Method for automatically installing coil

Abstract

The invention discloses a method for automatically installing a coil, which comprises the following steps of: if a workbench of an operation station for installing the coil detects that a coil base on which the coil is to be installed arrives, triggering a robot in place to work; an arm of the robot reaches the position above the coil to be clamped on the workbench and clamps the coil; a shooting mechanism of the workbench is used for shooting the coil clamped by the robot; judging whether the coil clamped by the robot is correct or not according to a shooting result; and if the coil clamped by the robot is correct, the robot installs the clamped coil at the corresponding position in the coil base. The robot is used for clamping and installing the coil, has the advantages of being high in speed, high in precision, easy to maintain and the like, and can save the coil assembling time. Moreover, the operation of manually and visually detecting the installation correctness of the coil after assembly in the prior art is moved to the operation of automatically detecting the correctness while the robot takes the coil, so that the detection accuracy and stability can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coil installation, and particularly to a method for automatically installing coils. Background Art

[0002] Currently, most of the methods for installing coils adopt manual installation methods. As Figure 2 shown, there is such an installation scenario, that is: the operator is located at the manual operation station; two types of coils are placed on the workbench 1 at this station, for example, black-pin coils 2 are placed on the left side, and white-pin coils 3 are placed on the right side; the coil base 4 to which the coil is to be installed is placed on the tray on the side close to the operator and is transferred between processes through a circulating line. In such a scenario, the process of manually installing coils is as follows:

[0003] 1. After the coil base 4 to which the coil is to be installed on the tray arrives at the manual operation station along with the circulating line, the indicator light on the workbench 1 at this station reminds the operator to close the mechanical anti-error baffle provided on the workbench.

[0004] 2. After the workbench 1 detects that the anti-error baffle is closed in place, it locks the anti-error baffle. At this time, the anti-error baffle cannot be opened, and only the installation position of one color, for example, the white-pin coil 3, is exposed in the coil assembly area of the coil base 4 to which the coil is to be installed.

[0005] 3. After the operator finishes installing all the white-pin coils 3, press the operation button on the workbench to reset the anti-error baffle locking device. At this time, the anti-error baffle is in an openable state.

[0006] 4. The operator opens the anti-error baffle and then installs another type, for example, black-pin coils 2, in all the other empty positions of the coil base 4.

[0007] 5. After all the coils are installed, the operator presses the operation button on the workbench 1 to make the tray of the coil base 4 flow along with the circulating line to the next station for visual inspection of whether the coils are installed correctly.

[0008] Although such a manual coil installation method can prevent errors in coil assembly, it still has the following disadvantages:

[0009] 1. It is impossible to ensure the correctness of manually picking up coils.

[0010] 2. It is impossible to ensure whether the installation height of the coils meets the requirements.

[0011] 3. There are certain requirements for the operation proficiency and accuracy of the operator. Summary of the Invention

[0012] This application is achieved in view of this problem, and its purpose is to provide a method for automatically installing coils, which can at least solve the aforementioned technical problems.

[0013] The method for automatically installing coils in this application includes: if the workbench at the operation station for installing coils detects that the coil base to which the coil is to be installed has arrived, it triggers the in-position robot to work; the arm of the robot reaches above the coil to be picked up placed on the workbench and picks up the coil; the shooting mechanism of the workbench shoots the coil picked up by the robot; judging whether the coil picked up by the robot is correct according to the shooting result; and if the coil picked up by the robot is correct, the robot installs the picked-up coil at the corresponding position in the coil base.

[0014] In some exemplary embodiments, the step of judging whether the coil picked up by the robot is correct according to the shooting result further includes: obtaining the identification on the surface of the coil picked up by the robot and the color information of the pins according to the shooting result; and judging whether the obtained identification on the surface of the coil and the color information of the pins match the current position where the coil is to be installed in the coil base.

[0015] In some exemplary embodiments, it further includes: if the coil picked up by the robot is incorrect, stop the work of the robot.

[0016] In some exemplary embodiments, if the coil picked up by the robot is incorrect, when the number of incorrect times is not more than 3 consecutive times, the coil picked up by the robot is discarded into the non-conforming product bin, and the robot is triggered again to work to pick up parts again. When the number of incorrect times is more than 3 consecutive times, stop the work of the robot.

[0017] In some exemplary embodiments, it further includes: while the robot installs the picked-up coil at the corresponding position in the coil base, the force monitoring mechanism of the workbench monitors whether the force used by the robot to install the coil is appropriate.

[0018] In some exemplary embodiments, the step of the force monitoring mechanism of the workbench monitoring whether the force used by the robot to install the coil is appropriate further includes: comparing the force used by the robot to install the coil monitored by the force monitoring mechanism of the workbench with a predetermined range; and if the value monitored by the force monitoring mechanism falls within the predetermined range, it is determined that the force used by the robot to install the coil is appropriate, otherwise it is determined that the force used by the robot to install the coil is inappropriate.

[0019] In some exemplary embodiments, it further includes: if the force monitored by the force monitoring mechanism of the workbench when the robot installs the coil is appropriate, the robot is further triggered to pick up a new coil; and if the force monitored by the force monitoring mechanism of the workbench when the robot installs the coil is inappropriate, the coil installation action of the robot is stopped, and the current coil is discarded into the non-conforming product bin.

[0020] In some exemplary embodiments, the step of the robot installing the picked-up coil at a corresponding position in the coil base further includes: the robot identifying the corresponding installation position of the picked-up coil in the coil base and installing the coil at the corresponding position in the coil base.

[0021] In some exemplary embodiments, multiple types of coils need to be installed in the coil base, the workbench includes an anti-misoperation baffle locking device, and after the coil base reaches the workbench, the workbench triggers the anti-misoperation baffle locking device to expose only one type of coil installation position in the coil assembly area of the coil base through the anti-misoperation baffle. The step of the robot installing the picked-up coil at a corresponding position in the coil base further includes: the robot installing the picked-up coil at the exposed coil installation position in the coil base; and after the workbench detects that the installation of the exposed coil installation position in the coil base is completed, resetting and opening the anti-misoperation baffle locking device to expose the vacant installation positions of other types of coils.

[0022] In some exemplary embodiments, after the workbench detects that all the coils in the coil base are installed, the coil base is released.

[0023] According to the present invention, using a robot to perform coil picking and installation operations has the advantages of high speed, high precision, easy maintenance, etc., and can save coil assembly time. In addition, by moving the operation of manually visually inspecting the installation correctness of the coil after assembly in the previous solution to automatically perform the correctness detection while the robot picks up the coil, the accuracy and stability of the detection can be improved. Moreover, by changing the manual operation in the previous solution to automatic work, the production efficiency can be greatly improved. Description of the Drawings

[0024] Figure 1 It is a flowchart of the method for automatically installing coils according to the embodiment of the present invention;

[0025] Figure 2 It is a schematic diagram showing the manual coil installation method of the prior art. Detailed Embodiments

[0026] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0027] The present invention mainly solves the problems of assembly accuracy and timeliness of the manual coil installation method.

[0028] The essence of the technical solution of the present invention will be elaborated in detail below in conjunction with the accompanying drawings.

[0029] Figure 1 It is a flowchart of the method for automatically installing coils according to an embodiment of the present invention.

[0030] In this embodiment, it is set that two types of coils need to be installed on the coil base, and the difference between these two types of coils lies in the surface markings and the colors of the pins. When assembling, the coil categories need to be strictly distinguished according to this information. These coils are, for example, components used to control the on / off of solenoid valves by electrifying in mechanical equipment, and the coil base is a device used to fix the coil in mechanical equipment.

[0031] Based on the above scenario, as Figure 1 shown, the method for automatically installing coils according to an embodiment of the present invention includes the following steps.

[0032] In step 101, the robot takes its place at the operation station for installing the coil. In this embodiment, a SCARA industrial robot is used to perform the coil installation operation.

[0033] In step 102, the coil detection sensor on the workbench at the operation station continuously detects whether the coil base to be installed has arrived. In this step, if the coil detection sensor detects that the coil base to be installed placed on the tray arrives at the operation station along with the circulating line body, it proceeds to step 103; otherwise, the detection continues.

[0034] In step 103, the coil detection sensor triggers the coil base stop mechanism on the workbench to stop and fix the coil base. In this embodiment, the coil base stop mechanism can stop the coil base to be installed placed on the tray, lift it in front of the robot, and fix it. Then, this process proceeds to step 104.

[0035] In step 104, the robot trigger mechanism on the workbench triggers the robot in place to perform the coil clamping action. Then, this process proceeds to step 105.

[0036] In step 105, the robot's arm reaches above the coil placed on the workbench and picks up the coil. Here, the trigger mechanism can indicate the type of the coil to be picked up by the robot and the picking position, or the order of picking up the coil can be preset in the robot according to the type of the coil and the picking position. Then, this process proceeds to step 106.

[0037] In step 106, the shooting mechanism on the workbench shoots the coil picked up by the robot. Here, at least the identification on the coil surface and the color of the pins can be shown in the shot content.

[0038] In step 107, it is judged whether the coil picked up by the robot is correct according to the shooting result. In this embodiment, the identification on the surface of the coil picked up by the robot and the color information of the pins can be obtained according to the shooting result, and it is determined whether these information match the current position where the coil is to be installed in the coil base. If they match, it indicates that the type and picking position of the coil picked up by the robot are correct, otherwise they are incorrect.

[0039] Moreover, if the coil picked up by the robot is correct, it proceeds to step 108 for coil installation, otherwise it proceeds to step 112 to stop the coil picking action of the robot.

[0040] In step 108, the robot installs the picked-up coil at the corresponding position in the coil base, and at the same time, the force monitoring mechanism on the workbench monitors the force used by the robot when installing the coil. In this embodiment, the robot automatically identifies the corresponding installation positions of the coil base and installs the picked-up coil at these corresponding installation positions. Then, it proceeds to step 109.

[0041] In step 109, it is judged whether the force used by the robot when installing the coil is appropriate according to the value monitored by the force monitoring mechanism. Specifically, the value monitored by the force monitoring mechanism can be compared with a predetermined range. If the value monitored by the force monitoring mechanism falls within this predetermined range, it is determined that the force used by the robot when installing the coil is appropriate, otherwise it is determined that the force used by the robot when installing the coil is inappropriate.

[0042] Moreover, if the force used by the robot when installing the coil is appropriate, it proceeds to step 110 to continue picking up the remaining coils, otherwise it proceeds to step 111.

[0043] In step 110, it is judged whether there is still an unoccupied position for installing a coil in the coil base. If there is, it returns to step 104 to continue triggering the robot to pick up a new coil, otherwise this process ends.

[0044] On the other hand, in step 111, the coil installation action of the robot is stopped, and this coil is discarded into the non-conforming product bin. Then it returns to step 104 to continue picking up a new coil.

[0045] In addition, in step 112, the coil clamping action of the robot is stopped. At this time, the management personnel can be notified to conduct error checking and debugging of the robot. Then, this process ends.

[0046] According to the present invention, using a robot to perform coil clamping and installation operations has the advantages of high speed, high precision, easy maintenance, etc., and can save coil assembly time. In addition, by moving the operation of manually visually inspecting the installation correctness of the coil after assembly in the previous solution to automatically detect the correctness simultaneously when the robot picks up the coil, the accuracy and stability of the detection can be improved. Moreover, by changing the manual operation in the previous solution to automatic work, the production efficiency can be greatly improved.

[0047] Although the method for automatically installing coils in the embodiments of the present invention has been described in detail above, various deformations can also be made to the above embodiments.

[0048] For example, although in the above embodiment, when it is determined in step 107 that the coil picked up by the robot is incorrect, it directly advances to step 112 to stop the coil clamping action of the robot. However, in specific implementation, when the coil clamping error is not more than 3 consecutive times, the incorrect coil picked up by the robot can be discarded into the non-conforming product bin, and then return to step 104 to trigger the robot to pick up parts again and repeat the previous actions; on the other hand, when the coil clamping error is more than 3 consecutive times, it advances to step 112.

[0049] In addition, although in the above embodiment it is described that the robot automatically identifies the corresponding installation positions of the coil bases and installs the picked-up coils at these corresponding installation positions, it is not limited to this. It can also be that the above workbench further includes an anti-error baffle locking device. After the coil base stop mechanism jacks up and fixes the coil base, the workbench triggers the anti-error baffle locking device. At this time, only one type of coil installation position in the coil assembly area of the coil base is exposed through the anti-error baffle, and the robot picks up the corresponding type of coil and installs it at the exposed installation position. And after the workbench detects that the installation of the corresponding installation position exposed in the coil base is completed, the anti-error baffle locking device is reset and opened to expose the vacant installation positions of other types of coils and continue the coil installation by the robot.

[0050] In addition, although not described in the above embodiment, after the workbench detects that all coils are installed, the stop mechanism can be automatically reset, and the coil base tray can be released to flow to the next station along with the circulating line body.

[0051] In addition, although the above embodiment is described by taking the installation of two types of coils as an example, it is also applicable in the case of three or more coil types.

[0052] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present invention. Therefore, the appearances of "in one embodiment" or "in an embodiment" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics may be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present invention, the magnitudes of the sequence numbers of the above processes do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The sequence numbers of the embodiments of the present application above are only for description and do not represent the advantages or disadvantages of the embodiments.

[0053] As described above, it is only the implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claimed rights.

Claims

1. A method for automatically installing a coil, characterized in that, Including: If the workbench at the operation station for installing the coil detects that the coil base to which the coil is to be installed arrives, it triggers the in-position robot to work; The arm of the robot reaches above the coil to be picked up placed on the workbench and picks up the coil; The shooting mechanism of the workbench shoots the coil picked up by the robot; Judging whether the coil picked up by the robot is correct according to the shooting result; and If the coil picked up by the robot is correct, the robot installs the picked-up coil at the corresponding position in the coil base.

2. The method for automatically installing a coil according to claim 1, wherein, The step of judging whether the coil picked up by the robot is correct according to the shooting result further includes: Obtaining the identification on the surface of the coil picked up by the robot and the color information of the pins according to the shooting result; and Judging whether the obtained identification on the surface of the coil and the color information of the pins match the current position in the coil base where the coil is to be installed.

3. The method for automatically installing a coil according to claim 1, characterized in that, Also including: If the coil picked up by the robot is incorrect, stop the work of the robot.

4. The method for automatically installing a coil according to claim 1, characterized in that, Also including: If the coil picked up by the robot is incorrect, when the number of incorrect times is not more than 3 consecutive times, discard the coil picked up by the robot into the non-conforming product bin, and trigger the robot to work again to pick up parts again. When the number of incorrect times is more than 3 consecutive times, stop the work of the robot.

5. The method for automatically installing a coil according to claim 1, characterized in that, Also including: While the robot installs the picked-up coil at the corresponding position in the coil base, the force monitoring mechanism of the workbench monitors whether the force used by the robot to install the coil is appropriate.

6. The method for automatically installing a coil according to claim 5, wherein, The step of the force monitoring mechanism of the workbench monitoring whether the force used by the robot to install the coil is appropriate further includes: Comparing the force used by the robot to install the coil monitored by the force monitoring mechanism of the workbench with a predetermined range; and If the value monitored by the force monitoring mechanism falls within the predetermined range, it is determined that the force used by the robot to install the coil is appropriate, otherwise it is determined that the force used by the robot to install the coil is inappropriate.

7. The method for automatically installing a coil according to claim 5, characterized in that Also including: If the force monitoring mechanism of the workbench monitors that the force used by the robot to install the coil is appropriate, continue to trigger the robot to pick up a new coil; And If the force monitoring mechanism of the workbench monitors that the force used by the robot to install the coil is inappropriate, stop the coil installation action of the robot and discard the current coil into the non-conforming product bin.

8. The method for automatically installing a coil according to claim 1, characterized in that, The step of the robot installing the picked-up coil at the corresponding position in the coil base further includes: The robot identifies the corresponding installation position of the picked-up coil in the coil base and installs the coil at the corresponding position in the coil base.

9. The method for automatically installing a coil according to claim 1, wherein Multiple types of coils need to be installed in the coil base, The workbench includes an anti-misoperation baffle locking device, and after the coil base reaches the workbench, the workbench triggers the anti-misoperation baffle locking device to expose only the installation position of one type of coil in the coil assembly area of the coil base through the anti-misoperation baffle, The step of the robot installing the clamped coil at the corresponding position in the coil base further includes: The robot installs the clamped coil at the exposed coil installation position in the coil base; and After the workbench detects that the installation of the exposed coil installation position in the coil base is completed, reset and open the anti-misalignment baffle locking device to expose the vacant installation positions for other types of coils.

10. The method for automatically installing coils according to any one of claims 1-9, wherein After the workbench detects that all the coils in the coil base are installed, release the coil base.

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