Central domain control automated assembly line and process based on robotic arm

Abstract

The present invention discloses a central domain control automated assembly line body and process based on a robotic arm, which relates to the technical field of product tooling. It includes a front component processing area, a dispensing processing area, a back component processing area, and a transfer module. The front component processing area includes a middle plate processing module, a bottom plate processing module, and a second circuit board pre-assembly module arranged in a straight line direction. The dispensing processing area 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 arranged in a straight line direction. The back component processing area includes a first blanking module, a first circuit board pre-assembly module, and a shrapnel pre-assembly 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. The present invention can control the production rhythm and improve the utilization rate of the equipment.

Description

Technical Field

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

[0002] With the rapid development of intelligent manufacturing and big data technologies, the demand for automotive chip-level products has exploded. These products have stringent requirements for performance, reliability, and safety, necessitating rigorous testing and quality control during the manufacturing and assembly processes. Currently, the assembly lines for automotive chip-level products still rely heavily on manual labor, particularly in assembly and testing. This results in high production costs, low efficiency, and difficulty ensuring consistency.

[0003] Application No. 202211563323.2 discloses an automated domain controller assembly line and method for automatically assembling components, aiming to improve assembly efficiency and precision. However, the current problem is that the line is arranged in a straight line, occupies a large area, and requires multiple repetitive processes and equipment. This problem is currently a problem that researchers in this field need to solve. Summary of the Invention

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

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a central domain controlled automated assembly line based on a robotic arm, comprising:

[0006] A front component processing area, the front component processing area including a middle plate processing module, a bottom plate processing module, and a second circuit board pre-installation module arranged in a straight line direction;

[0007] A glue dispensing processing area, wherein the glue dispensing processing area includes a second glue dispensing module on the top surface of the middle plate, a glue dispensing module on the bottom surface of the middle plate, a first glue dispensing module on the top surface of the middle plate, a circuit board glue dispensing module, and multiple glue supply modules arranged in a straight line. Type A colloid and type B colloid are stored inside the glue supply module. Under the same environmental parameters, the curing cycle of type A colloid is slower than that of type B colloid. The second glue dispensing module on the top surface of the middle plate uses type A colloid, and the glue dispensing module on the bottom surface of the middle plate, the first glue dispensing module on the top surface of the middle plate, and the circuit board glue dispensing module use type B colloid;

[0008] A reverse component processing area, the reverse component processing area includes a first blanking module, a first circuit board pre-installation module, and a spring pre-installation module arranged in a straight line direction, the first blanking module is arranged adjacent to the second dispensing module on the top surface of the middle plate, and the front component processing area, the dispensing processing area, and the reverse component processing area are arranged in a U-shaped manner;

[0009] The transfer module is provided with a main six-axis manipulator and a backup six-axis manipulator, and the output ends are fixedly connected to the clamping module.

[0010] The present invention further illustrates that a test online module is provided on a side of the shrapnel pre-assembly module away from the first circuit board pre-assembly module, a dust collection module is provided below the output end of the second dispensing module near the top surface of the middle plate of the transfer module, and a second unloading module is provided on the top of the test online module;

[0011] 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, and the output ends of the first longitudinal motor and the second longitudinal motor are respectively connected to the first object carrier and the object table; the upper surface of the first operating table is connected to the first transverse motor through a frame, and the output end of the first transverse motor is fixedly connected to the first movable part, and the output end of the first movable part is connected to the first visual inspection instrument.

[0012] The present invention further describes that the second circuit board pre-assembly module includes a third operating table, a fourth longitudinal motor is provided on the third operating table, an output end of the fourth longitudinal motor is fixedly connected to a third object carrier, a second visual inspection instrument is provided above the middle portion of the fourth longitudinal motor, and an output end of the first multi-directional drive unit is fixedly connected to a first tightening unit;

[0013] The present invention further describes that the base 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 to the sixth carrier, a third visual inspection instrument is arranged above the longitudinal linear motor, and a second multi-directional driving unit 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 unit is fixedly connected to the second tightening unit.

[0014] The present invention further illustrates that the dispensing module on the bottom surface of the middle plate includes a second operating table shared with the second dispensing module on the top surface of the middle plate, and a third longitudinal motor is provided on the side of the second operating table close to the first dispensing module on the top surface of the middle plate, and the output end of the third longitudinal motor is fixedly connected to the second carrier seat, and the upper surface of the second operating table is fixedly connected to the second transverse motor through the frame, and the output end of the second transverse motor is fixedly connected to the second moving part, and the output end of the second moving part is fixedly connected to the first contour detector, and the first dispenser is provided on the side of the second transverse motor away from the transfer module.

[0015] 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 to a fourth object carrier, and a fourth transverse motor is arranged on a side of the upper surface of the fourth operating table close to the transfer module through a frame, the output end of the fourth transverse motor is fixedly connected to a fourth moving part, and the output end of the fourth moving part is fixedly connected to a second contour detector, a second dispenser is provided on a side of the fourth transverse motor away from the transfer module, and the output end of the sixth longitudinal motor is fixedly connected to the fifth object carrier;

[0016] 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 to the seventh carrier, the end of the seventh longitudinal motor away from the transfer module is provided with a third dispenser, the third dispenser is connected to the sixth moving part for transmission, and the sixth moving part is connected to the seventh transverse motor for transmission.

[0017] 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 to the eighth object carrier, and a fourth dispenser is provided on the side of the eighth longitudinal motor away from the transfer module.

[0018] The first circuit board pre-assembly module includes a fifth operating table, a ninth longitudinal motor is provided on the upper surface of the fifth operating table adjacent to the spring pre-assembly module, and an output end of the ninth longitudinal motor is fixedly connected to a ninth object carrier;

[0019] A press-fitting component is provided above the side of the ninth longitudinal motor away from the transfer module, a robotic arm is provided on the side of the fifth operating table close to the transfer module, a fourth visual inspection instrument is provided on the side of the robotic arm located above the ninth longitudinal motor, and the output end of the robotic arm is fixedly connected to the third tightening part, a tenth longitudinal motor is provided in parallel on the side of the ninth longitudinal motor away from the shrapnel pre-installation module, and the output end of the tenth longitudinal motor is fixedly connected to the tenth object carrier.

[0020] The shrapnel pre-installation module includes a sixth operating table, an eleventh longitudinal motor is arranged in the middle of the upper surface of the sixth operating table, the output end of the eleventh longitudinal motor is connected to the shrapnel group loading seat, and a fourth tightening part is arranged above the side of the eleventh longitudinal motor close to the transfer module, a suction part is arranged in the diagonal direction of the fourth tightening part, and the fourth tightening part and the suction part are respectively connected to a multi-directional conveyor belt.

[0021] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: In the present invention, 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 are adopted. Under the production beat requirements, only a few operators are required to implement the process steps of foam installation, screw tightening, cleaning and debris removal, and sorting and conveying in the product. The automation degree is high, and one station is used for multiple purposes, improving the utilization rate of the line body structure while controlling the production beat. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The 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 drawings:

[0023] Figure 1 is a schematic diagram of the line body of the present invention;

[0024] Figure 2 is a schematic diagram of the product structure of the present invention;

[0025] Figure 3 is a schematic diagram of the front product processing area of the present invention;

[0026] Figure 4 is the present invention Figure 3 an enlarged schematic diagram of Area A;

[0027] Figure 5 is a schematic diagram of the middle plate processing module of the present invention;

[0028] Figure 6 is the present invention Figure 5 a top view structural schematic diagram;

[0029] Figure 7 is the present invention Figure 6 an enlarged schematic diagram of Area B;

[0030] Figure 8 is a schematic diagram of the second circuit board pre-installation module and the bottom plate processing module of the present invention;

[0031] Figure 9 is a schematic diagram of the structure of the first multi-directional driving part of the present invention;

[0032] Figure 10 is a schematic diagram of the dispensing processing area of the present invention;

[0033] 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;

[0034] 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;

[0035] Figure 13 This is a schematic diagram of the exterior of the first circuit board pre-installed module of the present invention;

[0036] Figure 14 This is a schematic diagram of the interior of the first circuit board pre-installed module of the present invention;

[0037] Figure 15 This is a schematic diagram of the exterior of the shrapnel pre-installed module of the present invention;

[0038] Figure 16 This is a schematic diagram of the interior of the shrapnel pre-installed module of the present invention;

[0039] Figure 17 is a schematic diagram of the dust collection module of the present invention;

[0040] Figure 18 is a schematic diagram of the clamping module of the present invention;

[0041] Figure 19 It is a schematic diagram of the test online module and the second unloading module of the present invention;

[0042] In the picture:

[0043] 1. Mid-plate processing module; 101. First loading platform; 102. First longitudinal motor; 103. First transverse motor; 104. Cover; 105. First operating table; 106. Loading platform; 107. Second longitudinal motor; 108. First visual inspection instrument; 109. First moving unit; 110. Support frame; 111. Support plate;

[0044] 2. Middle plate bottom surface dispensing module; 201. Second carrier; 202. Second moving part; 203. Second transverse motor; 204. Third longitudinal motor; 205. Second operating table; 206. First contour detector; 207. Third transverse motor; 208. Third moving part; 209. First dispensing device;

[0045] 3. Second circuit board pre-assembly module; 301. Third operating table; 302. First multi-directional drive unit; 3021. X-axis linear drive unit; 3022. Y-axis linear drive unit; 3023. Z-axis linear drive unit; 303. First tightening unit; 304. Fourth longitudinal motor; 305. Third carrier;

[0046] 4. Dust collection module; 401. Bracket; 402. Dust collection port; 403. Dust collection pump;

[0047] 5. PCB dispensing module; 501. Fourth carrier; 502. Fourth moving unit; 503. Fourth transverse motor; 504. Fifth longitudinal motor; 505. Fourth operating table; 506. Second contour detector; 507. Sixth transverse motor; 508. Fifth moving unit; 509. Second dispenser; 510. Fifth carrier; 511. Sixth longitudinal motor;

[0048] 6. Bottom plate processing module; 602. Second multi-directional driving unit; 603. Second tightening unit; 604. Longitudinal linear motor; 605. Sixth object carrier;

[0049] 7. Transfer module;

[0050] 8. First dispensing module on the top surface of the middle plate; 801. Seventh object carrier; 802. Seventh longitudinal motor; 803. Seventh transverse motor; 804. Sixth moving part; 805. Third dispensing device;

[0051] 9. Second dispensing module on the top surface of the middle plate; 901. Eighth loading base; 902. Eighth longitudinal motor; 903. Eighth transverse motor; 904. Seventh moving part; 905. Fourth dispensing device;

[0052] 10. First circuit board pre-assembly module; 1001. Fifth operating platform; 1002. Ninth longitudinal motor; 1003. Ninth object carrier; 1004. Press-fit component; 1005. Tenth longitudinal motor; 1006. Tenth object carrier; 1007. Robotic arm; 1008. Third tightening unit;

[0053] 11. Shrapnel pre-installation module; 1101. Sixth operating console; 1102. Eleventh longitudinal motor; 1103. Multi-directional conveyor belt; 1104. Fourth tightening unit; 1105. Material suction unit;

[0054] 12. Test the online module;

[0055] 13. Clamping module;

[0056] 14. Glue supply module;

[0057] 15. The first blanking module;

[0058] 16. Second blanking module;

[0059] 1801, middle plate; 1802, top plate; 1803, bottom plate; 1804, first circuit board; 1805, second circuit board. DETAILED DESCRIPTION

[0060] The following is a non-limiting detailed description of the technical solutions of the present invention in conjunction with preferred embodiments and the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0061] See also Figure 1-2The present invention provides a technical solution: a central domain control automated assembly line based on a robotic arm, which is at least applied to automotive electronic chip products, hereinafter referred to as products, which include front and back components, wherein the front components include a middle plate 1801, a second circuit board 1805, and a bottom plate 1803, which form a semi-finished middle plate after assembly, and the back components include a top plate 1802 and a first circuit board 1804, which complete the standard ambient temperature and pressure (SATP) test and form a finished product after assembly; reference 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 sequentially arranged along a straight line direction;

[0062] The first circuit board 1804 is the Auto Drive Front Printed Circuit Board Assembly (ADF PCBA), which is used for front-end control and sensor data processing, etc. The second circuit board 1805 is the Battery Backup Printed Circuit Board Assembly (BBPCBA), which is used for power management.

[0063] Furthermore, electromagnetic shielding conductive foam (EMI foam) is installed between the middle plate 1801 and the second circuit board 1805. Connector foam is connected to the periphery of the second circuit board 1805. Similarly, EMI foam is installed between the second circuit board 1805 and the bottom plate 1803. After the EMI foam is installed, it is installed with the second circuit board 1805. The corresponding gluing process and screw tightening process are added during the installation process to finally form a semi-finished middle plate, thus completing the assembly of the front components.

[0064] Furthermore, EMI foam is also installed between the middle plate 1801 and the first circuit board 1804, and connector foam is also connected to the periphery of the first circuit board 1804. Two sets of spring clips are connected by screws on a surface of the first circuit board 1804 close to the top plate 1802 to improve packaging reliability and heat dissipation performance. EMI foam is also installed between the top plate 1802 and the first circuit board 1804. The finished product assembly between the back component and the front component is completed through the gluing process and the screw locking process.

[0065] Example 1, further reference Figure 1, the above-mentioned automated assembly line body includes a front component processing area, a dispensing processing area, a back 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 back 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. The output ends of the main six-axis manipulator and the standby six-axis manipulator are fixedly connected with a clamping module 13. The clamping module 13 includes a bidirectional telescopic cylinder body, and the output ends thereof are fixedly connected with clamping blocks adapted to the structure and size of the product for stably clamping the product and related components;

[0066] The front component processing area and the back component processing area are arranged opposite to each other with the transfer module 7 as the center, and the dispensing processing area is located between the front component processing area and the back component processing area on the same side;

[0067] Furthermore, 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 process. Under the control of a preset production beat, the line body can assemble multiple products simultaneously as much as possible in the U-shaped structure arrangement, which can not only match the action beat of the operator but also effectively improve the assembly efficiency.

[0068] First, refer 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-assembly 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-assembly module 3 away from the transfer module 7;

[0069] Specifically, refer to Figure 4-Figure 7The 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 connected to a first carrier 101 and a carrier 106 respectively; the first carrier 101 is used to manually place the middle plate 1801, and then install the EMI foam 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, and the output end of the first transverse motor 103 is fixedly connected to a first moving part 109, and the first transverse motor 103 is perpendicular to the first longitudinal motor 1 02. The output end of the first moving part 109 is fixedly connected to a support frame 110 above the second longitudinal motor 107, and a support plate 111 is fixedly connected to the bottom of the support frame 110. The first visual inspection instrument 108 is connected through the inside of the support plate 111, and the support frame 110 is located outside the first visual inspection instrument 108 and is provided with a cover 104 for external protection of the first visual inspection instrument 108; after the EMI foam on the bottom surface of the middle plate 1801 is installed, the output end of the first longitudinal motor 102 drives the first object carrier 101 to move to the bottom of the first visual inspection instrument 108 for the first visual inspection process, that is, the visual inspection after the foam is installed;

[0070] The stage 106 is used for subsequent installation of EMI foam on the top surface of the middle plate 1801 , and the same installation method and detection principle of the first visual inspection instrument 108 are used to perform visual inspection after the foam is installed.

[0071] The second circuit board pre-installation module 3 includes a third operating table 301, on which a fourth longitudinal motor 304 is provided, and an output end of the fourth longitudinal motor 304 is fixedly connected to a third carrier 305, and the third carrier 305 is used for loading the second circuit board 1805, and then pre-installing the connector foam on the side of the second circuit board 1805. In addition, the height of the third carrier 305 after loading is lower than the lowest height of the grating; a second visual inspection instrument is provided above the middle of the fourth longitudinal motor 304 to judge whether the pre-installation of the connector foam on the side of the second circuit board 1805 is qualified; the fourth longitudinal motor 304 is close to the transfer module 7 A first multi-directional driving unit 302 is installed on one side, and the first multi-directional driving unit 302 includes an X-direction linear driving unit 3021, a Y-direction linear driving unit 3022, and a Z-direction linear driving unit 3023. The output end of the first multi-directional driving unit 302 is fixedly connected to the first tightening unit 303, and the screw locking connection process between the middle plate 1801 and the second circuit board 1805 is performed according to the preset locking center position. A torque sensor is installed inside the first tightening unit 303, and the torque sensor can obtain detection parameters in the screw locking process. The detection parameters are torque value and floating height data, which are used to ensure intelligent detection and locking accuracy of screw locking.

[0072] The base 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 to the sixth carrier 605. A third visual inspection instrument is arranged above the longitudinal linear motor 604. The sixth carrier 605 is used to install the EMI foam at the base plate 1803. After the foam is installed, the visual inspection process of the third visual inspection instrument is carried out. Then, under the transmission action of the output end of the longitudinal linear motor 604, it moves to the locking connection with the middle plate 1801 and the second circuit board 1805. A second multi-directional drive unit 602 is installed at one end of the longitudinal linear motor 604 close to the transfer module 7. The structural setting of the second multi-directional drive unit 602 refers to the first multi-directional drive unit 302 and will not be repeated here; the output end of the second multi-directional drive unit 602 is fixedly connected to the second tightening unit 603, and a torque sensor is also provided inside the second tightening unit 603. The detection parameters in the screw tightening process are obtained again according to the torque sensor.

[0073] Secondly, reference Figure 10 The glue processing area includes a second glue dispensing module 9 on the top surface of the middle plate, a glue dispensing module 2 on the bottom surface of the middle plate, a first glue dispensing module 8 on the top surface of the middle plate, and a circuit board glue dispensing module 5 arranged in a straight line. The circuit board glue dispensing module 5 is adjacent to the middle plate processing module 1 and is arranged in a vertical direction. The middle plate bottom surface glue dispensing module 2 and the first glue dispensing module 8 on the top surface of the middle plate are arranged adjacent to each other. A plurality of glue supply modules 14 are arranged on the side of the circuit board glue dispensing module 5 away from the first glue dispensing module 8 on the top surface of the middle plate. Type A colloid and type B colloid are stored inside the glue supply module 14 to match the glue dispensing requirements on different components. Type A colloid is preferably silicone rubber, and type B colloid is preferably epoxy resin. Under the same environmental parameters, the curing rhythm of type A colloid is slower than that of type B colloid.

[0074] refer to Figure 11, the bottom surface glue dispensing module 2 of the middle plate is used to perform glue filling on the bottom surface of the middle plate 1801, preferably type A glue; specifically, the bottom surface glue dispensing module 2 of the middle plate includes a second operating table 205 shared with the second glue dispensing module 9 on the top surface of the middle plate, and the second operating table 205 is provided with a third longitudinal motor 204 on one side close to the first glue dispensing module 8 on the top surface of the middle plate, and the output end of the third longitudinal motor 204 is fixedly connected to the second carrier 201, which is used to undertake the middle plate 1801 after completing the first visual inspection process, and pass through the clamping mold The block 13 is clamped and sent to the second object carrier 201. The upper surface of the second operating table 205 is fixedly connected to the second transverse motor 203 through a frame. The output end of the second transverse motor 203 is fixedly connected to the second moving part 202. The output end of the second moving part 202 is fixedly connected to the first contour detector 206. The principle of 3D line scanning is used to perform the first contour detection on the dispensing area. The principle is to obtain the three-dimensional morphology of the glue path through laser triangulation technology, and analyze and judge the dispensing effect in combination with the glue amount data;

[0075] A first glue dispenser 209 is provided on the side of the second transverse motor 203 away from the transfer module 7. The first glue dispenser 209 is connected to the third moving part 208 in a transmission manner. The third moving part 208 is connected to the third transverse motor 207 in a transmission manner. The side of the third transverse motor 207 is connected to the driving linear motor 1 in a transmission manner. The first glue dispenser 209 can move and dispense glue in three dimensions. For details, please refer to similar Figure 9 The multi-directional drive unit is set in the middle, and type A colloid is preferred for dispensing here;

[0076] The first contour detector 206 is connected to the first glue dispenser 209 via a control terminal, and controls the glue dispensing position and glue dispensing amount according to the contour detection result to match the rhythm control of the line body.

[0077] refer to Figure 12 The 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 the 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-assembly module 3; a fourth transverse motor 503 is provided on the 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 the fourth moving part 502, and the output end of the fourth moving part 502 is fixedly connected to the second contour detector 506 for performing a second contour detection;

[0078] A second dispenser 509 is provided on the side of the fourth transverse motor 503 away from the transfer module 7. The second dispenser 509 is transmission-connected to the fifth moving part 508, and 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 the second driving linear motor. The second dispenser 509 moves and dispenses in three dimensions. The dispensing here is also preferably type A colloid.

[0079] 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 colloid.

[0080] The first dispensing module 8 on the top surface of the middle plate is used to perform the dispensing process and dispensing detection on the top surface of the middle plate 1801, preferably type A colloid. Specifically, the first dispensing module 8 on the top surface of the middle plate includes a seventh longitudinal motor 802, and 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 dispensing device 805, and the third dispensing device 805 is connected to the sixth moving part 804 for transmission, and the sixth moving part 804 is connected to the seventh transverse motor 803 for transmission, and the side transmission of the seventh transverse motor 803 is connected to the driving linear motor three, thereby performing the dispensing process on the top surface of the middle plate 1801. After the dispensing is completed, the second contour detector 506 is used to perform the third contour detection in the line process.

[0081] refer to Figure 11 The second dispensing module 9 on the top surface of the middle plate is also used for the dispensing process of the top surface of the middle plate 1801, but the dispensing position is different. Specifically, the second 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. The side of the eighth longitudinal motor 902 away from the transfer module 7 is provided with a fourth dispenser 905, and the fourth dispenser 905 is transmission-connected to the seventh moving part 904, and the seventh moving part 904 is transmission-connected to the eighth transverse motor 903. The side of the eighth transverse motor 903 is transmission-connected to the driving linear motor four, so that the fourth dispenser 905 can move in the three-dimensional direction; the colloid sprayed by the fourth dispenser 905 is preferably type B colloid.

[0082] 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-assembly 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 is 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.

[0083] Among them, the dispensing device is preferably a dual-liquid dynamic screw valve; the middle plate bottom surface dispensing module 2, the middle plate top surface first dispensing module 8, and the circuit board dispensing module 5 are arranged adjacent to each other in sequence.

[0084] 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 operator's manual tension.

[0085] Further, refer to Figure 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. 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.

[0086] refer to Figure 14 The first circuit board pre-installation module 10 is used for loading the first circuit board 1804, installing the connector foam on the circumference, and bonding and locking the first circuit board 1804. An operator is provided in the reverse component processing area to perform foam pre-installation. Specifically, the first circuit board pre-installation module 10 includes a fifth operating table 1001. A ninth longitudinal motor 1002 is provided on the side of the upper surface of the fifth operating table 1001 adjacent to the shrapnel pre-installation module 11. The output end of the ninth longitudinal motor 1002 is fixedly connected to the ninth carrier 1003 for loading the first circuit board 1804 and installing the connector foam. The ninth longitudinal motor 1002 is away from the transfer A press-fitting component 1004 is provided above one side of the module 7, and 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 to the surface where the glue is dispensed on the middle plate 1801 and adheres to it, it is moved again to the bottom of the press-fitting component 1004 for press-fitting. During the movement, the glue can be effectively bonded to the bonding point of the first circuit board 1804 at a certain rhythm. If press-fitting is performed directly after contact, incomplete curing may easily cause the glue to overflow, resulting in poor bonding effect, and also poor quality of the product in subsequent performance tests.

[0087] A robotic arm 1007 is provided on one side of the fifth operating platform 1001, near the transfer module 7. A fourth visual inspection instrument is provided on the side of the robotic arm 1007, located above the ninth longitudinal motor 1002, for inspecting the installation compliance of the connector foam. A third tightening unit 1008 is fixedly connected to the output end of the robotic arm 1007. A torque sensor is also provided within the third tightening unit 1008 for obtaining inspection parameters during the screw tightening process between the first circuit board 1804 and the middle plate 1801.

[0088] In addition, a tenth longitudinal motor 1005 is provided in parallel on a side of the ninth longitudinal motor 1002 away from the spring pre-installation module 11. The output end of the tenth longitudinal motor 1005 is fixedly connected to a tenth object carrier 1006, which is used to load the top plate 1802 after the SATP test is completed and to unload the top plate 1802 after the glue dispensing and locking are completed.

[0089] refer to Figure 16 The shrapnel pre-installation module 11 includes a sixth operating table 1101. The middle part of the upper surface of the sixth operating table 1101 is provided with an eleventh longitudinal motor 1102. The output end of the eleventh longitudinal motor 1102 is connected to the shrapnel group loading seat. A fourth tightening part 1104 is provided above the side of the eleventh longitudinal motor 1102 close to the transfer module 7. A material suction part 1105 is provided in the diagonal direction of the fourth tightening part 1104. The fourth tightening part 1104 and the material suction part 1105 are respectively connected to the multi-directional conveyor belt 1103. Figure 9 The first multi-directional drive unit 302 is set up in the middle, and a spring storage cavity is set under the suction unit 1105, and the storage position, suction position, and locking position are all corresponding. After the first circuit board 1804 and the middle plate 1801 are locked in the first circuit board pre-installation module 10, it is moved to the spring pre-installation module 11 under the action of the clamping module 13, and the spring assembly loading seat receives the product. Then the suction unit 1105 sucks the spring and moves it to be placed above the first circuit board 1804. After the position is correct, the fourth tightening unit 1104 performs screw locking connection between the spring and the product. When the detection parameters are qualified, the material is unloaded from the spring pre-installation module 11 through the eleventh longitudinal motor 1102, and the SATP test is performed.

[0090] In the screw tightening process, a turntable screw arrangement machine and a suction-type tightening module are preferred; one operator is assigned to the front component processing area and one operator is assigned to the back component processing area respectively. Both the front component processing area and the back component processing area are equipped with material racks. Through the coordination of manual and automated lines, efficient product assembly can be achieved.

[0091] Example 2, based on Example 1, a dust collection module 4 is provided below the output end of the second dispensing module 9 near the top surface of the middle plate of the transfer module 7, for collecting dust on the surfaces of the first circuit board 1804 and the second circuit board 1805 to ensure the cleanliness of the product; specifically, refer to Figure 17 The dust collection module 4 includes a bracket 401, a dust collection port 402, and a dust collection pump 403. The dust collection port 402 and the dust collection pump 403 are connected by a pipe;

[0092] A test online module 12 is provided on one side of the shrapnel pre-installation module 11 away from the first circuit board pre-installation module 10, for online testing of products that have passed the SATP test;

[0093] Products that have passed the SATP test are clamped by the transfer module 7 to the top of the dust collection module 4 for dust collection and cleaning of the surface of the first circuit board 1804. After cleaning, they are moved to the fifth carrier 510 under the rotation of the transfer module 7 for dispensing of type A colloid and undergoing a fourth contour inspection using the second contour detector 506.

[0094] A fifth visual inspection instrument is provided above the tenth longitudinal motor 1005 to detect whether the foam installation is qualified. After the dispensing inspection parameters are qualified, it is moved to the top of the tenth object carrier 1006 and bonded with the top plate 1802 according to a preset rhythm. With the help of the clamping module 13, it is rotated and placed in the tenth object carrier 1006, and the screw locking process of the top plate 1802 is carried out at the corresponding tightening position, and the locking test is performed; the first unloading module 15, namely the tenth object carrier 1006 and the tenth longitudinal motor 1005, can also be used for unloading qualified products; a second unloading module 16 is provided on the top of the test online module 12, which is used for unloading products with unqualified inspection results.

[0095] Example 3, based on Example 2, the process flow of the central domain controlled automated assembly line based on a robotic arm is as follows:

[0096] S1: Automated assembly of product front parts to form a semi-finished mid-plate product;

[0097] S2: Assemble some reverse side components based on the semi-finished mid-plate product, and then take it offline for SATP testing;

[0098] S3: Clean the product after the SATP test and then automatically assemble the remaining reverse parts to form a finished product;

[0099] S4: Identify and sort qualified products from unqualified products to complete the assembly of the line.

[0100] S1 includes the following steps:

[0101] S11: Assemble and test the middle board 1801 and the second circuit board 1805; specifically:

[0102] S111: The middle plate 1801 is loaded at the middle plate processing module 1; EMI foam is then pre-installed on the bottom surface of the middle plate 1801. It should be noted that the EMI foam is supplied 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 pre-installing the EMI foam, and the first visual inspection result is transmitted to the control end; the visual inspection instrument is preferably a CCD camera;

[0103] S112: The middle plate 1801 that has passed the first visual inspection is transported to the discharge end. 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 the middle plate bottom surface dispensing module 2. The middle plate bottom surface dispensing module 2 dispenses glue to the gaps on the bottom surface of the middle plate 1801 after the EMI foam is assembled to achieve a filling effect.

[0104] S113: While S111 or S112 is being performed, the second circuit board pre-installation module 3 performs pre-installation of the connector foam around 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 around the second circuit board 1805 is qualified;

[0105] S114: The middle plate 1801 after the glue application in S112 is again moved by one of the six-axis manipulators to the locking position in the second circuit board pre-assembly module 3, and is screwed to the second circuit board 1805 in S113. A first height inspection is performed using a visual inspection instrument; for example, M3 screws are used;

[0106] S12: Clean and glue the surface of the second circuit board 1805; specifically:

[0107] 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;

[0108] S122: After cleaning, the circuit board is transported to the circuit board dispensing module 5, which performs a dispensing process on the outer surface of the second circuit board 1805 and performs a first contour detection to ensure that the dispensing effect is qualified;

[0109] S13: While executing S12, the baseboard 1803 is assembled and tested at the baseboard processing module 6;

[0110] S131: Pre-install EMI foam on the bottom plate 1803. Pre-installation methods include but are not limited to manual work.

[0111] S132: Connect the bottom plate 1803 and the EMI foam with screws.

[0112] S14: After the bottom plate 1803 is inspected, the second circuit board 1805 after the dispensing is completed is moved to the bottom plate 1803 for screw tightening process and a second height inspection is performed to complete the assembly of the semi-finished middle plate.

[0113] S2 includes the following steps:

[0114] S21: Assembling and testing the middle board 1801 and the first circuit board 1804;

[0115] S211: The semi-finished middle plate is transferred to the middle plate processing module 1 via the transfer module 7, EMI foam is pre-installed on the top surface of the middle plate 1801, and the top surface of the middle plate 1801 after the EMI foam is pre-installed is subjected to a third visual inspection using a visual inspection instrument. The results of the third visual inspection are transmitted to the control terminal.

[0116] S212: The intermediate plate semi-finished product that has passed the third visual inspection is moved to the first glue dispensing module 8 on the top surface of the intermediate plate under the transmission of the transfer module 7. The first glue dispensing module 8 dispenses the first type of glue on the top surface of the intermediate plate 1801, and then performs a second contour inspection. The second contour inspection result is transmitted to the control end;

[0117] S213: After the second contour detection is qualified, the transfer module 7 moves the intermediate plate semi-finished product to the second dispensing module 9 on the top surface of the intermediate plate, dispenses the second type of glue on the top surface of the intermediate plate 1801, and then performs a third contour detection, and transmits the third contour detection result to the control end;

[0118] S214: During S211, S212, or S213, the first circuit board 1804 is loaded into the first circuit board pre-assembly module 10, and connector foam is pre-assembled around the periphery of the first circuit board 1804. Pre-assembly methods include, but are not limited to, manual methods. After pre-assembly, a fourth visual inspection is performed using a visual inspection instrument to ensure that the connector foam pre-assembly around the periphery of the first circuit board 1804 is qualified.

[0119] S215: The semi-finished middle plate that has passed the third contour inspection is moved to the first circuit board pre-assembly module 10 under the action of the transfer module 7, and screwed together with the first circuit board 1804 that has passed the fourth visual inspection; then a third height inspection is performed, and the inspection results are transmitted to the control end.

[0120] S22: Complete the installation of the shrapnel; specifically:

[0121] The intermediate plate semi-finished product is moved to the spring clip pre-installation module 11 by the transfer module 7, where the spring clip is loaded and photographed for inspection. The spring clip is moved above the intermediate plate semi-finished product by the suction cup and locked with the first circuit board 1804. After that, the fourth height inspection is performed, and the inspection results are transmitted to the control terminal.

[0122] S23: After the shrapnel is installed correctly, proceed with blanking and SATP testing.

[0123] S3 includes the following steps:

[0124] S31: The semi-finished products that have passed the SATP test are put on the line through the test module 12 for cleaning and dispensing.

[0125] S311: The transfer module 7 clamps the semi-finished product and places it above the dust collection module 4 to complete the dust collection and cleaning of the surface of the first circuit board 1804;

[0126] S312: After cleaning, the substrate is moved to 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 with glue and the fourth contour detection is performed;

[0127] S32: The qualified mid-plate semi-finished product is transferred to the first blanking module 15 via the transfer module 7;

[0128] S33: When executing the S31 process, the top plate 1802 is loaded into the first blanking module 15 and pre-installed with EMI foam. After the installation is completed, the fifth visual inspection is performed;

[0129] S34: The top plate 1802 that passed the fifth visual inspection is screwed with the semi-finished middle plate that passed the gluing in S32 to complete the automated assembly of the finished product.

[0130] S4 includes the following steps:

[0131] S41: Identifying defective and qualified products from the assembled finished products in the first unloading module 15;

[0132] S42 : Defective products are unloaded through the second unloading module 16 , and qualified products are unloaded through the first unloading module 15 .

[0133] This completes the automated assembly of the product.

[0134] Example 4, based on Example 1, a traceability system is established for the center plate 1801, top plate 1802, bottom plate 1803, first circuit board 1804, and second circuit board 1805 of the automated assembly line. The traceability system signal is connected to the control end, and the traceability method includes but is not limited to scanning a code. Specifically, the detection settings are as follows:

[0135] First, when performing visual inspection of foam, the inspection parameters are the installation accuracy of the foam in the width direction and the length direction; 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, a_per is preferably ±0.3mm, and the deviation of the two 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 ±0.3mm; the inspection result is represented by a code table F, recorded as F[a,b], the positions of a and b represent the accuracy in the width direction and length direction respectively, and the values are 0 or 1. When the actual width error exceeds the first allowable deviation, a is recorded as 1, and when the actual width error does not exceed the first allowable deviation, it is recorded as 0; when the actual length error exceeds the second allowable deviation, b is recorded as 1, and when the actual length error 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 issued on the display end of the corresponding module, and the corresponding code table will be displayed to help the operator quickly obtain the cause of the alarm and make foam adjustments;

[0136] In addition, after the adjustment is completed, the inspection process is performed again to facilitate the execution of the next process. The dwell time is recorded as T f , then the sum is , n is the number of foam pre-installation processes, f is the sequence number of foam pre-installation processes, T f To adjust the beat, when the code table gets F[0,0], T f is 0. When the code table is not F[0,0], T f To actually adjust the beat; for example, in this embodiment, the number of foam pre-installations is 5, so n=5.

[0137] Secondly, when performing dispensing contour detection, 3D line scanning is used, and the detection parameters are 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 representing the first type of glue, j is the serial number of the dispensing area representing the second type of glue; s is the area of the dispensing area, and h is the height of the dispensing area; it should be noted that there should be no gaps between the dispensing rails; the dispensing parameters are the optimal parameters selected in advance by testing; the ideal volume V is determined in advance according to the corresponding dispensing area i or V j , and dispense glue according to the ideal volume. After dispensing, use 3D line scanning to determine whether the preset dispensing effect is achieved;

[0138] Specifically, it is divided into two steps. The first step is the dispensing process of dispensing volume from 0-0.5V, and the second step is the dispensing process of dispensing volume from 0.5VV. ① In the dispensing process of the first step, real-time 3D line scanning is used. When there is no dispensing gap in the first step, the dispensing process of the second step is continued, and the real-time 3D line scanning is paused until the end of the dispensing process of the second step; ② In the dispensing process of the first step, real-time 3D line scanning is used. When there is a dispensing gap in the first step, the gap is filled first, and then the dispensing process of the second step is continued, and the second step During the dispensing process, the real-time 3D line scan is paused until the end, and the movement speed of the dispenser is controlled according to the gap volume to prevent stratification between the remaining undispensed area and the dispensed area. The movement speed is determined by the gap filling end position, the starting point position of the remaining dispensed area, and the stratification beat limit; ③ After completing the second step of the dispensing process, a 3D line scan is performed from the partially overlapping area to the glue point at the end of the dispensed area. Taking volume as an example, the 3D line scan is performed within the dispensed area corresponding to the §·VV volume, 0.4≤§<0.5; then corresponding glue is filled for the dispensed gap;

[0139] The amount of glue replenished in the dispensing area and the corresponding required beat are recorded. If it exceeds the preset beat limit, affecting the molding quality, it means that the dispensing quality is unqualified. The module will transmit an alarm signal to the control end, and the spare six-axis robot will directly unload the unqualified products. After the spare robot unloads the materials, it will replenish the materials in the module from the previous module, reducing the waiting beat for the next loading product, just filling the preset beat limit and the beat occupied during the unloading process.

[0140] Afterwards, when tightening the screws, first lock the center position to tighten the screws, and then tighten them in the diagonal tightening order; after tightening, perform a height test on the screws after tightening. The test parameters are torque value and floating height data. During the screw tightening process, draw the actual torque curve L k , and record the height parameter D after tightening is completed k , k is the screw marking number, and the ideal torque curve L and ideal height D are set at the control end;

[0141] In the screw tightening process, first perform the actual torque curve L k The fitting of the ideal torque curve L, with the beat as the horizontal axis, firstly calculates the actual torque curve L k Identify abnormal values in the process to ensure accurate positioning and product quality. If an abnormal value occurs, directly loosen the screw in the opposite direction and use the next screw to tighten faster. Pre-enter multiple sets of ideal torque curves L with matching speeds. When the speed changes, select the corresponding ideal torque curve.

[0142] When there are no outliers, the fitting difference is summed and recorded as △L k, the fitting difference limit is recorded as △L, when △L k >△L, it is recorded as a large fitting deviation; when △L k When ≤△L, the fitting deviation is considered normal;

[0143] Height parameter D k Calculate the difference from the ideal height D, and record the height difference as △D k , the height difference limit is recorded as △D, when △D k >△D, it is recorded as floating height; when △D k When ≤△D, it is recorded as normal floating height;

[0144] When △L k ≤△L and △D k When ≤△D, it means the locking is qualified; proceed directly to the tightening process of the next screw;

[0145] When △L k >△L or △D k >△D, calculate the locking deviation coefficient , , when △L k When ≤△L, Take 1, similarly, when △D k When ≤△D, Take 1; therefore, ;

[0146] When the locking deviation coefficient When , the corresponding locking is qualified;

[0147] When the locking deviation coefficient When the allowable deviation coefficient is established ,when When the screw is tightened, it is also classified as qualified and the next screw tightening process is carried out directly; when If it is determined that the locking is unqualified, directly loosen it in the opposite direction and use the next screw to enter. The rest of the settings refer to the above content to effectively complete the screw locking process;

[0148] In addition, the control end will also record the excess consumption beat in each locking process, which is recorded as T d , d is the marking number of the locking process.

[0149] Example 5, based on Example 4, the production rhythm of the product is pre-set for each process, the transfer rhythm of the transfer module 7 is sufficient, and each module has a certain waiting rhythm, and the action rhythm of the transfer module 7 is , s is the mark number of the transfer module 7 operation, is the beat consumed during the s-th run, Σ is the sum; similarly, 、 They are respectively for adjusting the total consumption beat of foam and locking the excess consumption beat;

[0150] In order to ensure the certainty of production rhythm, or When a value other than 0 appears, the process steps in Example 3 are combined, and it is preferred to ensure the overall production rhythm by reducing the operating rhythm of the transfer module 7 in the next adjacent step. The operating power of the transfer module 7 can be adjusted to change its operating rhythm. Specifically, when a delayed rhythm occurs in the front component processing area and the back component processing area, the main six-axis manipulator is used to reduce the originally set transfer rhythm. When a delayed rhythm occurs in the dispensing processing area and the non-dispensing quality is unqualified, the spare six-axis manipulator is used to transfer the product, and to avoid the overflow of the corresponding colloid due to insufficient waiting time, the spare manipulator needs to wait for a suitable time before loading the material into the next module.

[0151] When the power of the transfer module 7 can no longer be adjusted, the production cycle can be extended. However, when the extended production cycle exceeds the preset limit, an alarm will be directly used, and the proportion of processes with extended cycles will be displayed on the control end to facilitate inspection of the corresponding modules of the line and improve self-inspection efficiency.

[0152] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only used to facilitate the description of the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0153] Finally, it should be noted that the above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will appreciate that modifications may be made to the technical solutions described in the aforementioned embodiments, or that some of the technical features may be replaced with equivalents. Such modifications or replacements do not deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A centrally controlled automated assembly line based on a robotic arm, characterized by: Comprising: 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-installation module (3) arranged in a straight line direction; A dispensing processing area, which includes a second top surface dispensing module (9) of the middle plate, a bottom surface dispensing module (2) of the middle plate, a first top surface dispensing module (8) of the middle plate, a circuit board dispensing module (5), and multiple groups of glue supply modules (14). The glue supply modules (14) store 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) of the middle plate uses type A colloid, and the bottom surface dispensing module (2) of the middle plate, the first top surface dispensing module (8) of 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-installation module (10), and a shrapnel pre-installation module (11) arranged in a straight line direction. The first blanking module (15) is arranged adjacent to the second top surface dispensing module (9) of 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 (7), on which a main six-axis manipulator and a spare six-axis manipulator are arranged, and clamping modules (13) are fixedly connected to the output ends; A first vision detector (108) is arranged at the middle plate processing module (1), a second vision detector is arranged at the second circuit board pre-installation module (3), a third vision detector is arranged at the bottom plate processing module (6), a fourth vision detector is arranged at the first circuit board pre-installation module (10), a first contour detector (206) is arranged at the bottom surface dispensing module (2) of the middle plate, and a second contour detector (506) is arranged at the circuit board dispensing module (5); The production rhythm of the product is pre-set for each process. The transfer rhythm of the transfer module (7) is sufficient, and each module has a certain waiting rhythm. The action rhythm of the transfer module (7) is , s is the mark number of the transfer module (7) operation, is the beat consumed during the s-th run, Σ is the sum; similarly, 、 They are respectively for adjusting the total consumption beat of foam and locking the excess consumption beat; In order to ensure the certainty of production rhythm, or When a value other than 0 appears, the overall production rhythm is ensured by reducing the operating rhythm of the transfer module (7) in the next adjacent step; when a delay rhythm occurs in the front component processing area and the back component processing area, the main six-axis manipulator is used to reduce the originally set transfer rhythm; when a delay rhythm occurs in the dispensing processing area and the non-dispensing quality is unqualified, the spare six-axis manipulator is used to transfer the product, and to avoid the overflow of the corresponding colloid due to insufficient waiting time, the spare manipulator needs to wait for a suitable time before loading the material into the next module; When the power of the transfer module (7) cannot be adjusted, the production beat is extended. However, when the extended production beat exceeds the preset limit value, an alarm will be directly triggered.

2. The central domain controlled automated assembly line based on a robotic arm according to claim 1, characterized in that: 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). 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) of the middle plate. A second blanking module (16) is arranged on the top of the test online module (12); 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 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 carrier table (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). The output end of the first moving part (109) is connected to the 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) comprises a third operating table (301), a fourth longitudinal motor (304) is provided on the third operating table (301), an output end of the fourth longitudinal motor (304) is fixedly connected to a third object carrier (305), a second visual inspection instrument is provided above the middle of the fourth longitudinal motor (304), a first multi-directional driving unit (302) is installed on a side of the fourth longitudinal motor (304) close to the transfer module (7), and an output end of the first multi-directional driving unit (302) is fixedly connected to a first tightening unit (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) includes a longitudinal linear motor (604) arranged parallel to the fourth longitudinal motor (304), the longitudinal linear motor (604) is fixedly installed on the upper surface of the third operating table (301), the output end of the longitudinal linear motor (604) is fixedly connected to the sixth carrier (605), a third visual inspection instrument is arranged above the longitudinal linear motor (604), and a second multi-directional driving part (602) is installed at one end of the longitudinal linear motor (604) close to the transfer module (7), and the output end of the second multi-directional driving part (602) is fixedly connected to the second tightening part (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 dispensing module (2) includes a second operating table (205) shared with the second dispensing module (9) on the middle plate top surface, a third longitudinal motor (204) is provided on the side of the second operating table (205) close to the first dispensing module (8) on the middle plate top surface, an output end of the third longitudinal motor (204) is fixedly connected to the second object carrier (201), a second transverse motor (203) is fixedly connected to the upper surface of the second operating table (205) through a frame, an output end of the second transverse motor (203) is fixedly connected to the second moving part (202), an output end of the second moving part (202) is fixedly connected to the first contour detector (206), and a first dispensing device (209) is provided on the 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) includes a fourth operating table (505), and a fifth longitudinal motor (504) and a sixth longitudinal motor (511) are arranged in parallel on the fourth operating table (505); the output end of the fifth longitudinal motor (504) is fixedly connected to the fourth object carrier (501), and a fourth transverse motor (503) is arranged on the upper surface of the fourth operating table (505) near the transfer module (7) through a frame, the output end of the fourth transverse motor (503) is fixedly connected to the fourth moving part (502), and the output end of the fourth moving part (502) is fixedly connected to the second contour detector (506), and a second dispensing device (509) is arranged on the 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 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 dispensing device (805), the third dispensing device (805) is connected to the sixth moving part (804) in a transmission manner, and the sixth moving part (804) is connected to the seventh transverse motor (803) in a transmission manner.

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 includes 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 dispenser (905) is provided 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-assembly module (10) comprises a fifth operating table (1001), a ninth longitudinal motor (1002) being provided on a side of the upper surface of the fifth operating table (1001) adjacent to the shrapnel pre-assembly 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 provided above the side of the ninth longitudinal motor (1002) away from the transfer module (7), a robotic arm (1007) is provided on the side of the fifth operating table (1001) close to the transfer module (7), a fourth visual inspection instrument is provided on the side of the robotic arm (1007) located above the ninth longitudinal motor (1002), an output end of the robotic arm (1007) is fixedly connected to a third tightening portion (1008), a tenth longitudinal motor (1005) is provided in parallel on the side of the ninth longitudinal motor (1002) away from the shrapnel pre-installation module (11), and an output end of the tenth longitudinal motor (1005) is fixedly connected to a tenth object carrier (1006).

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 provided in the middle of the upper surface of the sixth operating table (1101), an output end of the eleventh longitudinal motor (1102) is connected to a shrapnel group loading seat, a fourth tightening portion (1104) is provided above a side of the eleventh longitudinal motor (1102) close to the transfer module (7), a material suction portion (1105) is provided 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 mid-plate product; S2: Assemble some reverse side components based on the semi-finished mid-plate product, and then take it offline for SATP testing; S3: Clean the product after the SATP test and then automatically assemble the remaining reverse parts to form a finished product; S4: Identify defective and qualified products, sort and transport them, and complete the assembly of the line.

Images