

4. The flexible production and testing line for electrical equipment according to claim 1, characterized in that: The detection module includes a detection platform, two insulating guide rails and a belt transmission mechanism. Four insulating friction wheels are arranged at the lower part of the detection platform, and the four insulating friction wheels are placed on the two insulating guide rails; the detection platform includes a transmission gear driving mechanism, a transmission chain, a plurality of transmission rollers and an aluminum profile frame. A driven gear is arranged at the outer end of the transmission roller, and the transmission gear driving mechanism and the driven gear are respectively engaged with the transmission chain; a module support leg and a laser scanning in-position signal terminal are arranged below the aluminum profile frame, an in-position anti-collision mechanism is arranged at one end of the aluminum profile frame, the transmission gear driving mechanism is arranged on one side of the aluminum profile frame, and the plurality of transmission rollers are respectively rotatably connected to the aluminum profile frame and are located inside the aluminum profile frame, and the upper surface of the transmission roller is higher than the upper surface of the aluminum profile frame.

5. The flexible production and testing line for electrical equipment according to claim 4, characterized in that: The line RGV vehicle includes a conveying module and a vehicle frame. The vehicle frame is provided with a workstation docking hydraulic drive mechanism, a safety protection mechanism, an infrared transmission component, a laser ranging mechanism, an electrical control mechanism, a plate shell package, a reciprocating drive mechanism, a three-color warning light and a material arrival signal terminal. A friction walking wheel assembly is provided below the vehicle frame. The friction walking wheel assembly is arranged on the line track, and the conveying module is arranged in the vehicle frame.

6. The flexible production and testing line for electrical equipment according to claim 5, characterized in that: The linear track includes multiple track covers and friction wheel power tracks. A track support mechanism is arranged below the friction wheel power track. Track end blocking plates are arranged at both ends of the friction wheel power track, and an infrared data transmission receiving end and a laser positioning reference end are arranged on one of the track end blocking plates.

7. A flexible production control method for electrical equipment, applied to the flexible production test line for electrical equipment as claimed in claim 1, characterized in that: The steps include: S1: After the production line scheduling control terminal receives the production task issued by the MES system, it issues a material delivery instruction to the off-line material AGV vehicle, and the off-line material AGV vehicle delivers the materials required by each workstation through the workstation material vehicle as required. S2: After the assembly robot receives the assembly operation instruction, the robot gripper sequentially takes the sheet metal parts from the work station material cart, and uses the work station truss, the tooling fixture, and the VR visual mechanism to collaboratively complete the orderly assembly of the product; S3: After the cabinet is assembled, it is transmitted to the rotary reversing module by the shell assembly working module. The rotary reversing module completes the 90° flipping of the product from horizontal to vertical by the flipping mechanism, and then completes the 90° turning by the steering mechanism. After the cabinet is flipped and turned, the driving roller of the rotary reversing module is connected with the conveying module to complete the online operation. After the rotary reversing module completes the product feeding, it reverses and reverses to reset and waits for the next task to be executed; S4: The line RGV vehicle moves to one of the longitudinal assembly work modules and docks with it. The electrical control mechanism controls the station docking hydraulic drive mechanism to extend until the transmission gear drive mechanism is engaged. The conveying module rotates the roller to connect with the transmission gear drive mechanism and synchronously drives the transmission roller to transport the cabinet to be assembled to the specified position. When the laser scans the position signal end and receives a signal, the conveying module stops rotating, and the station docking hydraulic drive mechanism retracts and resets to the initial state. The longitudinal assembly work module completes the corresponding operation task, and the station MES terminal collects relevant operation information. S5: After all assembly tasks are completed, the product to be inspected is formed and is transferred to the inspection platform of the inspection module by the line RGV vehicle. The inspection platform moves to the inspection position. The product to be inspected is connected to the inspection equipment for inspection and corresponding performance inspection is carried out. The inspection result data is collected by the inspection station MES terminal. S6: The inspected products are returned to the line RGV vehicle through the inspection platform. The line RGV vehicle transports the inspected products to the offline module. The offline module transports the finished products to the off-line material AGV vehicle. The off-line material AGV vehicle transports the inspected products to the finished product area to form a finished product cabinet. At the same time, the product information is transmitted to the production line scheduling control terminal.

Images