Flexible intelligent manufacturing device

Abstract

The application discloses a flexible intelligent manufacturing device, which comprises a rack, a working module and a detachable fixing mechanism for fixing the working module on the rack through a detachable connection mode. The application significantly improves the module replacement efficiency and equipment reuse rate. Meanwhile, the detachable suction assembly in the feeding module can be replaced with a suitable suction assembly according to the material form (such as size, material and surface characteristics), breaking through the technical limitation of single grabbing mode of traditional modular equipment, and dynamically supporting the position layout of multiple modules in combination with a standardized interface, effectively solving the flexible production bottleneck caused by fixed grabbing structure and insufficient module cooperation capability, and finally providing an integrated solution with high compatibility and high response speed for the manufacturing scene of multiple varieties, small batches and process rapid switching while reducing the equipment transformation cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation equipment, in particular to a flexible intelligent manufacturing device. BACKGROUND

[0002] In the field of industrial manufacturing, non-standard equipment is usually developed and customized according to specific process requirements, which can meet the efficient operation of a single scene, but the fixed functional modules and interface design lead to low equipment reuse rate and high modification cost.

[0003] Therefore, modular production equipment gradually emerges, which realizes limited production line adjustment through replaceable partial functional modules (such as dispensing modules, welding modules). However, the existing modular production equipment can replace partial functional modules, but 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, different working modules need to be replaced on the modular production equipment, such as replacing a flexible vibration feeding module with a clip feeding module, or replacing a cutting functional module with a bending functional module, etc., and replacing different working modules often also requires replacing the setting positions of various working modules, so that the replaced various working modules can work normally. At this time, the existing modular production equipment is difficult to replace different feeding modules, loading modules, functional modules and other working modules, and it is also inconvenient to adjust the positions of various working modules. Users often need to disassemble multiple fasteners, rewire and calibrate positions, and need to re-punch, with a downtime of several hours, or even need to directly replace other working equipment to meet production requirements.

[0004] In addition, in order to adapt to different production requirements, after replacing the working modules, different materials may need to be processed, and the grabbing structures suitable for different materials may be different. The existing modular production equipment usually uses fixed grabbing structures to grab materials, which is not suitable for flexible production scenes.

[0005] That is, the existing modular production equipment has the problems of insufficient universality, low working module replacement efficiency, and fixed grabbing structure leading to difficulty in adapting to flexible production scenes. SUMMARY

[0006] The main purpose of the present application is to provide a flexible intelligent manufacturing device, which aims to solve the problems of insufficient universality, low working module replacement efficiency, and fixed grabbing structure leading to difficulty in adapting to flexible production scenes of the existing modular production equipment in the related art.

[0007] To achieve the above-mentioned purpose, in a first aspect, the present application provides a flexible intelligent manufacturing device, comprising:

[0008] A rack, a mounting surface of the rack is provided with a standardized fixing interface group, the standardized fixing interface group comprises a plurality of fixing units distributed along a preset direction;

[0009] The work module comprises a feeding module and a non-feeding module, the non-feeding module being one of a feeding module, a functional module and a discharging module, the bottom of each work module being provided with a module fixing interface group, wherein the feeding module comprises a robot main body and a suction assembly, the suction assembly being detachably arranged on the robot main body;

[0010] The detachable fixing mechanism is formed by cooperation of the standardized fixing interface group and the module fixing interface group, and is used for fixing the work module on the rack in a detachable connection mode.

[0011] Optionally, the standardized fixing interface group comprises a threaded hole array, the module fixing interface group comprises a through hole group, the detachable fixing mechanism further comprises a bolt penetrating through the through hole and being screwed with the threaded hole, the bolt simultaneously assuming the functions of module positioning and locking, wherein the threaded holes in the threaded hole array are uniformly distributed along mutually perpendicular first and second directions at a first preset interval to form a grid positioning reference, the through hole group comprises a plurality of through holes, the interval between any two adjacent through holes being a second preset interval, the second preset interval being an integer multiple of the first preset interval.

[0012] Optionally, the detachable fixing mechanism comprises a complementary electromagnetic unit and a magnetic conduction unit, the electromagnetic unit being integrated in the standardized fixing interface group or the module fixing interface group and comprising at least one electromagnet array, the magnetic conduction unit being correspondingly integrated in the module fixing interface group or the standardized fixing interface group and comprising a magnetic conduction area matched with the electromagnet array, the distribution positions of the magnetic conduction unit and the electromagnetic unit being matched to fix the work module by adsorption force when powered.

[0013] Optionally, the standardized fixing interface group is an electromagnetic unit, the electromagnetic unit is an electromagnet array, rack electromagnets in the electromagnet array are uniformly distributed along mutually perpendicular first and second directions at a third preset interval, each rack electromagnet is independently connected to a power supply bus, the module fixing interface group is a magnetic conduction unit, the magnetic conduction unit is a module magnetic conduction plate, and each work module is fixed with the module magnetic conduction plate at the bottom.

[0014] Optionally, the flexible intelligent manufacturing device further comprises a control unit, the control unit being electrically connected to the rack electromagnets through the power supply bus and being used for independently controlling the on-off state of each rack electromagnet.

[0015] Optionally, the standardized fixed interface group is an electromagnetic unit, the electromagnetic unit is a continuous electromagnet plate, the continuous electromagnet plate is arranged on the top of the rack, and the module fixed interface group is a magnetic conductive unit, the magnetic conductive unit is a module magnetic conductive plate, and the module magnetic conductive plate is fixed to the bottom of each working module.

[0016] Optionally, the detachable fixing mechanism further comprises a positioning column, the positioning column is a magnetic conductor, and the positioning column is used for being detachably fixed to a preset position of the rack under the magnetic attraction of the continuous electromagnet plate, so as to position the working module to the corresponding working area.

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

[0018] Optionally, the non-feeding module is a discharging module, the type of the discharging module is one or more, and the discharging module is used for transferring materials.

[0019] Optionally, the discharging module comprises 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 feeding module is arranged on the rack between the first discharging module and the second discharging module, the first discharging module comprises a large jig tray, and the second discharging module comprises a small jig tray.

[0020] Optionally, the feeding module further comprises a first vision assembly, the first vision assembly comprises a first fixing frame, a first vision camera and a first light source, the first fixing frame is connected with the robot body, and the first vision camera and the first light source are fixedly installed on the first fixing frame.

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

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

[0023] Optionally, the suction assembly comprises 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 with the robot body, the moving slide rail is fixedly installed on the mounting frame, the sliding frame is slidingly 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 with the rotating motor, and the second suction head member is connected with the robot body.

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

[0025] The flexible intelligent manufacturing device provided by the technical scheme of the present application cooperates the standardization fixed interface group arranged on the rack with the module fixed interface group at the bottom of each working module, realizes the quick positioning and locking of the feeding module and the non-feeding module by using the detachable fixing mechanism, greatly simplifies the mechanical reconstruction process during module replacement, avoids the cumbersome operation of repeatedly disassembling bolts, recalibrating poses and manually wiring in the traditional scheme, and significantly improves the module replacement efficiency and equipment reuse rate. At the same time, the detachably arranged suction assembly in the feeding module can flexibly replace and adapt to the suction assembly according to the material form (such as size, material, surface characteristics), breaking through the technical limitation of single grasping mode of the traditional modular equipment, dynamically supporting the position layout of multiple modules in combination with the standardized interface, effectively solving the flexible production bottleneck caused by fixed grasping structure and insufficient module cooperation capability, and finally reducing the equipment modification cost while providing an integrated solution with high compatibility and high response speed for manufacturing scenarios with multiple varieties, small batch and process rapid switching. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical schemes in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings from the structures shown in the drawings without creating any creative labor.

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

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

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

[0030] Figure 4 Figure 2 is a schematic diagram of a standardized fixed interface group of the flexible intelligent manufacturing device of the present application;

[0031] Figure 5 Figure 3 is a schematic diagram of the feeding module and the discharging module of the flexible intelligent manufacturing device of the present application;

[0032] Figure 6 Figure 4 is a schematic diagram of the first vision assembly of the flexible intelligent manufacturing device of the present application;

[0033] Figure 7 Figure 5 is a schematic diagram of the feeding module and the feeding module of the flexible intelligent manufacturing device of the present application;

[0034] Figure 8 Figure 6 is a schematic diagram of the feeding module and the functional module of the flexible intelligent manufacturing device of the present application.

[0035] Explanation of reference signs:

[0036] 1, flexible intelligent manufacturing device; 11, rack; 111, standardized fixed interface group; 1111, threaded hole; 1112, rack electromagnet; 12, working module; 121, feeding module; 1211, robot main body; 1212, suction assembly; 1213, first vision assembly; 12131, first fixing frame; 12132, first vision camera; 12133, first light source; 122, non-feeding module; 1221, feeding module; 1222, functional module; 1223, discharging module; 123, module fixed interface group; 1231, through hole; 1232, module magnet guide plate; 13, detachable fixing mechanism.

[0037] The purposes, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection 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 terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like, indicate directions or positions based on the directions or positions shown in the drawings, and are used only for convenience of description and simplification of description, and do not indicate or imply that the device or component referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the application.

[0041] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel schemes. For example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed by the present application.

[0042] It should be understood that the structure, proportion, size and the like shown in the drawings of the present application are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and do not have technical significance. Any modification of structure, change of proportion relationship or adjustment of size, which does not affect the effect and purpose of the present application, should still fall within the scope of the technical content disclosed by the present application.

[0043] In the field of industrial manufacturing, non-standard equipment is usually developed according to specific process requirements, which can meet the efficient operation of single scene, but the fixed function module and interface design lead to low equipment reuse rate and high modification cost.

[0044] To this end, modular production equipment gradually emerges, such as equipment through replaceable part function modules (such as dispensing module, welding module) to realize limited production line adjustment. However, the existing modular production equipment can replace part function modules, but it is still difficult to quickly replace other working modules of the modular production equipment, such as feeding module, loading module, etc. In many cases, in order to adapt to different production requirements, different working modules need to be replaced on the modular production equipment, such as replacing the flexible vibration feeding module with the clip feeding module, or replacing the cutting function module with the bending function module, etc., and replacing different working modules often also needs to replace the setting positions of various working modules, so that the replaced various working modules can work normally. At this time, the existing modular production equipment is difficult to replace different feeding modules, loading modules, function modules and other working modules, and it is also inconvenient to adjust the positions of the working modules. Users often need to disassemble multiple fasteners, rewire and calibrate positions, and need to re-punch, with a downtime of several hours, or 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, different materials may need to be processed, and the grabbing structure suitable for different materials may be different. The existing modular production equipment usually uses fixed grabbing structure to grab materials, which is not suitable for flexible production scene.

[0046] That is, the existing modular production equipment has the problems of insufficient universality, low working module replacement efficiency, and fixed grabbing structure leading to difficulty in adapting to flexible production scene.

[0047] In view of this, the present application provides a flexible intelligent manufacturing device, which cooperates with the module fixing interface group at the bottom of each working module through the standardized fixing interface group arranged on the rack, and realizes the quick positioning and locking of the loading module and the non-loading module by using the detachable fixing mechanism. The mechanical reconstruction process during module replacement is greatly simplified, the cumbersome operations such as repeatedly disassembling bolts, recalibrating pose and manually wiring in the traditional scheme are avoided, and the module replacement efficiency and equipment reuse rate are significantly improved. At the same time, the detachable suction assembly in the loading module can replace the adaptive suction assembly according to the material form (such as size, material, surface characteristics), breaking through the technical limitation of single grabbing mode of traditional modular equipment, and combining the dynamic support of standardized interface to the position layout of multiple modules, effectively solving the flexible production bottleneck caused by fixed grabbing structure and insufficient module cooperation ability, finally reducing the equipment modification cost, and providing an integrated solution with high compatibility and high response speed for multi-variety, small-batch and process quick switching manufacturing scene.

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

[0049] The mounting surface of the rack 11 is provided with a standardized fixing interface group 111, which includes a plurality of fixing units distributed along a predetermined direction.

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

[0051] The detachable fixing mechanism 13 is formed by the standardized fixing interface group 111 and the module fixing interface group 123, and is used to fix the working module 12 on the rack 11 by a detachable connection mode.

[0052] Specifically, the rack 11 refers to the basic frame structure that carries all the working modules 12, which is usually made of high-strength metal (such as aluminum alloy or steel), and has one or more mounting surfaces on the top for fixing the working modules 12. The internal part of the rack 11 can be integrated with power supply lines, air ducts and communication buses to provide energy and signal transmission channels for the working modules 12.

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

[0054] The working module 12 refers to an independent unit for performing a specific function, including a feeding module 121 and a non-feeding module 122, which can be one of a feeding module 1221, a functional module 1222, and a discharging module 1223. Specifically, the feeding 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 handling of the material, and the discharging module 1223 can be used for finished product output. The bottom of each working module 12 is provided with a module fixing interface group 123 for matching the standardized fixing interface group 111 of the rack 11.

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

[0056] It should be noted that, Figure 1 and Figure 2 Although multiple non-feeding modules 122 are simultaneously present on the rack 11 in Figure 1 the feeding module 1221, the functional module 1222, and the discharging module 1223 are simultaneously present on the rack 11, but it does not mean that multiple non-feeding modules 122 will be simultaneously provided on the rack 11 in the embodiments of the present application. It is only to display various non-feeding modules 122 on the rack 11 in order to understand the position, shape, and other characteristics of each non-feeding module 122.

[0057] Specifically, the feeding module 121 can include a robot body 1211 and a detachable suction assembly 1212. The robot body 1211 can be a six-axis industrial robot, and its base can be installed on the rack 11 through the module fixing interface group 123. The suction assembly 1212 can be connected to the robot end flange through a quick-change interface, and can be replaced by a vacuum suction cup, an electromagnetic clamp, or a mechanical clamp according to the type of the material.

[0058] The module fixing interface group 123 refers to the connection structure at the bottom of the working module 12, which is designed to completely match the standardized fixing interface group 111 of the rack 11. For example, if the rack 11 is a threaded hole array, the bottom of the module is a corresponding hole group; if the rack 11 is an electromagnetic attraction point, the bottom of the module is a magnetic guide plate. Its core function is to realize the quick alignment and fixation of the module and the rack 11. It should be noted that the adaptable interface groups of all working modules 12 are strictly unified in size, spacing, and connection form, so as to ensure that modules of the same type can be directly interchangeable across types, for example, a flexible vibration feeding module 1221 can be replaced by a spring clip feeding module 1221, or a flexible vibration feeding module 1221 can be replaced by a tray module.

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

[0060] Specifically, if the detachable fixing mechanism 13 belongs to a bolt connection type fixing structure, it is suitable for heavy load processing environment (such as stamping, bending), requires high vibration resistance and rigid fixing, etc. scene, then the mounting surface of the rack 11 can be an array of threaded holes, and the bottom of the working module 12 corresponds to a hole group, and the detachable fixing mechanism 13 is matched with a bolt. If the detachable fixing mechanism 13 belongs to an electromagnetic attraction type fixing structure, it is suitable for clean room or high frequency change type production line (such as electronic assembly), requires non-contact type quick operation, etc. scene, then the mounting surface of the rack 11 can be an array of electromagnetic attraction units, and the bottom of the working module 12 corresponds to a magnetic conducting plate.

[0061] In the present application, all module fixing interface groups 123 and standardized fixing interface groups 111 have the same matching size and connection form, specifically, all module fixing interface groups 123 of the working module 12 and the standardized fixing interface group 111 of the rack 11 are completely consistent in size (such as hole diameter, pitch), shape (such as circular, square) and connection mode (such as threaded rotation, magnetic attraction), which is the core technical basis for realizing module exchange.

[0062] In some use scenarios, for example in the flexible assembly line of 3C electronic products, the user wants to replace the mobile phone mainboard test module (a functional module 1222) with the camera module assembly module (another functional module 1222). In the prior art, the mobile phone mainboard test module can be fixed on the rack 11 by welding, and when replacing, the original mobile phone mainboard test module needs to be cut off, and the camera module assembly module is welded to the rack 11, which may take several hours, that is, the assembly line needs to be shut down for several hours. In the present application, the detachable fixing mechanism 13 can be electromagnetic adsorption type, so when replacing the mobile phone mainboard test module with the camera module assembly module, the corresponding electromagnet can be powered off to make the rack 11 lose the adsorption force on the mobile phone mainboard test module. At this time, the mobile phone mainboard test module can be removed, and then the camera module assembly module is replaced to the corresponding position, and then the corresponding electromagnet is powered on to make the rack 11 restore the adsorption force on the replaced welding module, and fix the camera module assembly module, complete the replacement of the camera module assembly module. In addition, after replacing the mobile phone mainboard test module with the camera module assembly module, the existing technology also needs to replace the feeding module 121 simultaneously, so that the replaced feeding module 121 can smoothly grasp the material corresponding to the camera module assembly module. This process also needs to remove the original non-detachable feeding module 121 as a whole, and replace it with a new feeding module 121, which further increases the downtime of the assembly line. In the present application, the material corresponding to the mobile phone mainboard test module can be easily detached from the detachable structure of the robot main body 1211, and the appropriate suction assembly 1212 can be installed on the detachable structure of the robot main body 1211 to grasp the material corresponding to the camera module assembly module. Obviously, compared with the prior art, the present application can quickly replace the working module 12 and the suction assembly 1212, and will not damage the rack 11, the working module 12, etc., greatly improving the flexibility of the equipment.

[0063] The flexible intelligent manufacturing device 1 provided by the technical scheme of the application is cooperated with the module fixing interface group 123 at the bottom of each working module 12 through the standardized fixing interface group 111 arranged on the rack 11, and the quick positioning and locking of the feeding module 121 and the non-feeding module 122 are realized by using the detachable fixing mechanism 13, which greatly simplifies the mechanical reconstruction process when the module is replaced, avoids the cumbersome operation of repeatedly disassembling bolts, recalibrating the pose and manually wiring in the traditional scheme, and significantly improves the module replacement efficiency and equipment reuse rate. At the same time, the detachable suction assembly 1212 in the feeding module 121 can be flexibly replaced and adapted according to the material form (such as size, material, surface characteristics), breaking through the technical limitation of single grasping mode of the traditional modular equipment, combining the dynamic support of the standardized interface to the position layout of the multi-module, effectively solving the flexible production bottleneck caused by the fixed grasping structure and insufficient module cooperation ability, and finally reducing the equipment reconstruction cost, and providing an integrated solution with high compatibility and high response speed for the manufacturing scene of multi-variety, small batch and process rapid switching.

[0064] As shown in Figure 3 In some optional embodiments, the standardized fixing interface group 111 includes a threaded hole array, the module fixing interface group 123 includes a through hole group, and the detachable fixing mechanism 13 further includes a bolt penetrating through the through hole 1231 and screwed with the threaded hole 1111, which simultaneously undertakes the module positioning and locking function, wherein the threaded holes 1111 in the threaded hole array are uniformly distributed along the first direction and the second direction perpendicular to each other according to the first preset interval, to form a grid positioning reference, the through hole group includes a plurality of through holes 1231, and the interval between any two adjacent through holes 1231 is the second preset interval, and the second preset interval is an integer multiple of the first preset interval.

[0065] In the embodiments of the present application, the standardized fixing interface group 111 is an array of threaded holes on the mounting surface of the rack 11, which is uniformly distributed along the mutually perpendicular X-axis and Y-axis directions at a predetermined interval, forming a grid fixing reference covering the entire mounting surface. The module fixing interface group 123 at the bottom of the working module 12 is a group of through holes, and the diameter of the through hole 1231 is slightly larger than the inner diameter of the threaded hole 1111. For example, assuming that the threaded hole 1111 is an M8 threaded hole 1111, the Φ8.5mm through hole 1231 corresponding to the M8 threaded hole 1111, and the tolerance range is ±0.1mm. The position of the through hole group is strictly consistent with the grid spacing 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 positioned at any position on the mounting surface. The inner wall of the through hole 1231 needs to be deburred and chamfered (such as C0.5) at the edge, so that the bolt can smoothly pass through. In addition, the detachable fixing mechanism 13 can use stainless steel bolts (such as A2-70 level), and 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 to avoid deformation of the module or the surface of the rack 11. At this time, the bolt can simultaneously undertake the functions of rough positioning and precise locking. The rough positioning function refers to the size matching of the through hole 1231 and the threaded hole 1111 (ensuring automatic alignment when the module is initially placed, with a position deviation of not more than ±0.2mm. The precise locking function refers to that after the bolt is tightened to a predetermined torque, the axial pressing force generated by the bolt firmly fixes the module on the rack 11, and the anti-vibration capability reaches 10g acceleration (in line with GB / T 2423.10 standard).

[0066] Specifically, the threaded hole array in the standardized fixing interface group 111 is uniformly distributed along the mutually perpendicular first direction (such as X-axis) and second direction (such as Y-axis) at a first predetermined interval, forming a grid positioning reference covering the mounting surface of the rack 11. For example, assuming that the first predetermined interval is 50mm, that is, the center distance 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 M8 specification, the depth is 15mm, and the thread accuracy grade is 6H. This grid design can ensure that any position on the mounting surface of the rack 11 can be used as a fixing reference point of the module. Moreover, the grid layout of the threaded hole array can be formed by a numerical control machining center at one time, 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 group of through holes at the bottom of the working module 12, the distance between any two adjacent through holes 1231 is a second preset distance, and the second preset distance is an integer multiple of the first preset distance. For example, 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 group of through holes at the bottom of the module can be completely aligned with at least one group of threaded holes 1111. For example, when the length of the module is 1000 mm, the group of through holes at the bottom of the module is provided with two through holes 1231 in the X-axis direction, and the distance between them is 800 mm (16 x 50 mm), so that when the module moves along the X-axis on the rack 11 by 50 mm, the through holes 1231 can be aligned with the next group of threaded holes 1111. It can be understood that the group of through holes at the bottom of the working module 12 is generally provided with four through holes 1231, two in the X-axis direction and two in the Y-axis direction, and 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 consistent or inconsistent. 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 application scenarios, such as layout optimization in automotive parts welding production lines, traditional welding modules and their corresponding working modules 12 are fixed at specific positions on the frame 11. When processing a large number of workpieces, it is impossible to quickly add welding modules; the machine must be shut down and the frame 11 structure modified. Because of the need to add welding modules, the positions of other related working modules 12 (such as the feeding module 1221, loading module 121, and unloading module 1223) need to be adjusted simultaneously. In existing technologies, the feeding module 1221, loading module 121, and unloading module 1223 may be fixed to the frame 11 by welding. If adjustments are needed, these working modules 12 need to be cut off and re-welded. If these working modules 12 are fixed to the frame 11 by bolts, the adjusted positions of these working modules 12 need to be determined, and new holes need to be drilled at the corresponding positions. The downtime for modification could be as long as 8 hours or even longer. In this embodiment, the fixing bolts of each working module 12 can be loosened using power tools according to the adjusted fixed position of each working module 12, and the position of each working module 12 can be moved to the corresponding adjusted position (since the spacing of the through holes 1231 is set to an integer multiple of the spacing of the threaded holes 1111 in this embodiment, no matter how the working module 12 moves in the grid, its bottom through hole group can be completely aligned with at least one set of threaded holes 1111). Then, the bolts are tightened to fix the working module 12, without the need for re-welding or drilling holes in the frame 11. The downtime for modification in this embodiment can be shortened to within half an hour, significantly reducing the production line layout adjustment time, and also allowing for flexible expansion of the processing range without modifying the structure of the frame 11.

[0069] This application's implementation method, through the integer multiple relationship between the spacing of the gridded threaded hole array and the through-hole group, supports rapid alignment of modules at any grid position on the frame 11, enabling flexible positioning across the entire area. Furthermore, through spacing matching rules, it easily achieves multi-module collaborative operation or single-module position migration, providing rapid scalability. Simultaneously, it eliminates the need for customized chemical fittings in traditional solutions, significantly improves spare parts versatility, and enables low-cost upgrades. In fields such as automotive manufacturing and electronic assembly, it effectively solves the problems of fixed positions and time-consuming adjustments in traditional equipment, providing a standardized and low-cost hardware foundation for highly flexible production lines.

[0070] In some embodiments, the detachable fixing mechanism 13 further includes a positioning post, the bottom of which is a fixing bolt. The positioning post is screwed into 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 spacing.

[0071] In the embodiments of the present application, the cooperation between the radius of the positioning column and the distance between the through hole 1231 on the bottom edge of the working module 12 can make the through hole 1231 on the bottom of the working module 12 communicate with the threaded hole 1111 on the top of the rack 11 to make the bolt pass through to fix the working module 12 when the bottom edge of the working module 12 abuts against the positioning column after the positioning column is fixed on the threaded hole 1111 by the fixing bolt, so as to fully realize the precise positioning function of the positioning column.

[0072] As shown in FIG. 1, in some embodiments, the detachable fixing mechanism 13 includes a threaded hole 1111 on the standardization fixing interface group 111 of the rack 11 and a through hole 1231 on the module fixing interface group 123 of the working module 12. Figure 4 As shown in FIG. 1, in some embodiments, the detachable fixing mechanism 13 includes a threaded hole 1111 on the standardization fixing interface group 111 of the rack 11 and a through hole 1231 on the module fixing interface group 123 of the working module 12.

[0073] In the embodiments of the present application, the detachable fixing mechanism 13 can be composed of a complementary electromagnetic unit and a magnetic 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 unit. The electromagnetic unit refers to the assembly in the detachable fixing mechanism 13 that generates a magnetic field, which is composed of an electromagnet array. The electromagnetic unit can be integrated into the standardization fixing interface group 111 of the rack 11 or the module fixing interface group 123 of the working module 12. The electromagnet array is a collection of one or more electromagnets arranged in a predetermined pattern (such as a grid). The magnetic unit refers to the magnetic assembly in the detachable fixing mechanism 13 that cooperates with the electromagnetic unit, which is composed of a magnetic area. The magnetic unit is correspondingly integrated into the module fixing interface group 123 or the standardization fixing interface group 111. The magnetic area is a magnetic structure made of high magnetic permeability material (such as low carbon steel, silicon steel), which is used to concentrate magnetic induction lines and enhance electromagnetic attraction. The distribution position matching means that the physical layout of the magnetic unit and the electromagnetic unit completely corresponds. For example, if the electromagnetic unit is a 50mm×50mm grid of electromagnets, the magnetic unit needs to cover at least one complete grid area (such as a 50mm×50mm magnetic plate). The attraction force fixation refers to the generation of a magnetic field by the electromagnetic unit when powered on, and the magnetic unit is attracted due to magnetization, forming a non-contact fixation; after power off, the magnetic field disappears, the attraction force is released, and quick disassembly is realized.

[0074] In this embodiment, the complementary design of the electromagnetic unit and the magnetically conductive unit enables non-contact, rapid installation and removal of the working module 12. When the electromagnet array in the electromagnetic unit is energized, the magnetically conductive area in the magnetically conductive unit is magnetized and generates a strong attraction force, firmly fixing the module to the target position on the frame 11. Upon power-off, the attraction force immediately disappears, and the module can be easily removed. This design not only avoids metal debris and physical wear that may occur with traditional bolt or clamp operations but also significantly improves module replacement efficiency, making it particularly suitable for environments sensitive to pollution, such as cleanrooms and sterile workshops. For example, in semiconductor wafer handling equipment, replacing the robotic arm module does not require manual bolt removal; simply activating or deactivating the electromagnets through the control system allows for a changeover within minutes, while ensuring that the cleanroom air quality meets ISO Class 5 standards. Furthermore, the grid layout of the electromagnetic unit and the precise matching of the magnetically conductive area enable a module repeatability accuracy of ±0.05mm, eliminating the need for manual calibration, significantly reducing downtime and operational complexity. Compared to traditional solutions, this design, through the physical mechanism of electromagnetic adsorption, balances high efficiency, environmental friendliness, and high precision, providing reliable technical support for highly flexible manufacturing scenarios.

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

[0076] In this embodiment, the standardized fixed interface group 111 is an electromagnet array, i.e., the electromagnet array is set on the rack 11 and evenly distributed on the rack 11 along a first and second direction that are perpendicular to each other, according to a third preset spacing. The third preset spacing refers to the distance between the center points of adjacent rack electromagnets 1112 in the electromagnet array. This spacing is evenly distributed along a first direction (e.g., the X-axis) and a second direction (e.g., the Y-axis) that are perpendicular to each other, forming a grid layout. The power supply bus is a wire system that provides independent power to the electromagnet array. Each line corresponds to one rack electromagnet 1112, supporting selective activation or deactivation of rack electromagnets 1112 in specific areas. Meanwhile, the module fixed interface group 123 is a module magnetic plate 1232, i.e., the module magnetic plate 1232 is fixed to the bottom of the working module 12. The module magnetic plate 1232 is a magnetically conductive metal plate, the size and position of which are strictly matched with the distribution of the electromagnet array, used to concentrate magnetic lines of force to enhance the attraction force.

[0077] In some application scenarios, such as in the smart phone mainboard patch process, different patching head modules need to be replaced according to the types of components (such as resistors, chips). In the traditional scheme, the patching head is fixed on the rack 11 by bolts, and when replacing, 6-8 bolts need to be disassembled, and a positioning pin is used to calibrate the position, which is time-consuming. And the metal debris generated when disassembling the bolts may contaminate the circuit board, causing the product failure rate to rise, and frequent mechanical contact causes the module positioning accuracy to gradually decrease. The electromagnetic array and the magnetic plate fixing mechanism are used in the application embodiment, the module magnetic plate 1232 at the bottom of the patching head module is fixed, when replacing, the rack electromagnet 1112 power supply in the original module area is disconnected by the control system, and the magnetic attraction disappears after the module is directly taken off; Then move the new module to the target grid area, and after power on, the target grid area generates an adsorption force on the module magnetic plate 1232, thereby fixing the patching head module, and the patching head can be put into production. The change type time can be shortened from 1 hour to 3 minutes, avoiding long-time stagnation of the production line. And zero-contact operation can eliminate metal debris and reduce product failure rate. In addition, it can also improve the repeated positioning accuracy.

[0078] The application realizes high-precision non-contact fixing of the working module 12 through the grid-based independent control of the electromagnetic array and the precise matching design of the module magnetic plate 1232. The standardized size and high magnetic permeability characteristics of the module magnetic plate 1232 ensure the uniformity and stability of the adsorption force. In the scenarios of frequent replacement of working modules 12, optical precision assembly, medical clean production, etc., the application embodiment has the advantages of high universality, no pollution, high efficiency and high precision, solves the problems of poor universality, low efficiency and product quality risk caused by traditional mechanical fixing, and provides technical support for high-end manufacturing field.

[0079] In some specific embodiments, the control unit is electrically connected with the rack electromagnet 1112 through the power supply bus, for independently controlling the on-off state of each rack electromagnet 1112.

[0080] In the application embodiment, the control unit is an electronic control system responsible for managing the on-off state of the rack electromagnet 1112 in the flexible intelligent manufacturing device 11, which independently controls the power-on and power-off of each electromagnet by analyzing the module position signal or operation instruction. The power supply bus is a power transmission network connecting the control unit and the electromagnet array, which adopts independent line design to ensure that the on-off of each rack electromagnet 1112 does not interfere with each other. The on-off state of the rack electromagnet 1112 refers to the power-on (on) or power-off (off) state of the rack electromagnet 1112. When powered on, the rack 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 can include a master control unit, a signal acquisition unit, a driving unit, etc. The master control unit can be used to receive external instructions (such as module position coordinates or process parameters), analyze and generate electromagnet control signals. 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 and current sensors). The driving unit can be used to send power-on or power-off instructions to the specified rack electromagnet 1112 according to the control signal. The power supply bus adopts multi-channel independent wiring, and each line corresponds to one 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 electromagnet 1112 in the coverage area of the working module 12, so that the rack 11 no longer generates an attractive force on the working module 12, and the working module 12 can be easily replaced at this time. While the rack electromagnets 1112 in the remaining areas remain on, the rack 11 still generates an attractive force on these areas, ensuring that the working modules 12 corresponding to these areas remain fixed.

[0082] The application embodiment realizes precise management of the attractive force by controlling the independent on-off control of the rack electromagnet 1112 by the control unit. When a module needs to be replaced, only the attractive 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 electromagnet plate, the continuous electromagnet plate is arranged on the top of the rack 11, and the module fixed interface group 123 is a magnetic conductive unit, the magnetic conductive unit is a module magnetic conductive plate 1232, and the bottom of each working module 12 is fixed with the module magnetic conductive plate 1232.

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

[0085] In other embodiments, the standardized fixed interface group 111 is a magnetic guiding unit, the magnetic guiding unit is a frame magnetic guiding plate, the frame magnetic guiding plate is fixed on the top of the frame 11, the module fixed interface group 123 is an electromagnetic unit, the electromagnetic unit is a module electromagnet, and each working module 12 is provided with at least one module electromagnet at its bottom.

[0086] In this embodiment, the standardized fixing interface group 111 is a frame magnetic plate, meaning the mounting surface of the frame 11 is a single piece or a spliced ​​metal plate. The module fixing interface group 123 is a module electromagnet, meaning each working module 12 has pre-drilled mounting holes at its bottom, allowing the module electromagnet to be fixed to the module base using bolts or adhesives. The module electromagnet is connected to the control unit via a built-in power line, supporting independent power control. The user can move the working module 12 to the target position on the frame 11, ensuring the module electromagnet at the bottom of the module contacts the frame magnetic plate, and then activate the module electromagnet through the control system to generate magnetic force to fix the module to the frame magnetic 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 to the corresponding module electromagnet, and after the magnetic force disappears, manually or with auxiliary equipment (such as a robotic arm) remove the working module 12.

[0087] In this embodiment, a frame magnetic plate is provided on the frame 11, and a module electromagnet is provided at the bottom of the working module 12. The working module 12 can be fixed and disassembled by controlling the opening and closing of the control unit electromagnet 1253. The operation is simple and can greatly improve the versatility of the flexible intelligent manufacturing device 11.

[0088] like Figure 5 As shown, in some embodiments, the non-feeding module 122 is a feeding module 1223, and the feeding module 1223 can be one or more types, and the feeding module 1223 is used to transfer materials.

[0089] In this embodiment, the unloading module 1223 is a specific type of non-loading module 122, used to transfer materials to other areas. Its bottom is provided with a module fixing interface group 123 that matches the standardized fixing interface group 111 on the frame 11. Therefore, the unloading module 1223 can be fixed to the frame 11 by its own module fixing interface group 123 and the standardized fixing interface group 111 on the frame 11 through a detachable connection, so as to realize flexible manufacturing.

[0090] It needs to be understood that in some use scenarios of the present application, there are multiple devices in a flexible intelligent manufacturing production line, and different devices perform different work tasks. In some of these devices (i.e., the flexible intelligent manufacturing device 1 of the present application), the work task can be material flow transfer, so the work module 12 included in the flexible intelligent manufacturing device 1 can be a feeding module 121 and a discharging module 1223. The feeding module 121 and the discharging module 1223 can be detachably arranged on the rack 11, and the specific device type and installation position of the feeding module 121 and the discharging module 1223 can be changed at any time according to different production requirements. The specific work flow can be: the feeding module 121 transfers the material delivered by the previous device of the flexible intelligent manufacturing device 1 to the discharging module 1223 in the flexible intelligent manufacturing device 1, and through the discharging module 1223, the material delivered by the feeding module 121 is delivered to the next device or to a material storage module, etc.

[0091] The present application embodiment designs the discharging module 1223 to be detachable and replaceable in multiple types, and combines the standardized fixed interface group 111 to achieve quick positioning and installation, so that the flexible intelligent manufacturing device 1 can flexibly adapt to the interface differences of upstream and downstream devices and the changes of material conveying path. When the production line needs to adjust the material flow transfer direction (such as changing from delivering to the next device to temporarily storing in a material warehouse), only the corresponding type of discharging module 1223 needs to be replaced and its installation position on the rack 11 needs to be adjusted, so that different production links can be seamlessly connected, significantly reducing the time consumption of production line reconstruction caused by device interface mismatch or material path change, and effectively improving the material flow transfer efficiency and system versatility in the multi-device collaborative scenario.

[0092] In some specific embodiments, the discharging module 1223 includes a first discharging module 1223 and a second discharging module 1223, the first discharging module 1223 and the second discharging module 1223 are different types of discharging modules 1223, the feeding module 121 is arranged on the rack 11 between the first discharging module 1223 and the second discharging module 1223, the first discharging module 1223 includes a large jig tray, and the second discharging module 1223 includes a small jig tray.

[0093] In the embodiment of the present application, the first dispensing module 1223 comprises a large jig tray, and the surface size of the tray can be designed as 800 mm x 600 mm (typical industrial standard size). The bottom of the large jig tray can be integrated with a weighing sensor for real-time monitoring of the dispensing weight and feeding back to the control unit. The second dispensing module 1223 comprises a small jig tray, and the surface size of the tray can be designed as 300 mm x 300 mm, and a matrix of vacuum suction holes is arranged in the central area, and each suction hole can be controlled by an independent electromagnetic valve. It is suitable for precise component (such as chip, micro bearing) point storage.

[0094] It can be understood that in some use scenarios of the present application, such as in the consumer electronics assembly production line, it may be necessary to alternately process mobile phone shells (large size) and camera modules (precise small parts). The traditional scheme usually needs to configure two independent dispensing devices respectively corresponding to different material types, resulting in increased equipment occupation and low coordination efficiency. In the embodiment of the present application, by simultaneously installing the first dispensing module 1223 and the second dispensing module 1223, and dynamically adjusting the grabbing strategy by using the intermediate position of the feeding module 121, dual-mode seamless switching can be realized on the same rack 11. For example: when producing mobile phone shells in the morning shift, the feeding robot uses large-area vacuum suction cups to quickly transfer materials through the first dispensing module 1223. When producing camera modules in the evening shift, the suction assembly 1212 of the feeding robot is replaced, for example, switched to a micro electromagnetic clamp, and the feeding robot can quickly transfer the camera module through the second dispensing module 1223.

[0095] In some use scenarios, when the first dispensing module 1223 and the second dispensing module 1223 are installed on the rack 11 at the same time, the feeding module 121 can also transfer the materials in the first dispensing module 1223 to the second dispensing module 1223, or transfer the materials in the second dispensing module 1223 to the first dispensing module 1223. For example, in some processing scenarios, the small jig tray can be directly sent to the part function module 1222 for processing, at this time, the flexible intelligent manufacturing device 1 can control the feeding module 121 to transfer the materials in the first dispensing module 1223 to the small jig tray in the second dispensing module 1223, and then control the second dispensing module 1223 to transmit the small jig tray and the materials in it to the next flexible intelligent manufacturing device 1 for processing.

[0096] It can be seen that the embodiments of the present application can make a single system compatible with multiple operation modes through the modularization of large / small jig trays and the robot centering layout strategy, break through the problem of repeated investment of equipment caused by the fixed function of the unloading station in the traditional scheme, greatly improve the flexible production capacity, and meet the diversified needs of users. At the same time, based on the rapid change capability of the grid standard interface, the unloading mode switching time is greatly shortened, and the equipment utilization and production line rhythm adaptability of multi-variety mixed production are significantly improved.

[0097] As shown in Figure 1 and Figure 6 In some embodiments, the feeding module 121 further includes a first vision assembly 1213, the first vision assembly 1213 includes a first fixed frame 12131, a first vision camera 12132 and a first light source 12133, the first fixed frame 12131 is connected with the robot body 1211, and the first vision camera 12132 and the first light source 12133 are both fixedly installed on the first fixed frame 12131.

[0098] In the embodiments of the present application, the first fixed frame 12131 provides a stable mounting position for the first vision assembly 1213 and the first light source 12133, ensuring that they can remain fixed during the movement of the feeding module 121, avoiding unstable image acquisition and lighting caused by vibration or movement. The first vision assembly 1213 is used to capture image information of the material in real time. The first light source 12133 provides a stable and uniform light source for the first vision assembly 1213, ensuring that the camera can clearly capture the image of the material and the jig. The embodiments of the present application set the first vision assembly 1213 on the feeding module 121, which improves the identification compatibility of materials of multiple materials and multiple sizes.

[0099] As shown in Figure 7 In some specific embodiments, the non-feeding module 122 is a feeding module 1221, which is used to receive and preliminarily arrange the material to realize the orderly conveying of the material. The flexible intelligent manufacturing device 1 further includes a control unit and a storage assembly, the bottom of the storage assembly is provided with a module fixed interface group 123, the control unit is electrically connected with the feeding module 121, and the control unit is configured to: perform image recognition according to the image captured by the first vision assembly 1213 in the feeding module 121, and control the feeding module 121 to grab the corresponding material from the feeding module 1221 to the storage assembly according to the image recognition result.

[0100] In the embodiments of the present application, the feeding module 1221 is a specific type of non-feeding module 122, which is used to provide materials transferred from other devices in the production line to the present device (i.e., the flexible intelligent manufacturing device 1 of the present application). The bottom of the feeding module 1221 is provided with a module fixing interface group 123 matched with the standardized fixing interface group 111 of the rack 11, so that the feeding module 1221 can be fixed on the rack 11 through the detachable connection of the module fixing interface group 123 of the feeding module 1221 and the standardized fixing interface group 111 on the rack 11, thereby realizing flexible feeding. The control unit is electrically connected with the feeding module 121 and can be arranged inside the rack 11. The storage assembly can have a plurality of storage positions, each of which can be used to store a type of material, i.e., the storage assembly can store different types of materials transferred after the classification operation of the feeding module 121.

[0101] Specifically, the storage assembly can include a plurality of classification chutes and classification hoppers. The outlet end of each classification chute is in abutment with an inlet of a classification hopper. The control unit is configured to perform image recognition according to the images collected by the first vision assembly 1213 of the feeding module 121, and control the feeding module 121 to grab corresponding materials 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 use scenarios of the present application, the flexible intelligent manufacturing device 1 needs to classify and store the mixed materials transferred from the previous device in the production line. The feeding module 121 and the feeding module 1221 can be detachably arranged on the rack 11, and the specific types and installation positions of the feeding module 121 and the feeding module 1221 can be changed at any time according to different classification requirements. The specific working process can be as follows: the feeding module 1221 receives the materials transferred from the previous device of the flexible intelligent manufacturing device 1, the feeding module 121 grabs and identifies the materials in the feeding module 1221 using the first vision assembly 1213, and transfers the materials to the inlet end of the corresponding classification chute in the storage assembly according to the control signal output by the identification control unit according to the classification result. The classified components slide along the classification chute and fall into the corresponding classification hopper, thereby realizing material classification.

[0103] The embodiments of the present application can detachably arrange the feeding module 1221, the feeding module 121 and the storage assembly on the rack 11, and dynamically adjust the types, quantities and positions of the feeding module 1221, the feeding module 121 and the storage assembly according to user requirements, thereby greatly improving the flexible processing capacity of the device for materials.

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

[0105] In the embodiments of the present application, the functional module 1222 is a specific type of non-feeding module 122, which is used to process the material transferred by the feeding module 121, and is provided at the bottom with a module fixing interface group 123 matched with the standardized fixing interface group 111 of the rack 11, so that the functional module 1222 can be fixed on the rack 11 through the standardized fixing interface group 111 on the rack 11 through the detachable connection of the module fixing interface group 123 of the functional module 1222, to realize flexible processing of the material. 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 assembly, the replaceable packaging mechanism is connected with the module main body through a magnetic quick-change interface, and the replaceable packaging mechanism can include one of a heat sealing machine, a vacuum packaging head, and a shrink film sleeve machine.

[0106] It should be understood that in some use scenarios of the present application, the last device in a flexible intelligent manufacturing production line 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 at any time according to the user's needs. In the embodiments of the present application, the installation module can be installed at any position of the rack 11 through the cooperation between the module fixing interface group 123 at the bottom of the installation module and the standardized fixing interface group 111 on the rack 11, which can meet the diversified needs of users. And different replaceable packaging mechanisms can be replaced through the magnetic quick-change interface to meet the packaging needs of different materials, further improving the flexible processing capability of the device.

[0107] In some specific embodiments, the suction assembly 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 with the robot main body 1211. The moving slide rail is fixedly installed on the mounting frame. The sliding frame is slidingly 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 with the rotating motor. The second suction head member is connected with the robot main body 1211.

[0108] In the embodiment of the present application, the mounting frame is the basic structural component of the suction assembly 1212, used to connect and support the entire suction assembly 1212. It is connected to the robot body 1211, ensuring that the suction assembly 1212 can move with the robot body 1211. The role of the mounting frame is to provide a mounting platform and positioning reference for other components, ensuring the structural stability and accuracy of the entire assembly. The sliding frame is installed on the mounting frame through the moving slide rail, and can slide along the slide rail direction on the mounting frame. Its main role is to provide a movable platform for adjusting the position of the first suction head component. The moving slide rail provides a stable sliding path, reducing friction and errors during the movement of the first suction head component. The rotary motor is installed on the sliding frame, used to drive the rotation of the first suction head component. Its main role is to adjust the grabbing angle of the first suction head component to adapt to the shape and posture of different materials. At the same time, before the material is placed into the jig of the functional module 1222, the rotation angle of the material is adjusted through the rotary motor to make the material straighten up. Through the precise control of the rotary motor, accurate grabbing and placing of the material can be realized, improving the flexibility and adaptability of the equipment. In this embodiment, the elastic member is a compression spring, which abuts between the mounting frame and the sliding frame. Its main role is to provide a certain elastic buffer. During the movement of the sliding frame, the elastic member can absorb part of the impact force, reducing the impact of mechanical vibration on the equipment, and also providing a certain reset force to ensure that the sliding frame can quickly and accurately return to the initial position. The existence of the elastic member helps to improve the stability and service life of the equipment. The first suction head component is connected to the rotary motor and is the main component for grabbing materials. Its role is to extract the target material from the supply module 1221 through adsorption force (such as vacuum adsorption). The second suction head component is connected to the robot body 1211 and is used to grab the jig.

[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 take materials under the action of suction force, magnetic force, friction force, etc., 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 suction assembly 1212 can be replaced according to different user needs to better meet the needs of users.

[0111] Specifically, the vacuum suction assembly can include a vacuum suction cup, a vacuum generator, and a leakage detection module. The vacuum suction cup can be made of silica gel material, and the surface is provided with a micro-texture anti-slip structure (such as a honeycomb-shaped groove) to adapt to smooth surface materials (such as glass panels and plastic shells). The vacuum generator can integrate a Venturi tube and a pressure sensor for dynamic adjustment of suction negative pressure. The leakage detection module is used to monitor the airflow change in real time through a flow meter, and when the leakage amount is greater than a preset value, an alarm is triggered and a backup suction cup is switched.

[0112] The electromagnetic suction assembly can include an electromagnet array, a constant current controller, and a magnetic shield. The electromagnet array can be composed of 16 independently controllable neodymium iron boron magnetic units, supporting local magnetic pole activation (such as activating only the edge magnetic pole to grab a ring-shaped workpiece). The constant current controller is used to dynamically adjust the current according to the magnetic conductivity of the material to change the magnetic force range. The magnetic shield is arranged at the bottom of the electromagnet to prevent magnetic force interference with surrounding equipment.

[0113] The mechanical clamping assembly can include an adaptive clamping jaw, a shape memory alloy driving mechanism, and a collision avoidance sensor. The adaptive clamping jaw can include three independently driven flexible joints, and the surface of the flexible joint is coated with pressure-sensitive conductive rubber for real-time feedback of clamping force. The shape memory alloy driving mechanism is used to achieve stepless adjustment of the opening angle of the adaptive clamping jaw through temperature control. The collision avoidance sensor is integrated inside the adaptive clamping jaw to detect material deviation and trigger position compensation.

[0114] The above is only an optional embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made under the inventive concept of the present application, or direct / indirect application 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, include: The rack has a standardized fixing interface group on its mounting surface, and the standardized fixing interface group includes multiple fixing units distributed along a preset direction; The working module includes a feeding module and a non-feeding module. The non-feeding module is one of a feeding module, a functional module, and a unloading module. Each working module has a module fixing interface group at its bottom. The feeding module includes a robot body and a suction component, which is detachably mounted on the robot body. The detachable fixing mechanism is composed of the standardized fixing interface group and the module fixing interface group. The detachable fixing mechanism is used to fix the working module on the frame through a detachable connection. The feeding module further includes a first vision component, which includes a first fixed frame, a first vision camera and a first light source. The first fixed frame is connected to the robot body, and the first vision camera and the first light source are both fixedly installed on the first fixed frame. The non-feeding module is a feeding module, which is used to receive and initially sort materials to achieve orderly conveying of the materials. The flexible intelligent manufacturing device also includes a control unit and a storage component. The bottom of the storage component is provided with a module fixing interface group. The control unit is electrically connected to the feeding module. The control unit is configured to: perform image recognition based on the image collected by the first vision component in the feeding module, and control the feeding module to grab the corresponding material from the feeding module to the storage component based on the image recognition result.

2. The flexible intelligent manufacturing device as described in claim 1, characterized in that, The standardized fixed interface group includes a threaded hole array, the module fixed interface group includes a through hole group, and the detachable fixing mechanism further includes a bolt that passes through the through hole and engages with the threaded hole. The bolt simultaneously performs the functions of module positioning and locking. The threaded holes in the threaded hole array are evenly distributed at a first preset interval along a first direction and a second direction that are perpendicular to each other to form a gridded positioning reference. The through hole group includes multiple through holes, and the distance between any two adjacent through holes is a second preset interval, which is an integer multiple of the first preset interval.

3. The flexible intelligent manufacturing device as described in claim 1, characterized in that, The detachable fixing mechanism includes a complementary electromagnetic unit and a magnetically conductive unit. The electromagnetic unit is integrated into the standardized fixing interface group or the module fixing interface group and includes at least one electromagnet array. The magnetically conductive unit is correspondingly integrated into the module fixing interface group or the standardized fixing interface group and includes a magnetically conductive area that matches the electromagnet array. The magnetically conductive unit and the electromagnetic unit are matched in distribution position so as to fix the working module by adsorption force when energized.

4. The flexible intelligent manufacturing device as described in claim 1, characterized in that, The non-feeding module is a feeding module, and the feeding module can be of one or more types. The feeding module is used to transfer materials.

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

6. The flexible intelligent manufacturing device as described in claim 1, characterized in that, The non-feeding module is a functional module, and the functional module is a packaging module. The feeding module 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.

7. The flexible intelligent manufacturing device as described in claim 1, characterized in that, The suction assembly includes a mounting frame, a sliding frame, a movable slide rail, a rotary motor, an elastic element, a first suction head, and a second suction head. The mounting frame is connected to the robot body. The movable slide rail is fixedly mounted on the mounting frame. The sliding frame is slidably mounted on the mounting frame via the movable slide rail. The elastic element abuts between the mounting frame and the sliding frame. The rotary motor is mounted on the sliding frame. The first suction head is connected to the rotary motor. The second suction head is connected to the robot body.

8. The flexible intelligent manufacturing device as described in claim 1, characterized in that, The suction component is one of a vacuum adsorption component, an electromagnetic adsorption component, or a mechanical clamping component.

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