Central domain control automatic assembly line body and process based on mechanical arm

Abstract

The invention discloses a central domain control automatic assembly line body and process based on a mechanical arm, and relates to the technical field of product tools, and the central domain control automatic assembly line body comprises a front part processing area, a dispensing processing area, a back part processing area and a transfer module, the front part processing area comprises a middle plate processing module, a bottom plate processing module and a second circuit board preassembling module which are arranged along the linear direction; the glue dispensing processing area comprises a second middle plate top surface glue dispensing module, a middle plate bottom surface glue dispensing module, a first middle plate top surface glue dispensing module, a circuit board glue dispensing module and a plurality of groups of glue supply modules which are arranged along the linear direction; the back side part processing area comprises a first discharging module, a first circuit board preassembling module and an elastic piece preassembling module which are arranged in the linear direction, the first discharging module is arranged adjacent to the second dispensing module on the top face of the middle plate, and the front side part processing area, the dispensing processing area and the back side part processing area are arranged in a [shape; the production takt can be controlled, and the utilization rate of equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of product tooling, and specifically to a central domain control automated assembly line body and process based on a robotic arm. Background Art

[0002] With the rapid development of intelligent manufacturing and big data technologies, the demand for vehicle chip-level products has shown an explosive growth, and there are very strict requirements for performance, reliability, and safety. Therefore, strict testing and quality control are required during the manufacturing and assembly processes. At present, the assembly lines for vehicle chip-level products still highly rely on manual operations, especially in the assembly and detection links, resulting in high production costs, low efficiency, and difficulty in ensuring consistency.

[0003] The document with the application number 202211563323.2 discloses a domain controller automatic assembly line and an assembly method for automatically realizing the assembly of each component, aiming to improve the assembly efficiency and assembly accuracy. However, the current problem is that the line body is set in a straight line, occupying a large area and having many repetitive process equipment. This phenomenon is also an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of the present invention is to provide a central domain control automated assembly line body and process based on a robotic arm to solve the problems raised in the above background art.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: A central domain control automated assembly line body based on a robotic arm, including: A front component processing area, which includes a middle plate processing module, a bottom plate processing module, and a second circuit board pre-installation module arranged in a straight line direction; A dispensing processing area, which includes a second top surface dispensing module for the middle plate, a bottom surface dispensing module for the middle plate, a first top surface dispensing module for the middle plate, a circuit board dispensing module, and multiple groups of glue supply modules. The glue supply modules store type A glue and type B glue. Under the same environmental parameters, the curing beat of type A glue is slower than that of type B glue. The second top surface dispensing module for the middle plate uses type A glue, and the bottom surface dispensing module for the middle plate, the first top surface dispensing module for the middle plate, and the circuit board dispensing module use type B glue; A back component processing area, which includes a first blanking module, a first circuit board pre-installation module, and a shrapnel pre-installation module arranged in a straight line direction. The first blanking module is arranged adjacent to the second top surface dispensing module for the middle plate. The front component processing area, the dispensing processing area, and the back component processing area are arranged in a U shape; A transfer module, on which a main six-axis robotic arm and a spare six-axis robotic arm are arranged, and clamping modules are fixedly connected to the output ends.

[0006] The present invention further illustrates that a test online module is provided on one side of the elastic sheet preloading module away from the first circuit board preloading module, a dust suction module is provided below the output end of the transfer module close to the second dispensing module on the top surface of the middle plate, and a second blanking module is provided on the top of the test online module; The middle plate processing module includes a first operating table, on which a first longitudinal motor and a second longitudinal motor are arranged in parallel. The output ends of the first longitudinal motor and the second longitudinal motor are respectively connected with a first carrier seat and a second carrier seat; the upper surface of the first operating table is connected with a first transverse motor through a frame body, the output end of the first transverse motor is fixedly connected with a first moving part, and the output end of the first moving part is connected with a first vision detector.

[0007] The present invention further illustrates that the second circuit board preloading module includes a third operating table, on which a fourth longitudinal motor is arranged, the output end of the fourth longitudinal motor is fixedly connected with a third carrier seat, a second vision detector is arranged above the middle of the fourth longitudinal motor, and the output end of the first multi-directional driving part is fixedly connected with a first tightening part; The present invention further illustrates that the bottom plate processing module includes a longitudinal linear motor arranged parallel to the fourth longitudinal motor, the longitudinal linear motor is fixedly installed on the upper surface of the third operating table, the output end of the longitudinal linear motor is fixedly connected with a sixth carrier seat, a third vision detector is arranged above the longitudinal linear motor, a second multi-directional driving part is installed at one end of the longitudinal linear motor close to the transfer module, and the output end of the second multi-directional driving part is fixedly connected with a second tightening part.

[0008] The present invention further illustrates that the bottom surface dispensing module of the middle plate includes a second operating table shared with the second dispensing module on the top surface of the middle plate. A third longitudinal motor is arranged on one side of the second operating table close to the first dispensing module on the top surface of the middle plate, the output end of the third longitudinal motor is fixedly connected with a second carrier seat, a second transverse motor is fixedly connected to the upper surface of the second operating table through a frame body, the output end of the second transverse motor is fixedly connected with a second moving part, the output end of the second moving part is fixedly connected with a first contour detector, and a first dispenser is arranged on the side of the second transverse motor away from the transfer module.

[0009] The circuit board dispensing module includes a fourth operating table, on which a fifth longitudinal motor and a sixth longitudinal motor are arranged in parallel; the output end of the fifth longitudinal motor is fixedly connected with a fourth carrier; on the upper surface of the fourth operating table, on one side close to the transfer module, a fourth transverse motor is arranged through a frame, the output end of the fourth transverse motor is fixedly connected with a fourth moving part, the output end of the fourth moving part is fixedly connected with a second contour detector, a second dispenser is arranged on the side of the fourth transverse motor away from the transfer module, and the output end of the sixth longitudinal motor is fixedly connected with a fifth carrier; The first dispensing module on the top surface of the middle plate includes a seventh longitudinal motor, the output end of the seventh longitudinal motor is fixedly connected with a seventh carrier, a third dispenser is arranged at one end of the seventh longitudinal motor away from the transfer module, the third dispenser is connected with a sixth moving part in a transmission manner, and the sixth moving part is connected with a seventh transverse motor in a transmission manner.

[0010] The second dispensing module on the top surface of the middle plate includes an eighth longitudinal motor, the output end of the eighth longitudinal motor is fixedly connected with an eighth carrier, and a fourth dispenser is arranged on the side of the eighth longitudinal motor away from the transfer module.

[0011] The first circuit board pre-assembly module includes a fifth operating table, on the upper surface of the fifth operating table, on one side adjacent to the shrapnel pre-assembly module, a ninth longitudinal motor is arranged, and the output end of the ninth longitudinal motor is fixedly connected with a ninth carrier; Above one side of the ninth longitudinal motor away from the transfer module, a pressing component is arranged, on one side of the fifth operating table close to the transfer module, a robotic arm is arranged, on one side of the robotic arm above the ninth longitudinal motor, a fourth vision detector is arranged, the output end of the robotic arm is fixedly connected with a third tightening part, on the side of the ninth longitudinal motor away from the shrapnel pre-assembly module, a tenth longitudinal motor is arranged in parallel, and the output end of the tenth longitudinal motor is fixedly connected with a tenth carrier.

[0012] The shrapnel pre-assembly module includes a sixth operating table, in the middle of the upper surface of the sixth operating table, an eleventh longitudinal motor is arranged, the output end of the eleventh longitudinal motor is connected with a shrapnel assembly carrier, above one side of the eleventh longitudinal motor close to the transfer module, a fourth tightening part is arranged, in the diagonal direction of the fourth tightening part, a material suction part is arranged, and the fourth tightening part and the material suction part are respectively connected with a multi-directional conveyor belt.

[0013] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention adopts a front component processing area, a dispensing processing area, a back component processing area arranged in a U shape, and a transfer module located in the middle. Under the production beat requirements, only a few operators are required to realize the process steps of foam installation, screw tightening, cleaning and debris removal, and classification and conveying in the product. The degree of automation is high, and one station can be used for multiple purposes, improving the utilization rate of the line body structure while controlling the production beat. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the accompanying drawings: Figure 1 is a schematic diagram of the line body of the present invention; Figure 2 is a schematic diagram of the product structure of the present invention; Figure 3 is a schematic diagram of the front product processing area of the present invention; Figure 4 is the present invention Figure 3 an enlarged schematic diagram of area A; Figure 5 is a schematic diagram of the middle plate processing module of the present invention; Figure 6 is the present invention Figure 5 a top view structural schematic diagram; Figure 7 is the present invention Figure 6 an enlarged schematic diagram of area B; Figure 8 is a schematic diagram of the second circuit board pre-installation module and the bottom plate processing module of the present invention; Figure 9 is a structural schematic diagram of the first multi-directional driving part of the present invention; Figure 10 is a schematic diagram of the dispensing processing area of the present invention; Figure 11 is a schematic diagram of the second dispensing module on the top surface of the middle plate and the dispensing module on the bottom surface of the middle plate of the present invention; Figure 12 is a schematic diagram of the circuit board dispensing module and the first dispensing module on the top surface of the middle plate of the present invention; Figure 13 is an external schematic diagram of the first circuit board pre-installation module of the present invention; Figure 14 is an internal schematic diagram of the first circuit board pre-installation module of the present invention; Figure 15 is an external schematic diagram of the shrapnel pre-installation module of the present invention; Figure 16 is an internal schematic diagram of the shrapnel pre-installation module of the present invention; Figure 17 It is a schematic diagram of the dust suction module of the present invention; Figure 18 It is a schematic diagram of the clamping module of the present invention; Figure 19 It is a schematic diagram of the test online module and the second blanking module of the present invention; In the figure: 1. Middle plate processing module; 101. First carrier; 102. First longitudinal motor; 103. First transverse motor; 104. Housing; 105. First operation table; 106. Second carrier; 107. Second longitudinal motor; 108. First vision detector; 109. First moving part; 110. Support frame; 111. Support plate; 2. Middle plate bottom surface dispensing module; 201. Second carrier; 202. Second moving part; 203. Second transverse motor; 204. Third longitudinal motor; 205. Second operation table; 206. First contour detector; 207. Third transverse motor; 208. Third moving part; 209. First dispenser; 3. Second circuit board pre-installation module; 301. Third operation table; 302. First multi-directional driving part; 3021. X-direction linear driving part; 3022. Y-direction linear driving part; 3023. Z-direction linear driving part; 303. First tightening part; 304. Fourth longitudinal motor; 305. Third carrier; 4. Dust suction module; 401. Bracket; 402. Dust suction port; 403. Dust suction pump; 5. Circuit board dispensing module; 501. Fourth carrier; 502. Fourth moving part; 503. Fourth transverse motor; 504. Fifth longitudinal motor; 505. Fourth operation table; 506. Second contour detector; 507. Sixth transverse motor; 508. Fifth moving part; 509. Second dispenser; 510. Fifth carrier; 511. Sixth longitudinal motor; 6. Bottom plate processing module; 602. Second multi-directional driving part; 603. Second tightening part; 604. Longitudinal linear motor; 605. Sixth carrier; 7. Transfer module; 8. First middle plate top surface dispensing module; 801. Seventh carrier; 802. Seventh longitudinal motor; 803. Seventh transverse motor; 804. Sixth moving part; 805. Third dispenser; 9. Second middle plate top surface dispensing module; 901. Eighth carrier; 902. Eighth longitudinal motor; 903. Eighth transverse motor; 904. Seventh moving part; 905. Fourth dispenser; 10. First Circuit Board Pre - installation Module; 1001. Fifth Operating Table; 1002. Ninth Longitudinal Motor; 1003. Ninth Carrying Base; 1004. Press - fitting Component; 1005. Tenth Longitudinal Motor; 1006. Tenth Carrying Base; 1007. Robot Arm; 1008. Third Tightening Part 11. Shrapnel Pre - installation Module; 1101. Sixth Operating Table; 1102. Eleventh Longitudinal Motor; 1103. Multi - directional Conveyor Belt; 1104. Fourth Tightening Part; 1105. Material Suction Part 12. Test and On - line Module 13. Clamping Module 14. Glue Supply Module 15. First Unloading Module 16. Second Unloading Module 1801. Middle Plate; 1802. Top Plate; 1803. Bottom Plate; 1804. First Circuit Board; 1805. Second Circuit Board Detailed Embodiment

[0015] The technical solution of the present invention will be further described in detail in a non - restrictive manner below in conjunction with the preferred embodiments and their accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work belong to the scope of protection of the present invention.

[0016] Please refer to Figure 1-2 , the present invention provides a technical solution: A central domain control automated assembly line based on a robot arm is at least applied to vehicle - use electronic chip products, hereinafter simply referred to as products. The products include a front component and a back component. Among them, the front component includes a middle plate 1801, a second circuit board 1805, and a bottom plate 1803. After installation, a middle - plate semi - finished product is formed. The back component includes a top plate 1802 and a first circuit board 1804. After completing the standard ambient temperature and pressure test (Standard Ambient Temperature and Pressure, abbreviated as SATP) and assembly, a finished product is formed; Refer to Figure 2 , the top plate 1802, the first circuit board 1804, the middle plate 1801, the second circuit board 1805, and the bottom plate 1803 are arranged in sequence along a straight line direction; Among them, the first circuit board 1804 is the Auto Drive Front Printed Circuit Board Assembly (ADF PCBA for short), which is used for front-end control and data processing of sensors, etc.; the second circuit board 1805 is the Battery Backup Printed Circuit Board Assembly (BBPCBA for short), which is used for power management.

[0017] Furthermore, an EMI Conductive Foam (EMI foam for short) is installed between the middle plate 1801 and the second circuit board 1805, and a connector foam is connected around the second circuit board 1805. Similarly, an EMI foam is installed between the second circuit board 1805 and the bottom plate 1803. After the installation of the EMI foam is completed, it is continued to be installed with the second circuit board 1805. During the installation process, corresponding dispensing processes and screw locking processes will be added to finally form a semi-finished middle plate to complete the assembly of the front components. Furthermore, an EMI foam is also installed between the middle plate 1801 and the first circuit board 1804, and a connector foam is also connected around the first circuit board 1804. Two groups of elastic pieces are connected by screws on a surface of the first circuit board 1804 close to the top plate 1802 to improve the packaging reliability and heat dissipation performance. An EMI foam is also installed between the top plate 1802 and the first circuit board 1804. The finished product assembly between the reverse components and the front components is completed through the dispensing process and the screw locking process.

[0018] Example 1, further referring to Figure 1 , the above-mentioned automated assembly line body includes a front component processing area, a dispensing processing area, a reverse component processing area and a control end arranged in a U-shape. The control end is respectively signal-connected to each module in the front component processing area, the dispensing processing area and the reverse component processing area. A transfer module 7 is arranged in the middle of the line body. A main six-axis manipulator and a standby six-axis manipulator are arranged on the transfer module 7, and clamping modules 13 are fixedly connected to the output ends of the main six-axis manipulator and the standby six-axis manipulator. The clamping module 13 includes a bidirectional telescopic cylinder body, and clamping blocks adapted to the product structure and size are fixedly connected to the output ends thereof to stably clamp the product and related components. The front component processing area and the reverse component processing area are oppositely arranged with the transfer module 7 as the center, and the dispensing processing area is located on the same side between the front component processing area and the reverse component processing area. Further, the front component processing area is used to perform the assembly of the front components of the product, the back component processing area is used to perform the assembly of the back components of the product, and the dispensing processing area is used to perform the dispensing process and dispensing detection during the assembly. Under the control of a preset production beat, the production line can assemble multiple products simultaneously as much as possible in a C-shaped structure layout, which can not only match the action beat of the operator but also effectively improve the assembly efficiency.

[0019] First, referring to Figure 3 , the front component processing area includes a middle plate processing module 1, a bottom plate processing module 6, and a second circuit board pre-installation module 3 arranged in a straight line direction. A grating warning part is arranged on the side of the bottom plate processing module 6 and the second circuit board pre-installation module 3 away from the transfer module 7. Specifically, referring to Figures 4-7 , the middle plate processing module 1 includes a first operating table 105. A first longitudinal motor 102 and a second longitudinal motor 107 are arranged in parallel on the first operating table 105. The respective output ends of the first longitudinal motor 102 and the second longitudinal motor 107 are respectively connected to a first carrier seat 101 and a second carrier seat 106. The first carrier seat 101 is used for manually placing the middle plate 1801, and then the EMI foam is installed on the bottom surface of the middle plate 1801. The upper surface of the first operating table 105 is connected to a first transverse motor 103 through a frame. The output end of the first transverse motor 103 is fixedly connected to a first moving part 109. The first transverse motor 103 is arranged perpendicular to the first longitudinal motor 102 and the second longitudinal motor 107. The output end of the first moving part 109 is fixedly connected to a support frame 110. A support plate 111 is fixedly connected below the support frame 110. A first vision detector 108 is connected through the inside of the support plate 111. And a housing 104 is arranged outside the first vision detector 108 on the support frame 110 for externally protecting the first vision detector 108. After the EMI foam is installed on the bottom surface of the middle plate 1801, the output end of the first longitudinal motor 102 drives the first carrier seat 101 to move below the first vision detector 108 for the first vision detection process, that is, the vision detection after the foam installation. The second carrier seat 106 is used for subsequent EMI foam installation on the top surface of the middle plate 1801, and the vision detection after the foam installation is carried out by using the same installation method and the detection principle of the first vision detector 108.

[0020] The second circuit board pre-installation module 3 includes a third operating table 301. A fourth longitudinal motor 304 is arranged on the third operating table 301. The output end of the fourth longitudinal motor 304 is fixedly connected with a third carrier base 305. The third carrier base 305 is used for feeding the second circuit board 1805, and then pre-installing the foam of the connectors on the periphery of the second circuit board 1805. In addition, the height of the third carrier base 305 after loading is lower than the lowest height of the grating. Above the middle part of the fourth longitudinal motor 304, a second vision detector is arranged to judge whether the pre-installation of the foam of the connectors on the periphery of the second circuit board 1805 is qualified. On one side of the fourth longitudinal motor 304 close to the transfer module 7, a first multi-directional driving part 302 is installed. The first multi-directional driving part 302 includes an X-direction linear driving part 3021, a Y-direction linear driving part 3022, and a Z-direction linear driving part 3023. The output end of the first multi-directional driving part 302 is fixedly connected with a first tightening part 303. According to the preset locking center position, the screw locking connection process between the middle plate 1801 and the second circuit board 1805 is carried out. A torque sensor is installed inside the first tightening part 303. The torque sensor can obtain the detection parameters in the screw locking process. The detection parameters are respectively the torque value and the floating height data, so as to ensure the intelligent detection and accurate locking of the screws.

[0021] The bottom plate processing module 6 includes a longitudinal linear motor 604 arranged parallel to the fourth longitudinal motor 304. The longitudinal linear motor 604 is also fixedly installed on the upper surface of the third operating table 301. The output end of the longitudinal linear motor 604 is fixedly connected with a sixth carrier base 605. Above the longitudinal linear motor 604, a third vision detector is arranged. The sixth carrier base 605 is used for installing the EMI foam at the bottom plate 1803. After the foam installation is completed, the vision detection process of the third vision detector is carried out. Then, under the transmission action of the output end of the longitudinal linear motor 604, it moves to the locking connection part with the middle plate 1801 and the second circuit board 1805. At one end of the longitudinal linear motor 604 close to the transfer module 7, a second multi-directional driving part 602 is installed. The structural setting of the second multi-directional driving part 602 refers to the first multi-directional driving part 302, which will not be elaborated here; the output end of the second multi-directional driving part 602 is fixedly connected with a second tightening part 603. A torque sensor is also arranged inside the second tightening part 603. According to the torque sensor, the detection parameters in the screw locking process are obtained again.

[0022] Secondly, refer to Figure 10, the dispensing treatment area includes the second dispensing module 9 on the top surface of the middle plate, the dispensing module 2 on the bottom surface of the middle plate, the first dispensing module 8 on the top surface of the middle plate, and the circuit board dispensing module 5 arranged along a straight line direction. The circuit board dispensing module 5 is adjacent to the middle plate treatment module 1 and is arranged in a vertical direction. The dispensing module 2 on the bottom surface of the middle plate and the first dispensing module 8 on the top surface of the middle plate are adjacent to each other. On one side of the circuit board dispensing module 5 far from the first dispensing module 8 on the top surface of the middle plate, there are multiple groups of glue supply modules 14; inside the glue supply module 14, there are type A colloid and type B colloid, which are used to match the dispensing requirements on different components. The type A colloid is preferably silicone rubber, and the type B colloid is preferably epoxy resin; among them, the curing beat of the type A colloid is slower than that of the type B colloid under the same environmental parameters. Reference Figure 11 , the dispensing module 2 on the bottom surface of the middle plate is used for gap dispensing and filling on the bottom surface of the middle plate 1801, and the type A colloid is preferably used; specifically, the dispensing module 2 on the bottom surface of the middle plate includes the second operation table 205 shared with the second dispensing module 9 on the top surface of the middle plate. On one side of the second operation table 205 close to the first dispensing module 8 on the top surface of the middle plate, there is a third longitudinal motor 204. The output end of the third longitudinal motor 204 is fixedly connected with a second carrier 201, which is used to receive the middle plate 1801 after the first vision inspection process. After being clamped by the clamping module 13, it is sent to the second carrier 201. The upper surface of the second operation table 205 is fixedly connected with a second transverse motor 203 through a frame. The output end of the second transverse motor 203 is fixedly connected with a second moving part 202. The output end of the second moving part 202 is fixedly connected with a first contour detector 206. Using the principle of 3D line scanning, the first contour detection is carried out at the dispensing position. The principle is to obtain the three-dimensional morphology of the glue path through laser triangulation technology, and the dispensing effect will be analyzed and judged by combining the dispensing amount data. On one side of the second transverse motor 203 far from the transfer module 7, there is a first dispenser 209. A third moving part 208 is drivingly connected to the first dispenser 209. The third moving part 208 is drivingly connected to a third transverse motor 207. A driving linear motor one is drivingly connected to the side of the third transverse motor 207. The first dispenser 209 can move and dispense in three-dimensional directions. Specifically, it can refer to the setting of a multi-directional driving part in a similar Figure 9 and the type A colloid is preferably used for dispensing here. The first contour detector 206 is signal-connected to the first dispenser 209 through a control end, and controls the dispensing position and dispensing amount according to the contour detection result, and matches the beat control of the line body.

[0023] Reference Figure 12The circuit board dispensing module 5 includes a fourth operating table 505, on which a fifth longitudinal motor 504 and a sixth longitudinal motor 511 are arranged in parallel; the output end of the fifth longitudinal motor 504 is fixedly connected to a fourth carrier 501, and the fourth carrier 501 is used to receive the second circuit board 1805 and the middle plate 1801 after the screw locking process is completed in the second circuit board pre-installation module 3, and a fourth transverse motor 503 is arranged on one side of the upper surface of the fourth operating table 505 close to the transfer module 7 through a frame, and the output end of the fourth transverse motor 503 is fixedly connected to a fourth moving part 502, and the output end of the fourth moving part 502 is fixedly connected to a second contour detector 506 for performing a second contour detection; A second glue dispenser 509 is arranged on the side of the fourth transverse motor 503 away from the transfer module 7. The second glue dispenser 509 is transmission-connected to the fifth moving part 508. The fifth moving part 508 is transmission-connected to the sixth transverse motor 507. The side transmission of the sixth transverse motor 507 is connected to a second driving linear motor. The second glue dispenser 509 moves and dispenses glue in three-dimensional directions. Type A colloid is also preferred for dispensing glue here.

[0024] The output end of the sixth longitudinal motor 511 is fixedly connected to the fifth carrier 510, which is used for the later dispensing of the first circuit board 1804. Since the dispensing process is consistent with the dispensing process steps on the surface of the second circuit board 1805, the dispensing mechanism originally designed in the circuit board dispensing module 5 and the corresponding dispensing mechanism are used to improve the utilization rate of the dispensing mechanism and the contour detector; the dispensing on the surface of the second circuit board 1805 is also preferably type A colloid, and there is no need to switch to other types of colloids.

[0025] The first glue dispensing module 8 on the top surface of the middle plate is used to perform a glue dispensing process and a glue dispensing detection on the top surface of the middle plate 1801. Type A colloid is preferred. Specifically, the first glue dispensing module 8 on the top surface of the middle plate includes a seventh longitudinal motor 802. The output end of the seventh longitudinal motor 802 is fixedly connected to the seventh carrier 801. The end of the seventh longitudinal motor 802 away from the transfer module 7 is provided with a third glue dispenser 805. The third glue dispenser 805 is connected to the sixth moving part 804 in transmission. The sixth moving part 804 is connected to the seventh transverse motor 803 in transmission. The side transmission of the seventh transverse motor 803 is connected to a driving linear motor three, thereby performing a glue dispensing process on the top surface of the middle plate 1801. After the glue dispensing is completed, the second contour detector 506 is used to perform the third contour detection in the line process.

[0026] refer to Figure 11The second glue dispensing module 9 on the top surface of the middle plate is also used for the glue dispensing process on the top surface of the middle plate 1801, but the glue dispensing position is different. Specifically, the second glue dispensing module 9 on the top surface of the middle plate includes an eighth longitudinal motor 902, and the output end of the eighth longitudinal motor 902 is fixedly connected to the eighth carrier 901, and the side of the eighth longitudinal motor 902 away from the transfer module 7 is provided with a fourth glue dispenser 904, the fourth glue dispenser 904 is transmission-connected to the seventh moving part 904, the seventh moving part 904 is transmission-connected to the eighth transverse motor 903, and the side of the eighth transverse motor 903 is transmission-connected to a driving linear motor four, so as to realize the movement of the fourth glue dispenser 904 in a three-dimensional direction; the colloid sprayed by the fourth glue dispenser 904 is preferably type B colloid.

[0027] Under the same environmental parameters, the curing cycle of type A colloid is slower than that of type B colloid. Therefore, the transfer cycle of the second dispensing module 9 on the top surface of the middle plate to the first circuit board pre-installation module 10 will be shorter than the transfer cycle of other dispensing modules to the corresponding next processing module. By matching the production cycle and the properties of the colloid, a rational arrangement of the line can be achieved, so that one workstation can be used for multiple purposes, and product assembly can be completed efficiently while effectively reducing the investment in equipment costs.

[0028] Among them, the glue dispenser is preferably a double-liquid dynamic screw valve; the glue dispensing module 2 on the bottom surface of the middle plate, the first glue dispensing module 8 on the top surface of the middle plate, and the circuit board glue dispensing module 5 are arranged adjacent to each other in sequence.

[0029] Furthermore, the middle plate bottom surface dispensing module 2 and the second circuit board pre-installation module 3 are each provided with a cache station to alleviate the problem of manual tension of the operator.

[0030] Further, refer to Figures 13-16 The reverse component processing area includes a first blanking module 15, a first circuit board pre-installation module 10, and a spring pre-installation module 11 which are sequentially arranged along a straight line direction. The first blanking module 15 is adjacent to the second dispensing module 9 on the top surface of the middle plate and is arranged in a vertical direction; refer to Figure 14, the first circuit board pre-assembly module 10 is used for loading the first circuit board 1804, installing the connector foam on the peripheral side, and bonding and locking the first circuit board 1804. There is an operator in the reverse part processing area for pre-assembling the foam. Specifically, the first circuit board pre-assembly module 10 includes a fifth operating table 1001. On the upper surface of the fifth operating table 1001, a ninth longitudinal motor 1002 is arranged on one side adjacent to the shrapnel pre-assembly module 11. The output end of the ninth longitudinal motor 1002 is fixedly connected to a ninth carrier 1003 for loading the first circuit board 1804 and installing the connector foam. Above the side of the ninth longitudinal motor 1002 away from the transfer module 7, there is a press-fitting component 1004, which is composed of a press-fitting frame, a press-fitting cylinder, and a press-fitting plate. When the ninth longitudinal motor 1002 drives the first circuit board 1804 on the ninth carrier 1003 to move and bond with the surface of the middle plate 1801 after dispensing, and then moves to the lower part of the press-fitting component 1004 for press-fitting. During the movement, the dispensing body can effectively bond with the bonding part of the first circuit board 1804 at a certain rhythm. If directly pressed after contact, it is easy to cause overflow at the dispensing place when the curing is incomplete, resulting in a poor bonding effect and also a poor product quality in the subsequent performance detection. On one side of the fifth operating table 1001 close to the transfer module 7, there is a robotic arm 1007. On one side of the robotic arm 1007 above the ninth longitudinal motor 1002, there is a fourth vision detector for detecting the installation qualification of the connector foam. The output end of the robotic arm 1007 is fixedly connected to a third tightening part 1008, and a torque sensor is also arranged inside the third tightening part 1008 for obtaining the detection parameters in the screw locking process of the first circuit board 1804 and the middle plate 1801. In addition, a tenth longitudinal motor 1005 is arranged in parallel on the side of the ninth longitudinal motor 1002 away from the shrapnel pre-assembly module 11. The output end of the tenth longitudinal motor 1005 is fixedly connected to a tenth carrier 1006 for loading the top plate 1802 after the SATP test is completed and unloading after the dispensing and locking of the top plate 1802 are completed. Reference Figure 16 , the shrapnel pre-assembly module 11 includes a sixth operating table 1101. In the middle of the upper surface of the sixth operating table 1101, there is an eleventh longitudinal motor 1102. The output end of the eleventh longitudinal motor 1102 is connected to a shrapnel assembly carrier. Above the side of the eleventh longitudinal motor 1102 close to the transfer module 7, there is a fourth tightening part 1104. In the diagonal direction of the fourth tightening part 1104, there is a material suction part 1105. The fourth tightening part 1104 and the material suction part 1105 are respectively connected to a multi-directional conveyor belt 1103. Reference Figure 9With the setting of the first multi-directional driving part 302, a shrapnel storage cavity is arranged below the material suction part 1105, and the storage position, the suction position, and the locking position correspond to each other. After the first circuit board 1804 and the middle board 1801 are locked in the first circuit board pre-installation module 10, they are moved to the shrapnel pre-installation module 11 under the action of the clamping module 13. The shrapnel assembly carrier seat receives the product. Subsequently, the material suction part 1105 sucks the shrapnel and moves it to be placed above the first circuit board 1804. After the position is correct, the fourth tightening part 1104 locks and connects the shrapnel and the product with screws. When the detected parameters are qualified, it is unloaded from the shrapnel pre-installation module 11 through the eleventh longitudinal motor 1102, and the SATP test is carried out.

[0031] In the screw locking process, a turntable type screw arranging machine and a suction and screwing type tightening module are preferably used; only one operator is configured in the front part processing area and the back part processing area respectively. Shelves are arranged in the front part processing area and the back part processing area. Through the cooperation of manual and automated production lines, the efficient assembly of products is realized.

[0032] Embodiment 2, on the basis of Embodiment 1, a dust suction module 4 is arranged below the output end of the second dispensing module 9 close to the top surface of the middle board in the transfer module 7, which is used for surface dust suction of the first circuit board 1804 and the second circuit board 1805 to ensure the cleanliness of the product; specifically, referring to Figure 17 , the dust suction module 4 includes a bracket 401, a dust suction port 402, and a dust suction pump 403. The dust suction port 402 is connected to the dust suction pump 403 through a pipeline; A test online module 12 is arranged on one side of the shrapnel pre-installation module 11 away from the first circuit board pre-installation module 10, which is used to put the products qualified in the SATP test on the line; The products qualified in the SATP test are clamped by the transfer module 7 above the dust suction module 4, and the surface of the first circuit board 1804 is cleaned by dust suction. After the cleaning is completed, it is moved to the fifth carrier seat 510 under the turnover of the transfer module 7, and the dispensing of type A colloid is performed, and the fourth contour detection is performed under the use of the second contour detector 506; A fifth vision detector is arranged above the tenth longitudinal motor 1005, which is used to detect the qualification of the foam installation. After the dispensing detection parameters are qualified, it moves above the tenth carrier seat 1006 and bonds with the top plate 1802 at a preset rhythm. With the help of the rotation of the clamping module 13, it is turned over and placed in the tenth carrier seat 1006, and the screw locking process of the top plate 1802 is carried out at the corresponding tightening position, and the locking detection is carried out; the first unloading module 15, that is, the tenth carrier seat 1006 and the tenth longitudinal motor 1005, can also be used for unloading the qualified products; a second unloading module 16 is arranged at the top of the test online module 12, which is used for unloading the products with unqualified detection results.

[0033] Example 3, based on Example 2, the process flow of the central domain control automated assembly line based on the robot arm is as follows: S1: Automated assembly of product front parts to form a semi-finished middle plate; S2: Assemble some reverse side components based on the semi-finished product of the middle plate, and then go offline for SATP testing; S3: Clean the product after SATP test, and then automatically assemble the remaining reverse parts to form a finished product; S4: Identify and classify qualified and defective products to complete the assembly of the line.

[0034] Wherein S1 includes the following steps: S11: Assembling and testing the middle board 1801 and the second circuit board 1805; specifically: S111: Loading the middle plate 1801 is performed at the middle plate processing module 1; then EMI foam is pre-installed on the bottom surface of the middle plate 1801. It should be noted that the EMI foam is fed from a material box; a visual inspection instrument is used to perform a first visual inspection on the bottom surface of the middle plate 1801 after the EMI foam is pre-installed, and the first visual inspection result is transmitted to the control end; wherein the visual inspection instrument is preferably a CCD camera; S112: The middle plate 1801 that has passed the first visual inspection is conveyed to the discharge end, and one of the six-axis manipulators controls the clamping module 13 at its end to move to the discharge end of the middle plate processing module 1, and clamps the middle plate 1801 to move to the middle plate bottom surface dispensing module 2, and the middle plate bottom surface dispensing module 2 performs gap dispensing on the bottom surface of the middle plate 1801 after assembling the EMI foam to achieve a filling effect; S113: while performing S111 or S112, the second circuit board pre-installation module 3 performs pre-installation of the connector foam on the side of the second circuit board 1805. After the pre-installation is completed, a second visual inspection is performed using a visual inspection instrument to ensure that the pre-installation of the connector foam on the side of the second circuit board 1805 is qualified; S114: The middle plate 1801 after the glue dispensing in S112 is again transported to the locking position point in the second circuit board pre-installation module 3 under the clamping movement of one of the above six-axis manipulators, and the middle plate 1801 and the second circuit board 1805 in S113 are screwed together, and the first height inspection is performed using a visual inspection instrument; illustratively, the screws are of M3 type; S12: Cleaning and dispensing glue on the surface of the second circuit board 1805; specifically: S121: After the locking process of the middle plate 1801 and the second circuit board 1805 is completed, one of the six-axis manipulators continues to clamp the product above the dust collection module 4 to clean the screw chips on the surface; S122: After cleaning, it is transported to the circuit board dispensing module 5. The circuit board dispensing module 5 performs a dispensing process on the outer surface of the second circuit board 1805 and conducts the first contour detection to ensure that the dispensing effect is qualified. S13: While S12 is being executed, the bottom plate 1803 is assembled and inspected at the bottom plate processing module 6. S131: Pre-assemble the EMI foam on the bottom plate 1803. The pre-assembly method includes but is not limited to manual operation. S132: Lock and connect the bottom plate 1803 and the EMI foam with screws. S14: After the bottom plate 1803 is inspected, the second circuit board 1805 after dispensing is moved to the bottom plate 1803 for a screw locking process, and the second height detection is carried out to complete the assembly of the middle plate semi-finished product.

[0035] Among them, S2 includes the following steps: S21: Conduct the assembly and inspection of the middle plate 1801 and the first circuit board 1804. S211: The middle plate semi-finished product is transferred to the middle plate processing module 1 through the transfer module 7. The EMI foam is pre-assembled on the top surface of the middle plate 1801. The third visual inspection is carried out on the top surface of the middle plate 1801 with the pre-assembled EMI foam by using a vision detector, and the result of the third visual inspection is transmitted to the control terminal. S212: The middle plate semi-finished product with the qualified result of the third visual inspection is moved to the first dispensing module 8 on the top surface of the middle plate under the conveyance of the transfer module 7. The first dispensing module 8 on the top surface of the middle plate performs dispensing of the first type of glue on the top surface of the middle plate 1801, and then the second contour detection is carried out, and the result of the second contour detection is transmitted to the control terminal. S213: After the second contour detection is qualified, the transfer module 7 moves the middle plate semi-finished product to the second dispensing module 9 on the top surface of the middle plate, performs dispensing of the second type of glue on the top surface of the middle plate 1801, and then the third contour detection is carried out, and the result of the third contour detection is transmitted to the control terminal. S214: When S211 or S212 or S213 is being carried out, the first circuit board 1804 is loaded at the first circuit board pre-assembly module 10. The connector foam is pre-assembled on the periphery of the first circuit board 1804. The pre-assembly method includes but is not limited to manual method. After the pre-assembly is completed, the fourth visual inspection is carried out by using a vision detector to ensure that the connector foam pre-assembled on the periphery of the first circuit board 1804 is qualified. S215: The middle plate semi-finished product after the third contour detection is qualified is moved to the first circuit board pre-assembly module 10 under the action of the transfer module 7, and is assembled with screws to the first circuit board 1804 with the qualified result of the fourth visual inspection; then the third height detection is carried out, and the detection result is transmitted to the control terminal.

[0036] S22: Complete the installation of the shrapnel; specifically: The semi-finished middle plate is moved to the shrapnel pre-installation module 11 under the action of the transfer module 7. The shrapnel is loaded and photographed and detected in the shrapnel pre-installation module 11. Under the action of the suction cup, the shrapnel is moved above the semi-finished middle plate and is locked and connected to the first circuit board 1804. Then, the fourth height detection is performed, and the detection result is transmitted to the control end. S23: After the shrapnel is installed correctly, carry out unloading and SATP testing.

[0037] Among them, S3 includes the following steps: S31: The semi-finished products qualified through the SATP test are cleaned and dispensed on the production line through the test online module 12; specifically: S311: The transfer module 7 clamps and turns over the semi-finished products and places them above the dust suction module 4 to complete the dust suction cleaning of the surface of the first circuit board 1804. S312: After the cleaning is completed, it is moved into the circuit board dispensing module 5 under the turnover of the transfer module 7, and the surface of the first circuit board 1804 is dispensed and the fourth contour detection is performed. S32: The middle plate semi-finished products with qualified dispensing are turned over to the first unloading module 15 through the transfer module 7. S33: When performing the S31 process, the top plate 1802 is loaded on the first unloading module 15 and the EMI foam is pre-installed. After the installation is completed, the fifth visual inspection is performed. S34: The top plate 1802 qualified in the fifth visual inspection is screwed and locked with the middle plate semi-finished products with qualified dispensing in S32 to complete the automatic assembly of the product.

[0038] Among them, S4 includes the following steps: S41: Identify defective products and qualified products for the assembled products in the first unloading module 15. S42: The defective products are unloaded through the second unloading module 16, and the qualified products are unloaded through the first unloading module 15.

[0039] In this way, the automatic assembly of the product is completed.

[0040] Example 4, on the basis of Example 1, a traceability system is established for the middle plate 1801, the top plate 1802, the bottom plate 1803, the first circuit board 1804, and the second circuit board 1805 on the automatic assembly line body. The traceability system is signal-connected to the control end, and the traceability method includes but is not limited to scanning codes; specifically, the detection settings are as follows: First, when performing visual inspection of the foam, the inspection parameters are the installation accuracy in the width direction and length direction of the foam. When performing visual inspection, the foam does not exceed the installation step surface in the width direction, and the first allowable deviation is a_per, and a_per is preferably ±0.3 mm. The deviation at both ends of the foam in the length direction does not exceed the second allowable deviation b_per, and the second allowable error b_per is preferably ±0.3 mm. The inspection results are represented by the code table F, denoted as F[a, b], where the positions of a and b represent the accuracy conditions in the width direction and length direction respectively, and the values are 0 or 1. When the actual error in the width direction exceeds the first allowable deviation, a is recorded as 1, and when the actual error in the width direction does not exceed the first allowable deviation, it is recorded as 0. When the actual error in the length direction exceeds the second allowable deviation, b is recorded as 1, and when the actual error in the length direction does not exceed the second allowable deviation, it is recorded as 0. When there is a "1" in F[a, b], an alarm will be given at the display end corresponding to the module, and the corresponding code table will be displayed to assist the operator in quickly obtaining the cause of the alarm and adjusting the foam. In addition, after the adjustment is completed, the inspection process is performed again to facilitate the execution of the next process. Regarding the dwell beat, it is denoted as T f , then the sum is , n is the number of processes for pre-installing the foam, f is the serial number of the process for pre-installing the foam, T f is the corresponding adjustment beat. When the code table gives F[0, 0], T f is 0. When the code table is not F[0, 0], T f is the actual adjustment beat. Exemplarily, in this embodiment, the number of times of pre-installing the foam is 5, so n = 5.

[0041] Secondly, when performing contour detection of dispensing, 3D line scanning is used, and the inspection parameters are the dispensing area and dispensing weight. Specifically, the volume of each dispensing area is set as V i =s i *h i and V j =s j *h j , i is the serial number of the dispensing area for the first type of glue, j is the serial number of the dispensing area for the second type of glue; s is the dispensing area, h is the height of the dispensing area; it should be noted that there should be no gap between the dispensing tracks; the dispensing parameters are the optimal parameters pre-tested and selected; the ideal volume V i or V j is determined in advance according to the corresponding dispensing area, and dispensing is performed according to the ideal volume. After dispensing, 3D line scanning is used to determine whether the preset dispensing effect is achieved. Specifically, it is divided into two steps. The first step is the dispensing process where the volume of the dispensed glue is discharged from 0 to 0.5V, and the second step is the dispensing process where the volume of the dispensed glue is discharged from 0.5V to V. ① During the dispensing process of the first step, real-time 3D line scanning is adopted. When there is no dispensing gap during the first step process, the dispensing process of the second step is continued, and the real-time 3D line scanning is paused until the end during the dispensing process of the second step. ② During the dispensing process of the first step, real-time 3D line scanning is adopted. When a dispensing gap appears during the first step process, first perform gap filling, and then continue the dispensing process of the second step. The real-time 3D line scanning is paused until the end during the dispensing process of the second step. The moving speed of the dispenser will be controlled according to the gap volume to prevent stratification between the remaining non-dispensed area and the dispensed area. The moving speed is determined by the end position of the gap filling, the starting point position of the remaining dispensing area, and the stratification beat limit. ③ After completing the dispensing process of the second step, 3D line scanning is performed on the glue dots from the partially overlapping area to the end of the dispensing area. Taking volume as an example, the 3D line scanning is performed within the dispensing area corresponding to the volume of §·V - V, where 0.4 ≤ § < 0.5. Subsequently, corresponding gap filling is performed for the dispensing gap; Record the amount of glue filled for the dispensing area and the corresponding required beats. If it exceeds the preset beat limit and affects the forming quality, it indicates that the dispensing quality is unqualified. The module will transmit an alarm signal to the control terminal, and the spare six-axis manipulator will directly discharge the defective products. After the spare manipulator discharges the materials, replenish the materials in this module from the previous module to reduce the waiting beats of the next feeding product, just filling the preset beat limit and the beats occupied during the discharging process.

[0042] After that, when performing the screw tightening process, first lock the center position for screw tightening, and then tighten in the diagonal tightening sequence. After tightening, perform the height detection after screw fastening. The detection parameters are torque values and floating height data. During the screw tightening process, draw the actual torque curve L k and record and obtain the height parameter D after tightening k , where k is the screw marking serial number. The ideal torque curve L and the ideal height D are set at the control terminal; During the screw tightening process, first perform the fitting of the actual torque curve L k and the ideal torque curve L. Taking the beat as the abscissa, first identify the outliers in the actual torque curve L k to ensure accurate position and correct product. If outliers appear, directly reverse and loosen, use the next screw to enter, and increase the tightening speed. Multiple groups of ideal torque curves L with corresponding rotation speeds are pre-input. When the rotation speed changes, select the corresponding ideal torque curve; Sum the fitting differences in the case of no outliers, denoted as △L k , and the fitting difference limit is denoted as △L. When △L kWhen △L > △L, it is recorded as a large fitting deviation; when △L k ≤ △L, it is recorded as a normal fitting deviation; The height parameter D k is subtracted from the ideal height D, and the height difference is recorded as △D k , and the limit value of the height difference is recorded as △D. When △D k > △D, it is recorded as a large floating height; when △D k ≤ △D, it is recorded as a normal floating height; When △L k ≤ △L and △D k ≤ △D, it indicates that the locking is qualified; directly proceed to the tightening process of the next screw; When △L k > △L or △D k > △D, calculate the locking deviation coefficient , , when △L k ≤ △L, take 1. Similarly, when △D k ≤ △D, take 1; therefore, ; When the locking deviation coefficient , it corresponds to the above-mentioned qualified locking; When the locking deviation coefficient , establish the allowable deviation coefficient , when , it is also classified as qualified locking and directly proceed to the tightening process of the next screw; when , it is determined that the locking is unqualified, directly reverse loosen, use the next screw to enter, and the rest of the settings refer to the above content; to effectively complete the screw locking process; In addition, the control end will also record the excess consumption beat in each locking process, recorded as T d , and d is the marking serial number of the locking process.

[0043] Example 5, on the basis of Example 4, the production beat of the product is preset for each process, the transfer beat of the transfer module 7 is sufficient, and there is a certain waiting beat on each module. The action beat of the transfer module 7 is , s is the marking serial number of the operation of the transfer module 7, is the beat consumed during the s-th operation, and Σ is the summation; similarly, , are the total beats consumed for foam adjustment and the excess beats consumed for locking respectively; To ensure the certainty of the production beat, when or When a non-zero value appears, the process steps in Embodiment 3 will be combined. Preferably, the operation cycle of the transfer module 7 in the next adjacent step will be reduced to ensure the overall production cycle. The operation power of the transfer module 7 can be adjusted to change its operation cycle. Specifically, when a delay cycle occurs in the front part processing area or the back part processing area, the main six-axis manipulator is used to reduce the originally set transfer cycle. When a delay cycle occurs in the dispensing processing area and the dispensing quality is not unqualified, the standby six-axis manipulator is used to transfer the product, and the situation of overflow due to the corresponding colloid bonding caused by insufficient waiting time is avoided. The standby manipulator needs to wait for an appropriate time before feeding in the next module. When the power of the transfer module 7 cannot be adjusted, the production cycle can be extended. However, when the extended production cycle exceeds the preset limit value, an alarm will be directly issued, and the proportion of the process with the extended cycle will be displayed at the control end to facilitate the inspection of the corresponding module of the line body and improve the self-inspection efficiency.

[0044] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0045] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The central domain controlled automated assembly line based on a robotic arm is characterized by: Including: A front component processing area, which includes a middle plate processing module (1), a bottom plate processing module (6), and a second circuit board pre-assembly module (3) arranged in a straight line direction; A dispensing processing area, which includes a second top surface dispensing module (9) for the middle plate, a bottom surface dispensing module (2) for the middle plate, a first top surface dispensing module (8) for the middle plate, a circuit board dispensing module (5), and multiple groups of glue supply modules (14). The glue supply module (14) stores type A colloid and type B colloid. Under the same environmental parameters, the curing beat of type A colloid is slower than that of type B colloid. The second top surface dispensing module (9) for the middle plate uses type A colloid, and the bottom surface dispensing module (2) for the middle plate, the first top surface dispensing module (8) for the middle plate, and the circuit board dispensing module (5) use type B colloid; A back component processing area, which includes a first blanking module (15), a first circuit board pre-assembly module (10), and a shrapnel pre-assembly module (11) arranged in a straight line direction. The first blanking module (15) is arranged adjacent to the second top surface dispensing module (9) for the middle plate. The front component processing area, the dispensing processing area, and the back component processing area are arranged in a C shape; A transfer module (7), on which a main six-axis robot and a standby six-axis robot are arranged, and clamping modules (13) are fixedly connected to their output ends.

2. The central domain controlled automated assembly line based on a robotic arm according to claim 1, characterized in that: A test on-line module (12) is arranged on one side of the shrapnel pre-assembly module (11) away from the first circuit board pre-assembly module (10). A dust suction module (4) is arranged below the output end of the transfer module (7) close to the second top surface dispensing module (9) for the middle plate. A second blanking module (16) is arranged on the top of the test on-line module (12); The middle plate processing module (1) includes a first operating table (105), on which a first longitudinal motor (102) and a second longitudinal motor (107) are arranged in parallel. The output ends of the first longitudinal motor (102) and the second longitudinal motor (107) are respectively connected to a first carrier seat (101) and a second carrier seat (106); The upper surface of the first operating table (105) is connected to a first transverse motor (103) through a frame body. The output end of the first transverse motor (103) is fixedly connected to a first moving part (109), and the output end of the first moving part (109) is connected to a first vision detector (108).

3. The central domain controlled automated assembly line based on a robotic arm according to claim 2, characterized in that: The second circuit board pre-assembly module (3) includes a third operating table (301), on which a fourth longitudinal motor (304) is arranged. The output end of the fourth longitudinal motor (304) is fixedly connected to a third carrier seat (305). A second vision detector is arranged above the middle of the fourth longitudinal motor (304). The output end of the first multi-directional driving part (302) is fixedly connected to a first tightening part (303).

4. The central domain controlled automated assembly line based on a robotic arm according to claim 3, characterized in that: The bottom plate processing module (6) comprises a longitudinal linear motor (604) arranged parallel to the fourth longitudinal motor (304); the longitudinal linear motor (604) is fixedly mounted on the upper surface of the third operating table (301); the output end of the longitudinal linear motor (604) is fixedly connected to a sixth object carrier (605); a third visual inspection instrument is arranged above the longitudinal linear motor (604); a second multi-directional driving unit (602) is mounted on one end of the longitudinal linear motor (604) close to the transfer module (7); and the output end of the second multi-directional driving unit (602) is fixedly connected to a second tightening unit (603).

5. The central domain controlled automated assembly line based on a robotic arm according to claim 4, characterized in that: The middle plate bottom surface glue dispensing module (2) comprises a second operating table (205) shared with a second glue dispensing module (9) on the middle plate top surface; a third longitudinal motor (204) is arranged on a side of the second operating table (205) close to the first glue dispensing module (8) on the middle plate top surface; an output end of the third longitudinal motor (204) is fixedly connected to a second object carrier (201); a second transverse motor (203) is fixedly connected to an upper surface of the second operating table (205) via a frame; an output end of the second transverse motor (203) is fixedly connected to a second moving part (202); an output end of the second moving part (202) is fixedly connected to a first contour detector (206); and a first glue dispenser (209) is arranged on a side of the second transverse motor (203) away from the transfer module (7).

6. The central domain controlled automated assembly line based on a robotic arm according to claim 5, characterized in that: The circuit board dispensing module (5) comprises a fourth operating table (505), on which a fifth longitudinal motor (504) and a sixth longitudinal motor (511) are arranged in parallel; the output end of the fifth longitudinal motor (504) is fixedly connected to a fourth object carrier (501); a fourth transverse motor (503) is arranged on a side of the upper surface of the fourth operating table (505) close to the transfer module (7) through a frame; the output end of the fourth transverse motor (503) is fixedly connected to a fourth moving part (502); the output end of the fourth moving part (502) is fixedly connected to a second contour detector (506); a second dispensing device (509) is arranged on a side of the fourth transverse motor (503) away from the transfer module (7); and the output end of the sixth longitudinal motor (511) is fixedly connected to the fifth object carrier (510); The first glue dispensing module (8) on the top surface of the middle plate comprises a seventh longitudinal motor (802), the output end of the seventh longitudinal motor (802) is fixedly connected to the seventh carrier (801), the end of the seventh longitudinal motor (802) away from the transfer module (7) is provided with a third glue dispenser (805), the third glue dispenser (805) is connected in transmission to the sixth moving part (804), and the sixth moving part (804) is connected in transmission to the seventh transverse motor (803).

7. The central domain controlled automated assembly line based on a robotic arm according to claim 6, characterized in that: The second glue dispensing module (9) on the top surface of the middle plate comprises an eighth longitudinal motor (902), the output end of the eighth longitudinal motor (902) is fixedly connected to an eighth object carrier (901), and a fourth glue dispensing device (904) is arranged on a side of the eighth longitudinal motor (902) away from the transfer module (7).

8. The central domain controlled automated assembly line based on a robotic arm according to claim 7, characterized in that: The first circuit board pre-installation module (10) comprises a fifth operating table (1001), a ninth longitudinal motor (1002) being arranged on a side of the upper surface of the fifth operating table (1001) adjacent to the spring pre-installation module (11), and an output end of the ninth longitudinal motor (1002) being fixedly connected to a ninth object carrier (1003); A press-fitting component (1004) is arranged above the side of the ninth longitudinal motor (1002) away from the transfer module (7), a mechanical arm (1007) is arranged on the side of the fifth operating table (1001) close to the transfer module (7), a fourth visual inspection instrument is arranged on the side of the mechanical arm (1007) located above the ninth longitudinal motor (1002), a third tightening part (1008) is fixedly connected to the output end of the mechanical arm (1007), a tenth longitudinal motor (1005) is arranged in parallel on the side of the ninth longitudinal motor (1002) away from the shrapnel pre-installation module (11), and a tenth object carrier (1006) is fixedly connected to the output end of the tenth longitudinal motor (1005).

9. The central domain controlled automated assembly line based on a robotic arm according to claim 8, characterized in that: The shrapnel pre-installation module (11) comprises a sixth operating table (1101), an eleventh longitudinal motor (1102) is arranged in the middle of the upper surface of the sixth operating table (1101), the output end of the eleventh longitudinal motor (1102) is connected to a shrapnel assembly loading seat, a fourth tightening portion (1104) is arranged above a side of the eleventh longitudinal motor (1102) close to the transfer module (7), a material suction portion (1105) is arranged in a diagonal direction of the fourth tightening portion (1104), and the fourth tightening portion (1104) and the material suction portion (1105) are respectively connected to a multi-directional conveyor belt (1103).

10. A central domain controlled automated assembly process based on a robotic arm, implemented based on the line body of claim 9, characterized in that: include: S1: Automated assembly of product front parts to form a semi-finished middle plate; S2: Assemble some reverse side components based on the semi-finished product of the middle plate, and then go offline for SATP testing; S3: Clean the product after SATP test, and then automatically assemble the remaining reverse parts to form a finished product; S4: Identify and classify defective and qualified products for transportation to complete the assembly of the line.

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