Flexible intelligent manufacturing device

Abstract

The invention discloses a flexible intelligent manufacturing device which comprises a rack, a working module and a detachable fixing mechanism, and the detachable fixing mechanism is used for fixing the working module to the rack in a detachable connection mode. According to the method, the module replacement efficiency and the equipment reuse rate are remarkably improved. Meanwhile, a suction assembly detachably arranged in the feeding module can flexibly replace a matched suction assembly according to the material form (such as size, material and surface characteristics), the technical limitation that a traditional modular device is single in grabbing mode is broken through, and the multi-module position layout is dynamically supported by combining a standardized interface; the flexible production bottleneck caused by a fixed grabbing structure and insufficient module cooperation capability is effectively solved, and finally, an integrated solution with high compatibility and high response speed is provided for a multi-variety, small-batch and rapid-process-switching manufacturing scene while the equipment modification cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of automated equipment, and particularly to a flexible intelligent manufacturing device. Background Art

[0002] In the field of industrial manufacturing, non-standard equipment is usually customized and developed according to specific process requirements. Although it can meet the efficient operation of a single scenario, its fixed functional modules and interface designs result in low equipment reuse rate and high transformation costs.

[0003] For this reason, modular production equipment has gradually emerged. Such equipment realizes limited production line adjustment through replaceable partial functional modules (such as dispensing modules, welding modules). However, although the existing modular production equipment can replace some functional modules, it is still difficult to quickly replace other working modules of the modular production equipment, such as feeding modules, loading modules, etc. In many cases, in order to adapt to different production requirements, it is often necessary to replace different working modules on the modular production equipment, such as replacing a flexible vibration feeding module with a magazine feeding module, or replacing a cutting function module with a bending function module, etc., and replacing different working modules often also requires changing the installation positions of various working modules so that the replaced various working modules can work properly. At this time, the existing modular production equipment is difficult to replace different working modules such as feeding modules, loading modules, and functional modules, and it is also inconvenient to adjust the positions of each working module. Users often need to disassemble multiple fasteners, rewire and calibrate the positions, and need to re-drill holes, with the downtime lasting for several hours, and even need to directly replace other working equipment to meet the production requirements.

[0004] In addition, in order to adapt to different production requirements, after replacing the working module, it may be necessary to process different materials, and the applicable grasping structures for different materials may be different. The existing modular production equipment usually adopts a fixed grasping structure to grasp materials, which is not suitable for flexible production scenarios.

[0005] That is, the existing modular production equipment has problems of insufficient versatility, low working module replacement efficiency, and fixed grasping structure, making it difficult to be applicable to flexible production scenarios. Summary of the Invention

[0006] The main objective of the present application is to propose a flexible intelligent manufacturing device, aiming to solve the problems of insufficient versatility, low working module replacement efficiency, and fixed grasping structure in the existing modular production equipment in the related art, which makes it difficult to be applicable to flexible production scenarios.

[0007] To achieve the above objective, in a first aspect, the present application proposes a flexible intelligent manufacturing device, including:

[0008] A frame, on the mounting surface of which there is a standardized fixing interface group, and the standardized fixing interface group includes a plurality of fixing units distributed along a preset direction;

[0009] Working modules, including a loading module and non-loading modules, where the non-loading module is one of a feeding module, a functional module, and a discharging module. At the bottom of each working module, there is a module fixing interface group. Among them, the loading module includes a robot body and a suction component, and the suction component is detachably arranged on the robot body;

[0010] A detachable fixing mechanism, formed by the cooperation of the standardized fixing interface group and the module fixing interface group, and the detachable fixing mechanism is used to fix the working module on the frame in a detachable connection manner.

[0011] Optionally, the standardized fixing interface group includes an array of threaded holes, the module fixing interface group includes a group of through holes, and the detachable fixing mechanism further includes bolts that pass through the through holes and are screwed into the threaded holes. The bolts simultaneously perform the functions of module positioning and locking. Among them, the threaded holes in the array of threaded holes are evenly distributed along the first direction and the second direction perpendicular to each other at a first preset pitch to form a grid-like positioning reference. The group of through holes includes a plurality of through holes, and the distance between any two adjacent through holes is a second preset pitch, and the second preset pitch is an integer multiple of the first preset pitch.

[0012] Optionally, the detachable fixing mechanism includes a complementary electromagnetic unit and a magnetic conduction unit. The electromagnetic unit is integrated in the standardized fixing interface group or the module fixing interface group and includes at least one electromagnet array. The magnetic conduction unit is correspondingly integrated in the module fixing interface group or the standardized fixing interface group and includes a magnetic conduction area matching the electromagnet array. The distribution positions of the magnetic conduction unit and the electromagnetic unit match to fix the working module by adsorption force when energized.

[0013] Optionally, the standardized fixing interface group is an electromagnetic unit, the electromagnetic unit is an electromagnet array, the frame electromagnets in the electromagnet array are evenly distributed along the first direction and the second direction perpendicular to each other at a third preset pitch, and each frame electromagnet is independently connected to the power supply bus. The module fixing interface group is a magnetic conduction unit, and the magnetic conduction unit is a module magnetic conduction plate. The module magnetic conduction plate is fixed at the bottom of each working module.

[0014] Optionally, the flexible intelligent manufacturing device further includes a control unit, and the control unit is electrically connected to the frame electromagnets through the power supply bus and is used to independently control the opening and closing states of each frame electromagnet.

[0015] Optionally, the standardized fixed interface group is an electromagnetic unit, the electromagnetic unit is a continuous electromagnetic iron plate, the continuous electromagnetic iron plate is arranged on the top of the frame, the module fixed interface group is a magnetic conduction unit, the magnetic conduction unit is a module magnetic conduction plate, and each working module is fixedly provided with the module magnetic conduction plate at the bottom.

[0016] Optionally, the detachable fixing mechanism further includes a positioning post, the positioning post is a magnetic conductor, and the positioning post is detachably fixed at a preset position on the frame under the magnetic adsorption of the continuous electromagnetic iron plate to position the working module to a corresponding working area.

[0017] Optionally, the standardized fixed interface group is a magnetic conduction unit, the magnetic conduction unit is a frame magnetic conduction plate, the frame magnetic conduction plate is fixed on the top of the frame, the module fixed interface group is an electromagnetic unit, the electromagnetic unit is a module electromagnet, and at least one module electromagnet is arranged at the bottom of each working module.

[0018] Optionally, the non-loading module is a unloading module, the types of the unloading module are one or more, and the unloading module is used for transferring materials.

[0019] Optionally, the unloading module includes a first unloading module and a second unloading module, the first unloading module and the second unloading module are different types of unloading modules, the loading module is arranged on the frame between the first unloading module and the second unloading module, the first unloading module includes a large fixture tray, and the second unloading module includes a small fixture tray.

[0020] Optionally, the loading module further includes a first vision component, the first vision component includes a first fixing frame, a first vision camera and a first light source, the first fixing frame is connected to the robot main body, and the first vision camera and the first light source are both fixedly installed on the first fixing frame.

[0021] Optionally, the non-loading module is a feeding module, the feeding module is used for receiving and preliminarily sorting materials to realize the orderly conveying of the materials, the flexible intelligent manufacturing device further includes a control unit and a storage component, the bottom of the storage component is provided with a module fixed interface group, the control unit is electrically connected to the loading module, and the control unit is configured to: perform image recognition according to the image collected by the first vision component in the loading module, and control the loading module to grab corresponding materials from the feeding module to the storage component according to the image recognition result.

[0022] Optionally, the non-loading module is a functional module, the functional module is a packaging module, the loading module is used for transferring materials to be packaged to the packaging module, and the packaging module is used for packaging the materials to be packaged.

[0023] Optionally, the suction component includes a mounting frame, a sliding frame, a moving slide rail, a rotating motor, an elastic member, a first suction head member, and a second suction head member. The mounting frame is connected to the robot body. The moving slide rail is fixedly installed on the mounting frame. The sliding frame is slidably installed on the mounting frame through the moving slide rail. The elastic member abuts between the mounting frame and the sliding frame. The rotating motor is installed on the sliding frame. The first suction head member is connected to the rotating motor. The second suction head member is connected to the robot body.

[0024] Optionally, the suction component is one of a vacuum suction component, an electromagnetic suction component, and a mechanical clamping component.

[0025] The flexible intelligent manufacturing device provided by the technical solution of the present application, through the coordinated cooperation of the standardized fixed interface group provided on the frame and the module fixed interface group at the bottom of each working module, uses the detachable fixing mechanism to realize the rapid positioning and locking of the loading module and the non-loading module, greatly simplifies the mechanical reconstruction process during module replacement, avoids the cumbersome operations of repeatedly disassembling bolts, re-calibrating the pose, and manual wiring in the traditional solution, and significantly improves the module replacement efficiency and equipment reuse rate. At the same time, the detachable suction component in the loading module can flexibly replace the adapted suction component according to the material form (such as size, material, surface characteristics), breaks through the technical limitation of the single grasping method of traditional modular equipment, and combines the dynamic support of the standardized interface for the position layout of multiple modules, effectively solves the flexible production bottleneck caused by the fixed grasping structure and insufficient module cooperation ability, and finally provides an integrated solution with high compatibility and high response speed for the manufacturing scenarios of multi-variety, small-batch, and rapid process switching while reducing the equipment transformation cost. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0027] Figure 1 It is a schematic structural diagram of the flexible intelligent manufacturing device of the present application;

[0028] Figure 2 It is an exploded view of the flexible intelligent manufacturing device of the present application;

[0029] Figure 3 It is one of the schematic diagrams of the standardized fixed interface group and the module fixed interface group of the flexible intelligent manufacturing device of the present application;

[0030] Figure 4 It is the second schematic diagram of the standardized fixed interface group and the module fixed interface group of the flexible intelligent manufacturing device of the present application;

[0031] Figure 5 It is the schematic diagram of the loading module and the unloading module in the flexible intelligent manufacturing device of the present application;

[0032] Figure 6 It is the schematic diagram of the first vision component in the flexible intelligent manufacturing device of the present application;

[0033] Figure 7 It is the schematic diagram of the loading module and the feeding module in the flexible intelligent manufacturing device of the present application;

[0034] Figure 8 It is the schematic diagram of the loading module and the functional module in the flexible intelligent manufacturing device of the present application.

[0035] Explanation of the reference numerals in the drawings:

[0036] 1. Flexible intelligent manufacturing device; 11. Frame; 111. Standardized fixed interface group; 1111. Threaded hole; 1112. Frame electromagnet; 12. Working module; 121. Loading module; 1211. Robot main body; 1212. Suction component; 1213. First vision component; 12131. First fixing frame; 12132. First vision camera; 12133. First light source; 122. Non-loading module; 1221. Feeding module; 1222. Functional module; 1223. Unloading module; 123. Module fixed interface group; 1231. Through hole; 1232. Module magnetic conductive plate; 13. Detachable fixing mechanism.

[0037] The realization of the purpose, functional features and advantages of the present application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Detailed implementation manners

[0038] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0039] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly disposed on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0040] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or component 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 application.

[0041] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, such descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel scenarios. Taking "A and / or B" as an example, it includes the scenario of A, the scenario of B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0042] It should be noted that the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limited conditions under which the present application can be implemented. Therefore, they do not have a substantial technical meaning. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the efficacy that the present application can produce and the purpose that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in the present application.

[0043] In the field of industrial manufacturing, non-standard equipment is usually customized and developed according to specific process requirements. Although it can meet the efficient operation of a single scenario, its fixed functional modules and interface designs result in low equipment reuse rate and high transformation costs.

[0044] For this reason, modular production equipment has gradually emerged. Such equipment realizes limited production line adjustment through replaceable partial function modules (such as dispensing modules, welding modules). However, although the existing modular production equipment can replace some function modules, it is still difficult to quickly replace other working modules of the modular production equipment, such as feeding modules, loading modules, etc. In many cases, in order to adapt to different production requirements, it is often necessary to replace different working modules on the modular production equipment. For example, replace the flexible vibration feeding module with a magazine feeding module, or replace the cutting function module with a bending function module, etc. And replacing different working modules often also requires changing the installation positions of various working modules so that the replaced various working modules can work properly. At this time, the existing modular production equipment is difficult to replace working modules such as different feeding modules, loading modules, and function modules, and it is also inconvenient to adjust the positions of each working module. Users often need to disassemble multiple fasteners, rewire and calibrate the positions, and need to re-drill holes. The downtime is up to several hours, and even need to directly replace other working equipment to meet the production requirements.

[0045] In addition, in order to adapt to different production requirements, after replacing the working module, it may be necessary to process different materials, and the applicable gripping structures for different materials may be different. The existing modular production equipment usually adopts a fixed gripping structure to grip materials, which is not suitable for flexible production scenarios.

[0046] That is, the existing modular production equipment has problems of insufficient versatility, low working module replacement efficiency, and a fixed gripping structure, making it difficult to be suitable for flexible production scenarios.

[0047] In view of this, the present application proposes a flexible intelligent manufacturing device. Through the coordinated cooperation of the standardized fixed interface group set on the frame and the module fixed interface group at the bottom of each working module, the detachable fixing mechanism is used to achieve the rapid positioning and locking of the loading module and the non-loading module, greatly simplifying the mechanical reconstruction process during module replacement, avoiding the cumbersome operations of repeatedly disassembling bolts, re-calibrating the pose, and manual wiring in the traditional solution, and significantly improving the module replacement efficiency and equipment reuse rate. At the same time, the detachable suction component in the loading module can flexibly replace the adapted suction component according to the material form (such as size, material, surface characteristics), breaking through the technical limitation of the single gripping method of traditional modular equipment. Combining the dynamic support of the standardized interface for the position layout of multiple modules, it effectively solves the flexible production bottleneck caused by the fixed gripping structure and insufficient module coordination ability. Finally, while reducing the equipment transformation cost, it provides an integrated solution with high compatibility and high response speed for manufacturing scenarios with multiple varieties, small batches, and rapid process switching.

[0048] Please refer to Figures 1 to 8 , Figure 1 andFigure 2 The flexible intelligent manufacturing device 11 provided by the present application is shown. Specifically, the flexible intelligent manufacturing device 11 may include a frame 11, a working module 12, and a detachable fixing mechanism 13.

[0049] Among them, a standardized fixing interface group 111 is provided on the mounting surface of the frame 11, and the standardized fixing interface group 111 includes a plurality of fixing units distributed along a preset direction.

[0050] The working module 12 includes a loading module 121 and a non-loading module 122. The non-loading module 122 is one of a feeding module 1221, a functional module 1222, and a discharging module 1223. A module fixing interface group 123 is provided at the bottom of each working module 12. Among them, the loading module 121 includes a robot main body 1211 and a suction component 1212, and the suction component 1212 is detachably arranged on the robot main body 1211.

[0051] The detachable fixing mechanism 13 is composed of the cooperation of the standardized fixing interface group 111 and the module fixing interface group 123, and the detachable fixing mechanism 13 is used to fix the working module 12 on the frame 11 in a detachable connection manner.

[0052] Specifically, the frame 11 refers to the basic frame structure that bears all the working modules 12, usually made of high-strength metal (such as aluminum alloy or steel), and one or more mounting surfaces are provided on its top for fixing the working modules 12. Power supply lines, gas pipelines, and communication buses can be integrated inside the frame 11 to provide energy and signal transmission channels for the working modules 12.

[0053] The standardized fixing interface group 111 refers to the set of fixing units distributed regularly on the mounting surface of the frame 11, and is used to provide a unified connection reference for the working modules 12. Its core function is to ensure that all working modules 12 can be connected to the frame 11 in the same way through standardized design (such as unified spacing, size, and shape). For example, the standardized fixing interface group 111 can be an array of threaded holes, specifically the threaded holes 1111 distributed in a grid pattern, serving as the fixing reference for mechanical locking. The standardized fixing interface group 111 can also be evenly distributed electromagnet units, serving as the adsorption reference for non-contact locking. In addition, the standardized fixing interface group 111 can also be other fixing structures, such as a pneumatic clamping type fixing structure, etc.

[0054] The working module 12 refers to an independent unit that performs specific functions, including a loading module 121 and a non-loading module 122. The non-loading module 122 can be one of a feeding module 1221, a functional module 1222, and a discharging module 1223. Specifically, the loading module 121 can be used for material transfer, the feeding module 1221 can be used for material supply, the functional module 1222 can be used for processing or treating materials, and the discharging module 1223 can be used for finished product output. At the bottom of each working module 12, there is a module fixing interface group 123 for matching with the standardized fixing interface group 111 of the frame 11.

[0055] It can be understood that in the embodiment of the present application, a flexible intelligent manufacturing device 1 may only include two working modules 12, and one of the working modules 12 is the loading module 121, and the other working module 12 is a non-loading module 122, that is, any one of the feeding module 1221, the functional module 1222, and the discharging module 1223.

[0056] It should be understood that Figure 1 and Figure 2 Although multiple non-loading modules 122 appear on the frame 11 in Figure 1 such as the feeding module 1221, the functional module 1222, and the discharging module 1223 appear on the frame 11 in

[0057] it does not mean that multiple non-loading modules 122 will be set on the frame 11 in the embodiment of the present application. It only shows various non-loading modules 122 on the frame 11 for understanding the positions, shapes and other characteristics of each non-loading module 122.

[0057] Specifically, the loading module 121 may include a robot body 1211 and a detachable suction component 1212. The robot body 1211 can be a six-axis industrial robot, and its base can be installed on the frame 11 through the module fixing interface group 123. The suction component 1212 can be connected to the robot end flange through a quick-change interface and can be replaced with a vacuum chuck, an electromagnetic fixture, a mechanical gripper, etc. according to the material type.

[0058] The module fixing interface group 123 refers to the connection structure at the bottom of the working module 12, and its design is completely matched with the standardized fixing interface group 111 of the frame 11. For example: if the frame 11 is an array of threaded holes, the bottom of the module is a corresponding through-hole group; if the frame 11 is an electromagnetic adsorption point, the bottom of the module is a magnetic conductive plate. Its core function is to achieve the quick alignment and fixation of the module and the frame 11. It should be noted that the adaptable interface groups of all working modules 12 are strictly unified in terms of size, spacing and connection form, so as to ensure that the same type of modules can be directly interchanged across types. For example, it can realize the replacement of the flexible vibration feeding module 1221 with the magazine feeding module 1221, or the replacement of the flexible vibration feeding module 1221 with the tray module.

[0059] The detachable fixing mechanism 13 is a connection system jointly composed of a standardized fixing interface group 111 and a module fixing interface group 123, and realizes the detachable fixing of the working module 12 through physical actions (such as mechanical pressing force, electromagnetic adsorption force). Detachable fixing refers to a connection form that can be separated without damaging the structure (such as bolt connection, electromagnetic adsorption, pneumatic clamping, etc.), and its core feature is to allow the rapid replacement of the working module 12.

[0060] Specifically, if the detachable fixing mechanism 13 belongs to a bolt connection type fixing structure and is applicable to heavy-duty processing environments (such as stamping, bending), scenarios requiring high anti-vibration performance and rigid fixing, etc., the mounting surface of the frame 11 can be an array of threaded holes, and the bottom of the working module 12 corresponds to a through-hole group, and the detachable fixing mechanism 13 is used in conjunction with bolts. If the detachable fixing mechanism 13 belongs to an electromagnetic adsorption type fixing structure and is applicable to clean rooms or high-frequency changeover production lines (such as electronic assembly), scenarios requiring non-contact rapid operation, etc., the mounting surface of the frame 11 can be an array of electromagnetic adsorption units, and the bottom of the working module 12 corresponds to a magnetic conductive plate.

[0061] In this application, all module fixing interface groups 123 and standardized fixing interface groups 111 have the same mating dimensions and connection forms. Specifically, it means that the module fixing interface groups 123 of all working modules 12 and the standardized fixing interface groups 111 of the frame 11 are exactly the same in terms of dimensions (such as hole diameter, pitch), shape (such as circular, square), and connection method (such as screw thread engagement, magnetic attraction), which is the core technical basis for realizing module interchangeability.

[0062] In some usage scenarios, such as in the flexible assembly line of 3C electronic products, a user wants to replace the mobile phone motherboard testing module (a functional module 1222) with a camera module assembly module (another functional module 1222). In the prior art, the mobile phone motherboard testing module may be fixed to the frame 11 by welding. When replacing it, the original mobile phone motherboard testing module needs to be cut, and the camera module assembly module needs to be welded to the frame 11, which may take several hours, that is, the assembly line needs to be shut down for several hours. In this application, the detachable fixing mechanism 13 can be an electromagnetic adsorption type. Therefore, when replacing the mobile phone motherboard testing module with the camera module assembly module, the corresponding electromagnet can be powered off, so that the frame 11 loses the adsorption force on the mobile phone motherboard testing module. At this time, the mobile phone motherboard testing module can be removed, and then the camera module assembly module can be replaced to the corresponding position. Then, the corresponding electromagnet is powered on, so that the frame 11 restores the adsorption force on the replaced welding module, and the camera module assembly module is fixed, completing the replacement of the camera module assembly module. In addition, when the mobile phone motherboard testing module is replaced with the camera module assembly module, since the materials corresponding to these two modules are different, the prior art also needs to synchronously replace the feeding module 121 so that the replaced feeding module 121 can smoothly grasp the materials corresponding to the camera module assembly module. This process also requires the whole non-detachable feeding module 121 to be removed and a new feeding module 121 to be replaced, resulting in a further increase in the downtime of the assembly line. In this application, the suction component 1212 corresponding to the materials processed by the mobile phone motherboard testing module can be easily removed from the detachable structure of the robot body 1211, and a suitable suction component 1212 can be installed on the detachable structure of the robot body 1211 to grasp the materials corresponding to the camera module assembly module. Obviously, compared with the prior art, the embodiment of this application can quickly replace the working module 12 and the suction component 1212 without damaging the frame 11, the working module 12, etc., greatly improving the flexibility level of the equipment.

[0063] The flexible intelligent manufacturing device 1 provided by the technical solution of this application, through the cooperation of the standardized fixed interface group 111 provided on the frame 11 and the module fixed interface group 123 at the bottom of each working module 12, uses the detachable fixing mechanism 13 to achieve the rapid positioning and locking of the loading module 121 and the non-loading module 122, greatly simplifying the mechanical reconstruction process during module replacement, avoiding the cumbersome operations of repeatedly disassembling bolts, re-calibrating the pose, and manual wiring in the traditional solution, and significantly improving the module replacement efficiency and equipment reuse rate. At the same time, the detachable suction component 1212 in the loading module 121 can flexibly replace the adapted suction component 1212 according to the material form (such as size, material, surface characteristics), breaking through the technical limitation of the single grasping method of traditional modular equipment. Combined with the dynamic support of the standardized interface for the position layout of multiple modules, it effectively solves the flexible production bottleneck caused by the fixed grasping structure and insufficient module cooperation ability. Finally, while reducing the equipment transformation cost, it provides an integrated solution with high compatibility and high response speed for the manufacturing scenarios of multi-variety, small-batch, and rapid process switching.

[0064] As Figure 3 shown, in some alternative embodiments, the standardized fixed interface group 111 includes a threaded hole array, the module fixed interface group 123 includes a through-hole group, the detachable fixing mechanism 13 further includes a bolt passing through the through-hole 1231 and screwed with the threaded hole 1111, and the bolt undertakes both the module positioning and locking functions. Among them, the threaded holes 1111 in the threaded hole array are evenly distributed along the first direction and the second direction perpendicular to each other at a first preset pitch to form a grid-like positioning reference. The through-hole group includes a plurality of through-holes 1231, and the pitch between any two adjacent through-holes 1231 is a second preset pitch, and the second preset pitch is an integer multiple of the first preset pitch.

[0065] In the embodiment of the present application, the standardized fixed interface group 111 is an array of threaded holes on the mounting surface of the rack 11. This array is evenly distributed along the mutually perpendicular X-axis and Y-axis directions at a preset pitch, forming a grid-shaped fixing reference that covers the entire mounting surface. The module fixed interface group 123 at the bottom of the working module 12 is a through-hole group. The diameter of the through-hole 1231 is slightly larger than the inner diameter of the threaded hole 1111. For example, assuming the threaded hole 1111 is an M8 threaded hole 1111, then the M8 threaded hole 1111 corresponds to a Φ8.5mm through-hole 1231, and the tolerance range is ±0.1mm. The position of the through-hole group is strictly consistent with the grid pitch of the threaded hole array, ensuring that at least four through-holes 1231 can be aligned with the corresponding threaded holes 1111 when the module is at any position on the mounting surface. The inner wall of the through-hole 1231 needs to be deburred and chamfered at the edge (such as C0.5) to facilitate the smooth passing of the bolt. In addition, the detachable fixing mechanism 13 can use stainless steel bolts (such as A2-70 grade). The bolts can be used in combination with spring washers and flat washers. The spring washer is used to prevent loosening, and the flat washer is used to disperse the pressing force and avoid deformation of the surface of the module or the rack 11. At this time, the bolt can perform the dual functions of rough positioning and fine locking. The rough positioning function means that the dimensions of the through-hole 1231 and the threaded hole 1111 match (ensuring automatic alignment when the module is initially placed, and the position deviation does not exceed ±0.2mm). The fine locking function means that after the bolt is tightened to the preset torque, the axial pressing force generated by the bolt firmly fixes the module on the rack 11, and the anti-vibration ability reaches 10g acceleration (meeting the GB / T 2423.10 standard).

[0066] Specifically, the threaded hole array in the standardized fixed interface group 111 is evenly distributed along the mutually perpendicular first direction (such as the X-axis) and the second direction (such as the Y-axis) at a first preset pitch, forming a grid-shaped positioning reference that covers the mounting surface of the rack 11. Exemplarily, assuming the first preset pitch is 50mm, that is, the center spacing of adjacent threaded holes 1111 in the X-axis and Y-axis directions is 50mm, forming a standard grid of 50mm×50mm. The threaded hole 1111 adopts the M8 specification, with a depth of 15mm and a thread precision grade of 6H. This grid-shaped design can ensure that any position on the mounting surface of the rack 11 can be used as a fixed reference point for the module. And the grid layout of the threaded hole array can be formed in one step by a CNC machining center, and the position accuracy error is less than ±0.05mm. The surface of the threaded hole 1111 is galvanized to improve corrosion resistance.

[0067] In the through-hole group at the bottom of the working module 12, the distance between any two adjacent through-holes 1231 is the second preset distance, and the second preset distance is an integer multiple of the first preset distance. Exemplarily, when the first preset distance is 50 mm, the second preset distance can be set to 200 mm (i.e., 4 times the distance) or 400 mm (i.e., 8 times the distance), etc. By setting the distance between the through-holes 1231 to be an integer multiple of the distance between the threaded holes 1111, it is ensured that no matter how the module moves in the grid, the through-hole group at its bottom can be at least completely aligned with a set of threaded holes 1111. For example, when the length of the module is 1000 mm, two through-holes 1231 are arranged in the X-axis direction at the bottom through-hole group of the module, and the distance is 800 mm (16 × 50 mm). Then, every time the module moves 50 mm along the X-axis on the rack 11, the through-hole 1231 can be aligned with the next set of threaded holes 1111. It can be understood that generally, there are 4 through-holes 1231 in the through-hole group at the bottom of the working module 12, 2 through-holes 1231 in the X-axis direction, and 2 through-holes 1231 in the Y-axis direction. The distance between the two through-holes 1231 in the X-axis direction is the second preset distance, and the distance between the two through-holes 1231 in the Y-axis direction is the second preset distance. However, it should be noted that the second preset distance in the X-axis direction and the second preset distance in the Y-axis direction can be the same or different. For example, the second preset distance in the X-axis direction is 4 times the first preset distance, and the second preset distance in the Y-axis direction is 3 times the first preset distance.

[0068] In some usage scenarios, such as in the layout optimization of an automotive parts welding production line, the traditional welding module and the corresponding working module 12 are fixed at specific positions on the frame 11. When a large number of workpieces need to be processed, it is impossible to quickly add welding modules. Instead, the structure of the frame 11 has to be modified during downtime. Since welding modules need to be added, the positions of other relevant working modules 12 (such as the feeding module 1221, the loading module 121, and the unloading module 1223) also need to be adjusted synchronously. In the prior art, the feeding module 1221, the loading module 121, and the unloading module 1223 may be fixed to the frame 11 by welding. If adjustment is needed, these working modules 12 have to be cut off and welded again. If these working modules 12 are fixed to the frame 11 by bolts, the positions of these working modules 12 after adjustment need to be determined, and holes have to be drilled again at the corresponding positions. The downtime for modification may be as long as 8 hours or even longer. In the embodiment of the present application, according to the fixed positions of the adjusted working modules 12, an electric tool can be used to loosen the fixing bolts of each working module 12, and the position of each working module 12 can be moved to the corresponding adjusted position (since the distance between the through holes 1231 in the embodiment of the present application is set to an integer multiple of the distance between the threaded holes 1111, no matter how the working module 12 moves in the grid, at least one group of through holes at the bottom of the working module 12 can be completely aligned with a group of threaded holes 1111). Then, by tightening the bolts, the working module 12 can be fixed without re-welding or drilling holes in the frame 11. The downtime for modification in the embodiment of the present application can be shortened to within half an hour, significantly reducing the production line layout adjustment time, and can also flexibly expand the processing range without modifying the structure of the frame 11.

[0069] In the embodiment of the present application, through the integer multiple relationship between the grid-shaped threaded hole array and the distance between the through hole groups, it supports the quick alignment of the module at any grid position on the frame 11, and can achieve flexible positioning throughout the area. And through the spacing matching rule, it can easily achieve multi-module collaborative operation or single-module position migration, and has the ability of rapid expansion. At the same time, it can eliminate the need for customized tooling in the traditional solution, greatly improve the universality of spare parts, and can achieve low-cost upgrade. In fields such as automotive manufacturing and electronic assembly, it effectively solves the problems of fixed positions and time-consuming adjustment of traditional equipment, and provides a standardized and low-cost hardware foundation for high-flexibility production lines.

[0070] In some embodiments, the detachable fixing mechanism 13 further includes a positioning post. The bottom of the positioning post is a fixing bolt, and the positioning post is screwed with the threaded hole 1111 through the fixing bolt. The distance from the center point of the through hole 1231 in the through hole group to the bottom edge of the working module 12, plus the radius of the positioning post, is equal to the first preset distance.

[0071] In the embodiments of the present application, through the cooperation between the radius of the positioning post and the distance from the through hole 1231 in the working module 12 to the bottom edge, when the positioning post is fixed on the threaded hole 1111 through the fixing bolt, when the bottom edge of the working module 12 abuts against the positioning post, the through hole 1231 at the bottom of the working module 12 can communicate with the threaded hole 1111 at the top of the frame 11 to enable the bolt to pass through smoothly to fix the working module 12, thus fully realizing the precise positioning function of the positioning post.

[0072] As Figure 4 shown, in some other embodiments, the detachable fixing mechanism 13 includes a complementary electromagnetic unit and a magnetic conductive unit. The electromagnetic unit is integrated in the standardized fixing interface group 111 of the frame 11 or the module fixing interface group 123 of the working module 12, and includes at least one electromagnet array. The magnetic conductive unit is correspondingly integrated in the module fixing interface group 123 or the standardized fixing interface group 111, and includes a magnetic conductive area matching the electromagnet array. The distribution positions of the magnetic conductive unit and the electromagnetic unit match to fix the working module 12 through the adsorption force when powered on.

[0073] In the embodiments of the present application, the detachable fixing mechanism 13 can be composed of a complementary electromagnetic unit and a magnetic conductive unit. That is, in addition to the detachable fixing mechanism 13 composed of the threaded hole 1111, the through hole 1231 and the bolt mentioned above, the detachable fixing mechanism 13 can also be composed of a complementary electromagnetic unit and a magnetic conductive unit. The electromagnetic unit refers to the component in the detachable fixing mechanism 13 that generates a magnetic field and is composed of an electromagnet array. The electromagnetic unit can be integrated in the standardized fixing interface group 111 of the frame 11 or the module fixing interface group 123 of the working module 12. The electromagnet array is a set of one or more electromagnets arranged according to a preset rule (such as a grid). The magnetic conductive unit refers to the magnetic conductive component in the detachable fixing mechanism 13 that cooperates with the electromagnetic unit and is composed of a magnetic conductive area. The magnetic conductive unit is correspondingly integrated in the module fixing interface group 123 or the standardized fixing interface group 111. The magnetic conductive area is a magnetic conductive structure made of a high magnetic permeability material (such as low-carbon steel, silicon steel) and is used to concentrate magnetic induction lines and enhance the electromagnetic adsorption force. The matching of the distribution positions means that the physical layouts of the magnetic conductive unit and the electromagnetic unit are completely corresponding. For example, if the electromagnetic unit is an electromagnet with a 50mm×50mm grid distribution, the magnetic conductive unit needs to cover at least one complete grid area (such as a 50mm×50mm magnetic conductive plate). The adsorption force fixing means that when powered on, the electromagnetic unit generates a magnetic field, and the magnetic conductive unit is adsorbed due to magnetization to form a non-contact fixing; when powered off, the magnetic field disappears and the adsorption force is released to achieve rapid disassembly.

[0074] In the embodiment of the present application, through the complementary design of the electromagnetic unit and the magnetic conduction unit, non-contact rapid installation and disassembly of the working module 12 are achieved. When the electromagnet array in the electromagnetic unit is powered on, the magnetic conduction area in the magnetic conduction unit is magnetized and generates a strong adsorption force, firmly fixing the module at the target position on the rack 11; after power-off, the adsorption force immediately disappears, and the module can be easily removed. This design not only avoids the metal debris and physical wear that may occur in traditional bolt or clamp operations, but also significantly improves the module replacement efficiency, especially suitable for scenarios sensitive to environmental pollution such as clean rooms and sterile workshops. For example, in semiconductor wafer handling equipment, when replacing the robotic arm module, there is no need to manually disassemble bolts. Only by activating or deactivating the electromagnets through the control system, the model change can be completed within a few minutes, while ensuring that the air quality in the clean room meets the ISO Class 5 standard. In addition, the grid layout of the electromagnetic unit and the precise matching of the magnetic conduction area enable the module's repeat positioning accuracy to reach ±0.05 mm, eliminating the need for manual calibration, significantly shortening the downtime, and reducing the operation complexity. Compared with the traditional solution, this design combines high efficiency, environmental protection, and high precision through the physical mechanism of electromagnetic adsorption, providing reliable technical support for high-flexibility manufacturing scenarios.

[0075] As Figure 4 shown, in some specific embodiments, the standardized fixing interface group 111 is an electromagnetic unit, the electromagnetic unit is an electromagnet array, the rack electromagnets 1112 in the electromagnet array are evenly distributed along the first direction and the second direction perpendicular to each other at a third preset spacing, each of the rack electromagnets 1112 is independently connected to the power supply bus, the module fixing interface group 123 is a magnetic conduction unit, the magnetic conduction unit is a module magnetic conduction plate 1232, and the module magnetic conduction plate 1232 is fixed to the bottom of each working module 12.

[0076] In the embodiment of the present application, the standardized fixing interface group 111 is an electromagnet array, that is, the electromagnet array is arranged on the rack 11 and is evenly distributed on the rack 11 along the first direction and the second direction perpendicular to each other at a third preset spacing. The third preset spacing refers to the interval distance between the center points of adjacent rack electromagnets 1112 in the electromagnet array. This spacing is evenly distributed along the first direction (such as the X-axis) and the second direction (such as the Y-axis) perpendicular to each other, forming a grid layout. The power supply bus is a wire system that provides independent electrical energy for the electromagnet array. Each line corresponds to a rack electromagnet 1112, supporting selective activation or deactivation of the rack electromagnets 1112 in a specific area. At the same time, the module fixing interface group 123 is a module magnetic conduction plate 1232, that is, the module magnetic conduction plate 1232 is fixed to the bottom of the working module 12. The module magnetic conduction plate 1232 is a magnetic conduction metal plate, and its size and position are strictly matched with the distribution of the electromagnet array, used to concentrate magnetic induction lines to enhance the adsorption force.

[0077] In some application scenarios, such as in the chip mounting process of a smartphone motherboard, different chip mounter head modules need to be replaced according to component types (such as resistors, chips). In the traditional solution, the chip mounter head is fixed to the frame 11 by bolts. When replacing, 6 - 8 bolts need to be disassembled, and a positioning pin is used to calibrate the position, which takes a long time to operate. Moreover, the metal debris generated during the disassembly of the bolts may contaminate the circuit board, resulting in an increase in the defective rate of the product. At the same time, frequent mechanical contact causes the positioning accuracy of the module to gradually decline. The implementation mode of this application adopts an electromagnet array and a magnetic conduction plate fixing mechanism. The bottom of the chip mounter head module is fixed with a module magnetic conduction plate 1232. When replacing, the power supply of the frame electromagnet 1112 in the original module area is disconnected through the control system. After the magnetic attraction force disappears, the module can be directly removed. Then, the new module is moved to the target grid area. After power-on, the target grid area instantly generates an adsorption force on the module magnetic conduction plate 1232, thereby fixing the chip mounter head module, and the chip mounter head can be put into production. The changeover time can be shortened from 1 hour to 3 minutes, avoiding long-term stagnation of the production line. And the zero-contact operation can eliminate metal debris and reduce the defective rate of the product. In addition, the repeated positioning accuracy can be improved.

[0078] Through the grid-independent control of the electromagnet array and the precise matching design of the module magnetic conduction plate 1232, the present invention realizes the high-precision non-contact fixation of the working module 12. The standardized size and high magnetic permeability characteristics of the module magnetic conduction plate 1232 ensure the uniformity and stability of the adsorption force. In scenarios such as frequent replacement of the working module 12, optical precision assembly, and medical clean production, the implementation mode of this application solves the problems of poor versatility, low efficiency, and product quality risks caused by traditional mechanical fixation with the advantages of high versatility, pollution-free, high efficiency, and high precision, providing technical support for the high-end manufacturing field.

[0079] In some specific implementation modes, the control unit is electrically connected to the frame electromagnet 1112 through the power supply bus, and is used to independently control the opening and closing states of each frame electromagnet 1112.

[0080] In the implementation mode of this application, the control unit is an electronic control system in the flexible intelligent manufacturing device 11 responsible for managing the on-off states of the frame electromagnets 1112. By analyzing the module position signal or operation instruction, it independently controls the power-on and power-off of each electromagnet. The power supply bus is a power transmission network connecting the control unit and the electromagnet array, and adopts an independent line design to ensure that the on-off of each frame electromagnet 1112 does not interfere with each other. The opening and closing state of the frame electromagnet 1112 refers to the power-on (on) or power-off (off) state of the frame electromagnet 1112. When powered on, the frame electromagnet 1112 generates an adsorption force, and when powered off, the adsorption force disappears.

[0081] The control unit can be integrated inside the rack 11 and may include a main control unit, a signal acquisition unit, a drive unit, etc. The main control unit can be used to receive external instructions (such as module position coordinates or process parameters), and generate an electromagnet control signal after parsing. The signal acquisition unit can be used to monitor the module position and the working state of the electromagnet in real time through sensors (such as position sensors, current sensors). The drive unit can be used to send power-on or power-off instructions to the designated rack electromagnet 1112 according to the control signal. The power supply bus uses multi-channel independent wiring, and each line corresponds to a rack electromagnet 1112, ensuring that the control unit can independently control the on / off of any rack electromagnet 1112. For example, when a certain working module 12 needs to be replaced, the control unit can only turn off the rack electromagnets 1112 in the corresponding covered area of the working module 12, so that the rack 11 no longer generates an adsorption force on the working module 12, and at this time, the working module 12 can be easily replaced. The rack electromagnets 1112 in the remaining areas remain on, and the rack 11 still generates an adsorption force on these areas, ensuring that the working modules 12 corresponding to these areas remain fixed.

[0082] In the embodiment of the present application, through the independent on / off control of the rack electromagnet 1112 by the control unit, precise management of the adsorption force is achieved. When a module needs to be replaced, only the adsorption force in the target area is released, while the other areas remain fixed, which not only greatly improves the versatility of the equipment, but also ensures the continuous operation of the production line.

[0083] In some other embodiments, the standardized fixed interface group 111 is an electromagnetic unit, the electromagnetic unit is a continuous electromagnetic iron plate, the continuous electromagnetic iron plate is arranged on the top of the rack 11, the module fixed interface group 123 is a magnetic conduction unit, the magnetic conduction unit is a module magnetic conduction plate 1232, and the module magnetic conduction plate 1232 is fixed at the bottom of each working module 12.

[0084] In the embodiment of the present application, the electromagnetic unit is also arranged on the rack 11, but the electromagnetic unit is no longer an electromagnet array, but a continuous electromagnetic iron plate. This continuous electromagnetic iron plate is buried on the top of the rack 11, and its area can be equal to or smaller than the area of the top mounting surface of the rack 11. The module fixed interface group 123 is a magnetic conduction unit, and the magnetic conduction unit is a module magnetic conduction plate 1232. When the electromagnetic unit is a continuous electromagnetic iron plate, the entire mounting surface of the rack 11 can provide magnetic adsorption, and the stability is better. In addition, other accessories can be arbitrarily fixed on the mounting surface by magnetic force, improving the expandability of the equipment.

[0085] In some other embodiments, the standardized fixed interface group 111 is a magnetic conduction unit, the magnetic conduction unit is a rack magnetic conduction plate, the rack magnetic conduction plate is fixed on the top of the rack 11, the module fixed interface group 123 is an electromagnetic unit, the electromagnetic unit is a module electromagnet, and at least one of the module electromagnets is arranged at the bottom of each working module 12.

[0086] In the embodiment of the present application, the standardized fixed interface group 111 is a rack magnetic conduction plate, that is, the mounting surface of the rack 11 is a whole or a spliced metal plate. The module fixed interface group 123 is a module electromagnet, that is, mounting holes can be reserved at the bottom of each working module 12, and the module electromagnet is fixed on the module base by means of bolts or adhesives. The module electromagnet is connected to the control unit through the power supply line built in the module and supports independent power-on control. The user can move the working module 12 to the target position on the rack 11, ensure that the module electromagnet at the bottom of the module contacts the rack magnetic conduction plate, and then activate the module electromagnet through the control system to generate magnetic suction to fix the module on the rack magnetic conduction plate. When it is necessary to disassemble the working module 12, the user can select the target module on the control interface, cut off the power supply of the corresponding module electromagnet, and after the magnetic suction disappears, manually or through an auxiliary device (such as a robotic arm) remove the working module 12.

[0087] In the embodiment of the present application, a rack magnetic conduction plate is arranged on the rack 11, and a module electromagnet is arranged at the bottom of the working module 12. The fixing and disassembly of the working module 12 can be realized by controlling the opening and closing of the electromagnet 1253 of the unit, and the operation is simple, which can greatly improve the versatility of the flexible intelligent manufacturing device 11.

[0088] As Figure 5 shown, in some embodiments, the non-loading module 122 is a unloading module 1223, the type of the unloading module 1223 is one or more, and the unloading module 1223 is used for transferring materials.

[0089] In the embodiment of the present application, the unloading module 1223 is a specific type of the non-loading module 122 and is used for transferring materials to other places. A module fixed interface group 123 matching the standardized fixed interface group 111 of the rack 11 is arranged at the bottom of the unloading module 1223. Therefore, the unloading module 1223 can be fixed on the rack 11 through the module fixed interface group 123 of itself and the standardized fixed interface group 111 on the rack 11 in a detachable connection manner to realize flexible production and manufacturing.

[0090] It should be understood that in some usage scenarios of this application, in a flexible intelligent manufacturing production line, there are often multiple devices, and different devices perform different work tasks. In some of these devices (i.e., the flexible intelligent manufacturing device 1 of this application), the work task may be material transfer. Therefore, the work module 12 included in the flexible intelligent manufacturing device 1 can be a loading module 121 and an unloading module 1223. The loading module 121 and the unloading module 1223 are both detachably arranged on the rack 11, and the specific device types and installation positions of the loading module 121 and the unloading module 1223 can be changed at any time according to different production requirements. The specific work process can be: the loading module 121 transfers the materials conveyed by the previous device of the flexible intelligent manufacturing device 1 where it is located to the unloading module 1223 in this flexible intelligent manufacturing device 1. Through this unloading module 1223, the materials sent by the loading module 121 are conveyed to the next device, or the materials are conveyed to the material storage module, etc.

[0091] In the implementation manner of this application, by designing the unloading module 1223 into various detachable and replaceable types and combining with the standardized fixed interface group 111 to achieve rapid positioning and installation, the flexible intelligent manufacturing device 1 can flexibly adapt to the interface differences of upstream and downstream devices and the changes in the material conveying path. When the production line needs to adjust the material transfer direction (such as changing from conveying to the next device to temporarily storing in the material warehouse), only the corresponding type of unloading module 1223 needs to be replaced and its installation position on the rack 11 needs to be adjusted, so as to seamlessly connect different production links, significantly reduce the time-consuming of production line transformation caused by device interface mismatch or material path change, and effectively improve the material transfer efficiency and system versatility in the multi-device collaboration scenario.

[0092] In some specific implementation manners, the unloading module 1223 includes a first unloading module 1223 and a second unloading module 1223. The first unloading module 1223 and the second unloading module 1223 are different types of unloading modules 1223. The loading module 121 is arranged on the rack 11 between the first unloading module 1223 and the second unloading module 1223. The first unloading module 1223 includes a large fixture tray, and the second unloading module 1223 includes a small fixture tray.

[0093] In the embodiment of the present application, the first blanking module 1223 includes a large jig tray, and the surface size of the tray can be designed as 800mm×600mm (typical industrial standard size). A weighing sensor can be integrated at the bottom of the large jig tray for real-time monitoring of the blanking weight and feedback to the control unit. The second blanking module 1223 includes a small jig tray, and the surface size of the tray can be designed as 300mm×300mm, and there are vacuum suction holes arranged in a matrix in the central area. Each suction hole can be controlled to be opened or closed by an independent solenoid valve, which is suitable for the fixed-point storage of precision components (such as chips and micro bearings).

[0094] It can be understood that in some usage scenarios of the present application, such as in a consumer electronics assembly production line, it may be necessary to alternately process mobile phone casings (large size) and camera modules (precision small parts). Traditional solutions usually require two independent blanking devices to be configured for different material types respectively, resulting in increased equipment floor space and low collaborative efficiency. In the embodiment of the present application, by installing the first blanking module 1223 and the second blanking module 1223 simultaneously and using the loading module 121 in the middle position to dynamically adjust the grasping strategy, seamless switching between dual modes can be achieved on the same rack 11. For example: When producing mobile phone casings in the morning shift, through the first blanking module 1223, the loading robot uses a large-area vacuum chuck to quickly transfer materials. When producing camera modules in the evening shift, replace the suction component 1212 of the loading robot, such as switching to a micro electromagnetic fixture. Through the second blanking module 1223, the loading robot can quickly transfer the camera module.

[0095] In other usage scenarios, when the first blanking module 1223 and the second blanking module 1223 are installed on the rack 11 at the same time, the materials in the first blanking module 1223 can also be transferred to the second blanking module 1223 through the loading module 121, or the materials in the second blanking module 1223 can be transferred to the first blanking module 1223 through the loading module 121. For example, in some processing scenarios, the small jig tray can be directly sent to some functional modules 1222 for processing. At this time, the flexible intelligent manufacturing device 1 can control the loading module 121 to transfer the materials in the first blanking module 1223 to the small jig tray in the second blanking module 1223, and then control the second blanking module 1223 to transfer the small jig tray and the materials therein to the next flexible intelligent manufacturing device 1 for processing.

[0096] It can be seen that in the implementation mode of the present application, through the modular separation of the large / small fixture trays and the robot-centered layout strategy, a single system can be compatible with multiple operation modes, breaking through the problem of repeated equipment investment caused by the fixed function of the blanking station in the traditional solution, greatly improving the flexible production capacity, and meeting the diverse needs of users. At the same time, based on the rapid tool change ability of the grid-based standardized interface, the blanking mode switching time is significantly shortened, and the equipment utilization rate and the production line rhythm adaptability of multi-variety mixed production are significantly improved.

[0097] As Figure 1 and Figure 6 shown, in some other implementation modes, the loading module 121 further includes a first vision component 1213. The first vision component 1213 includes a first fixing frame 12131, a first vision camera 12132, and a first light source 12133. The first fixing frame 12131 is connected to the robot main body 1211, and both the first vision camera 12132 and the first light source 12133 are fixedly installed on the first fixing frame 12131.

[0098] In the implementation mode of the present application, the first fixing frame 12131 provides a stable installation position for the first vision component 1213 and the first light source 12133, ensuring that they can remain fixed during the movement of the loading module 121, and avoiding unstable image acquisition and lighting caused by vibration or movement. The first vision component 1213 is used to capture the image information of the material in real time. The first light source 12133 provides a stable and uniform light source for the first vision component 1213, ensuring that the camera can clearly capture the images of the material and the fixture. In the implementation mode of the present application, the first vision component 1213 is arranged on the loading module 121, improving the recognition compatibility of materials with multiple materials and sizes.

[0099] As Figure 7 shown, in some specific implementation modes, the non-loading module 122 is a feeding module 1221. The feeding module 1221 is used to receive and preliminarily sort the materials to realize the orderly transportation of the materials. The flexible intelligent manufacturing device 1 further includes a control unit and a storage component. The bottom of the storage component is provided with a module fixing interface group 123. The control unit is electrically connected to the loading module 121. The control unit is configured to: perform image recognition according to the images collected by the first vision component 1213 in the loading module 121, and control the loading module 121 to grab the corresponding materials from the feeding module 1221 to the storage component according to the image recognition result.

[0100] In the embodiment of the present application, the feeding module 1221 is a specific type of the non-loading module 122, which is used to provide the materials transferred from other devices on the production line to this device (i.e., the flexible intelligent manufacturing device 1 of the present application). A module fixing interface group 123 matching the standardized fixing interface group 111 of the frame 11 is provided at the bottom thereof. Therefore, the feeding module 1221 can be fixed on the frame 11 in a detachable connection manner through its own module fixing interface group 123 and the standardized fixing interface group 111 on the frame 11, so as to realize flexible feeding. The control unit is electrically connected to the loading module 121 and can be arranged inside the frame 11. The storage component can have multiple storage positions, and each storage position can be used to store one kind of material, that is, the storage component can store different types of materials transferred after the classification operation of the loading module 121.

[0101] Specifically, the storage component can include multiple classification chutes and classification bins. The outlet end of each classification chute is respectively abutted against an inlet of the classification bin. The control unit is configured to: perform image recognition according to the image collected by the first vision component 1213 in the loading module 121, and control the loading module 121 to grab the corresponding material from the feeding module 1221 to the inlet end of the corresponding classification chute according to the image recognition result.

[0102] It should be understood that in some usage scenarios of the present application, the flexible intelligent manufacturing device 1 needs to classify and store the mixed materials transferred from the previous device on the production line. The loading module 121 and the feeding module 1221 are both detachably arranged on the frame 11, and the specific device types and installation positions of the loading module 121 and the feeding module 1221 can be changed at any time according to different classification requirements. The specific working process can be: the feeding module 1221 receives the materials conveyed by the previous device of the flexible intelligent manufacturing device 1 where it is located, the loading module 121 grabs and uses the first vision component 1213 to identify the materials in the feeding module 1221, and transfers the materials to the inlet end of the corresponding classification chute in the storage component according to the classification result output by the recognition control unit. The classified components slide along the classification chute into the corresponding classification bins to realize material classification.

[0103] In the embodiment of the present application, by detachably arranging the feeding module 1221, the loading module 121 and the storage component on the frame 11, the types, quantities, positions, etc. of the feeding module 1221, the loading module 121 and the storage component can be dynamically adjusted according to user requirements, greatly improving the flexible processing ability of the device for materials.

[0104] Such as Figure 8As shown, in some embodiments, the non-feeding module 122 is a functional module 1222, the functional module 1222 is a packaging module, the feeding module 121 is used to transfer the material to be packaged to the packaging module, and the packaging module is used to package the material to be packaged.

[0105] In the embodiments of the present application, the functional module 1222 is a specific type of the non-feeding module 122, which is used to process the material transferred by the feeding module 121. It is provided with a module fixing interface group 123 at the bottom that matches the standardized fixing interface group 111 of the frame 11. Therefore, the functional module 1222 can be fixed on the frame 11 in a detachable connection manner through its own module fixing interface group 123 and the standardized fixing interface group 111 on the frame 11, so as to realize flexible material processing. The functional module 1222 can be a packaging module. Specifically, the packaging module can include a replaceable packaging mechanism, a module main body, and a packaging material supply component. The replaceable packaging mechanism is connected to the module main body through a magnetic quick-change interface. The replaceable packaging mechanism can include a heat sealer, a vacuum packaging head, or a shrink film bagging machine.

[0106] It should be understood that in some usage scenarios of the present application, in a flexible intelligent manufacturing production line, the last device is often used to pack the final material. In traditional devices, the type and installation position of the packing module are usually fixed and it is difficult to change according to the user's needs at any time. In the embodiments of the present application, the installation module can be installed at any position on the frame 11 through the cooperation between the module fixing interface group 123 at its bottom and the standardized fixing interface group 111 on the frame 11, which can meet the diverse needs of users. And different replaceable packaging mechanisms can also be replaced through the magnetic quick-change interface to meet the packaging needs of different materials, further improving the flexible processing ability of the device.

[0107] In some specific embodiments, the suction component 1212 includes a mounting frame, a sliding frame, a moving slide rail, a rotating motor, an elastic member, a first suction head member, and a second suction head member. The mounting frame is connected to the robot main body 1211. The moving slide rail is fixedly installed on the mounting frame. The sliding frame is slidably installed on the mounting frame through the moving slide rail. The elastic member is abutted between the mounting frame and the sliding frame. The rotating motor is installed on the sliding frame. The first suction head member is connected to the rotating motor. The second suction head member is connected to the robot main body 1211.

[0108] In the embodiment of the present application, the mounting bracket is a basic structural component of the suction assembly 1212, and is used to connect and support the entire suction assembly 1212. It is connected to the robot body 1211 to ensure that the suction assembly 1212 can move along with the movement of the robot body 1211. The function of the mounting bracket is to provide a mounting platform and a positioning reference for other components, ensuring the structural stability and accuracy of the entire assembly. The sliding bracket is mounted on the mounting bracket through a moving slide rail and can slide along the direction of the slide rail on the mounting bracket. Its main function is to provide a movable platform for adjusting the position of the first suction head member. The function of the moving slide rail is to provide a stable sliding path and reduce the friction and error during the movement of the first suction head member. The rotating motor is mounted on the sliding bracket and is used to drive the rotation of the first suction head member. Its main function is to adjust the grasping angle of the first suction head member to adapt to the shapes and postures of different materials. At the same time, before the material is placed into the fixture of the functional module 1222, the placement angle of the material is adjusted by the rotating motor to straighten the material. Through the precise control of the rotating motor, precise grasping and placement of the material can be achieved, improving the flexibility and adaptability of the equipment. In this embodiment, the elastic member is a compression spring, and the elastic member abuts between the mounting bracket and the sliding bracket. Its main function is to provide a certain elastic buffer. During the movement of the sliding bracket, the elastic member can absorb part of the impact force, reduce the influence of mechanical vibration on the equipment, and at the same time can also provide a certain restoring force to ensure that the sliding bracket can quickly and accurately return to the initial position. The presence of the elastic member helps to improve the stability and service life of the equipment. The first suction head member is connected to the rotating motor and is the main component for grasping materials. Its function is to suck out the target material from the feeding module 1221 through an adsorption force (such as vacuum adsorption). The second suction head member is connected to the robot body 1211 and is used to grasp the fixture.

[0109] In some embodiments, the suction assembly 1212 is one of a vacuum adsorption assembly, an electromagnetic adsorption assembly, and a mechanical clamping assembly.

[0110] In the embodiment of the present application, the suction assembly 1212 is used to pick up materials under the action of forces such as suction force, magnetic force, and frictional force, and is not limited to obtaining materials through suction force. Specifically, the suction assembly 1212 can be one of a vacuum adsorption assembly, an electromagnetic adsorption assembly, and a mechanical clamping assembly. The type of the suction assembly 1212 can be replaced according to different user requirements to better meet the user's needs.

[0111] Specifically, the vacuum adsorption assembly may include a vacuum chuck, a vacuum generator, and a leak detection module. Among them, the vacuum chuck can be made of silicone material, and a micro-textured anti-slip structure (such as a honeycomb groove) is provided on the surface to adapt to smooth surface materials (such as glass panels, plastic casings). The vacuum generator can integrate a Venturi tube and a pressure sensor to dynamically adjust the adsorption negative pressure. The leak detection module is used to monitor the air flow change in real time through a flow meter, and trigger an alarm and switch to a backup chuck when the leakage amount is greater than a preset value.

[0112] The electromagnetic adsorption assembly may include an electromagnet array, a constant current controller, and a magnetic isolation plate. Among them, the electromagnet array can be composed of 16 independently controllable neodymium iron boron magnetic units, supporting local magnetic pole activation (such as only activating the edge magnetic poles to grasp a ring-shaped workpiece). The constant current controller is used to dynamically adjust the current according to the magnetic permeability of the material to change the magnetic force range. The magnetic isolation plate is arranged at the bottom of the electromagnet to prevent magnetic force from interfering with surrounding devices.

[0113] The mechanical clamping assembly may include an adaptive gripper, a shape memory alloy drive mechanism, and an anti-collision sensor. Among them, the adaptive gripper can include 3 independently driven flexible knuckles, and the surface of the flexible knuckles is coated with pressure-sensitive conductive rubber to real-time feedback the clamping force. The shape memory alloy drive mechanism is used to achieve stepless adjustment of the opening and closing angle of the adaptive gripper through temperature control. The anti-collision sensor is integrated inside the adaptive gripper to detect the material offset and trigger position compensation.

[0114] The above are only optional embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural transformation made under the inventive concept of the present application by using the content of the specification and drawings of the present application, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A flexible intelligent manufacturing device, characterized in that, Including: A frame, on the mounting surface of which there is a standardized fixing interface group, and the standardized fixing interface group includes a plurality of fixing units distributed along a preset direction; Working modules, including a loading module and non-loading modules, where the non-loading module is one of a feeding module, a functional module, and a discharging module. At the bottom of each working module, there is a module fixing interface group. Among them, the loading module includes a robot body and a suction assembly, and the suction assembly is detachably arranged on the robot body; A detachable fixing mechanism, which is formed by the cooperation of the standardized fixing interface group and the module fixing interface group, and is used to fix the working module on the frame in a detachable connection manner.

2. The flexible intelligent manufacturing device according to claim 1, characterized in that The standardized fixing interface group includes an array of threaded holes, the module fixing interface group includes a group of through holes, and the detachable fixing mechanism further includes bolts that pass through the through holes and are screwed with the threaded holes. The bolts perform both the functions of module positioning and locking. Among them, the threaded holes in the array of threaded holes are evenly distributed along two mutually perpendicular first directions and second directions at a first preset pitch to form a grid-like positioning reference. The group of through holes includes a plurality of through holes, and the distance between any two adjacent through holes is a second preset pitch, and the second preset pitch is an integer multiple of the first preset pitch.

3. The flexible intelligent manufacturing device according to claim 1, characterized in that The detachable fixing mechanism includes a complementary electromagnetic unit and a magnetic conducting unit. The electromagnetic unit is integrated in the standardized fixing interface group or the module fixing interface group and includes at least one electromagnet array. The magnetic conducting unit is correspondingly integrated in the module fixing interface group or the standardized fixing interface group and includes a magnetic conducting area matching the electromagnet array. The distribution positions of the magnetic conducting unit and the electromagnetic unit match to fix the working module by an adsorption force when powered on.

4. The flexible intelligent manufacturing device according to claim 1, wherein The non-loading module is a discharging module, and the type of the discharging module is one or more, and the discharging module is used to transfer materials.

5. The flexible intelligent manufacturing device according to claim 4, characterized in that, The discharging module includes a first discharging module and a second discharging module. The first discharging module and the second discharging module are different types of discharging modules. The loading module is arranged on the frame between the first discharging module and the second discharging module. The first discharging module includes a large jig tray, and the second discharging module includes a small jig tray.

6. The flexible intelligent manufacturing device according to claim 1, wherein, The loading module further includes a first vision component, and the first vision component includes a first fixing frame, a first vision camera, and a first light source. The first fixing frame is connected to the robot body, and the first vision camera and the first light source are both fixedly installed on the first fixing frame.

7. The flexible intelligent manufacturing device according to claim 6, wherein The non-loading module is a feeding module, and the feeding module is used to receive and preliminarily sort materials to achieve the orderly conveyance of the materials. The flexible intelligent manufacturing device further includes a control unit and a storage component. A module fixing interface group is provided at the bottom of the storage component. The control unit is electrically connected to the loading module, and the control unit is configured to: perform image recognition based on the image collected by the first vision component in the loading module, and control the loading module to grab corresponding materials from the feeding module to the storage component according to the image recognition result.

8. The flexible intelligent manufacturing device according to claim 6, characterized in that, The non-loading module is a functional module, and the functional module is a packaging module. The loading module is used to transfer the materials to be packaged to the packaging module, and the packaging module is used to package the materials to be packaged.

9. The flexible intelligent manufacturing device according to claim 1, wherein, The suction component includes a mounting frame, a sliding frame, a moving slide rail, a rotating motor, an elastic member, a first suction head member, and a second suction head member. The mounting frame is connected to the robot body. The moving slide rail is fixedly installed on the mounting frame. The sliding frame is slidably installed on the mounting frame through the moving slide rail. The elastic member abuts between the mounting frame and the sliding frame. The rotating motor is installed on the sliding frame. The first suction head member is connected to the rotating motor, and the second suction head member is connected to the robot body.

10. The flexible intelligent manufacturing device according to claim 1, characterized in that, The suction component is one of a vacuum suction component, an electromagnetic suction component, and a mechanical clamping component.

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