Flexible intelligent manufacturing device

Abstract

The application discloses a flexible intelligent manufacturing device, which comprises a rack, a plurality of working modules, a detachable fixing mechanism, a module position detection unit and a control unit. The module position detection unit is used for detecting the position of the working module on the mounting surface. The control unit is used for generating a position adjustment signal according to module data collected by the module position detection unit. All module fixing interface groups and standardized fixing interface groups have the same matching size and connection form, so that the same type or different type of working modules can be interchanged. The application effectively solves the problems of complicated replacement of traditional device modules and insufficient positioning accuracy, can significantly shorten downtime, avoids problems such as material transmission jamming, mechanical interference and processing precision reduction caused by module position deviation, and can also meet the high flexibility demand of multi-variety mixed flow production.

Description

Technical Field

[0001] This application relates to the field of automation equipment technology, and in particular to a flexible intelligent manufacturing equipment. Background Technology

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

[0003] In material handling scenarios such as automotive welding lines, 3C electronic product assembly, and semiconductor packaging, it is necessary to frequently adjust the type and position of feeding, loading, and unloading modules to adapt to the transfer requirements of workpieces of different specifications. In related technologies, existing material handling equipment typically rigidly fixes various transfer modules to the machine base. Adjustments often require disassembling multiple fasteners of the corresponding transfer module, rewiring and calibrating the position, and re-drilling holes on the machine base, resulting in downtime of several hours. Sometimes, it is even necessary to directly replace other working equipment to meet production requirements. Furthermore, after replacing the transfer module, there are often module positioning deviations, which can easily lead to material jamming, mechanical interference, and deterioration of processing accuracy, making it difficult to meet the high-frequency reconfiguration and high transfer accuracy requirements of multi-variety mixed-flow production. In other words, existing material handling equipment suffers from poor versatility, low changeover efficiency, and accumulated transfer errors due to the difficulty in quickly replacing modules and the inaccurate positioning after reconfiguration, severely restricting flexible manufacturing capabilities. Summary of the Invention

[0004] The main purpose of this application is to propose a flexible intelligent manufacturing equipment, which aims to solve the problems of existing material flow equipment in related technologies, such as poor versatility, low changeover efficiency, and accumulation of transmission errors, which are caused by the difficulty in quickly replacing modules and the inaccurate positioning after reconstruction.

[0005] To achieve the above objectives, in a first aspect, this application proposes a flexible intelligent manufacturing device, comprising:

[0006] 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;

[0007] Multiple working modules, including a feeding module, a loading module and a unloading module, and each working module has a module fixing interface group at the bottom;

[0008] 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.

[0009] A module position detection unit is disposed on the top of the frame and is used to detect the position of the working module on the mounting surface;

[0010] A control unit, electrically connected to the module position detection unit, is used to generate a position adjustment signal based on the module data collected by the module position detection unit. The position adjustment signal is used to instruct the user to adjust the position of the working module.

[0011] All of the module fixed interface groups and the standardized fixed interface groups have the same mating dimensions and connection forms to enable the interchangeability of the same or different types of working modules.

[0012] Optionally, the standardized fixing interface group includes a threaded hole array, the module fixing 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.

[0013] Optionally, 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 distribution positions of the magnetically conductive unit and the electromagnetic unit are matched so that the working module is fixed by adsorption force when energized.

[0014] Optionally, the standardized fixed interface group is an electromagnetic unit, the electromagnetic unit is an electromagnet array, the frame electromagnets 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 is independently connected to the power supply bus, the module fixed interface group is a magnetic guiding unit, the magnetic guiding unit is a module magnetic guiding plate, and each working module has the module magnetic guiding plate fixed at its bottom.

[0015] Optionally, the flexible intelligent manufacturing equipment further includes a control unit, which is electrically connected to the frame electromagnets via the power supply bus and is used to independently control the opening and closing state of each frame electromagnet.

[0016] Optionally, the standardized fixed interface group is an electromagnetic unit, the electromagnetic unit is a continuous electromagnet plate, the continuous electromagnet plate is disposed on the top of the frame, the module fixed interface group is a magnetic guiding unit, the magnetic guiding unit is a module magnetic guiding plate, and the bottom of each working module is fixed with the module magnetic guiding plate.

[0017] Optionally, the detachable fixing mechanism further includes a positioning post, which is a magnetic conductor. The positioning post is used to detachably fix the working module to a preset position on the frame under the magnetic attraction of the continuous electromagnet plate, so as to position the working module to the corresponding working area.

[0018] Optionally, the standardized fixed interface group 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, the module fixed interface group is an electromagnetic unit, the electromagnetic unit is a module electromagnet, and each working module is provided with at least one module electromagnet at its bottom.

[0019] Optionally, the module position detection unit is a laser ranging array, which includes four laser rangefinders. The four laser rangefinders are located at the four corners of the top plate of the frame. The laser ranging array is used to measure the position of the working module on the mounting surface.

[0020] Optionally, the flexible intelligent manufacturing equipment further includes a module identification unit, which includes RFID tags and readers. The RFID tags are disposed within the working modules, and the readers are disposed on the rack. Each RFID tag stores module information corresponding to the working module.

[0021] Optionally, the module position detection unit is a recognition camera, which is located in the middle of the top plate of the frame. The recognition camera is used to measure the position of the working module on the mounting surface and to identify the module type of the working module.

[0022] Optionally, the control unit is configured to: receive the module data collected by the module position detection unit, determine the target working module corresponding to the module data, obtain the preset module data corresponding to the target working module, determine whether the target working module has a position deviation based on the preset module data and the module data, and if the determination result is that the target working module has a position deviation, generate the position adjustment signal based on the preset module data.

[0023] Optionally, the flexible intelligent manufacturing equipment also includes a laser projector, which is electrically connected to the control unit. The laser projector is located in the middle of the top plate of the frame and is used to project the correct installation position of the working module under the control of the control unit.

[0024] Optionally, the control unit is further configured to: if the determination result indicates that the target working module has a positional deviation, generate a first projection signal based on the preset module data and send the first projection signal to the laser projector to instruct the laser projector to project the correct installation position of the target working module based on the first projection signal.

[0025] Optionally, the control unit is further configured to: when installing the working module to be installed, determine the module type of the working module to be installed, obtain the preset installation position of the working module to be installed according to the module type, generate a second projection signal according to the preset installation position, and send the second projection signal to the laser projector to instruct the laser projector to project the preset installation position of the working module to be installed according to the second projection signal.

[0026] The flexible intelligent manufacturing equipment provided in this application effectively solves the problems of cumbersome module replacement and insufficient positioning accuracy in traditional equipment by using a unified design of standardized fixed interface groups on the frame mounting surface and module fixed interface groups at the bottom of the working modules, combined with the coordinated guidance of the module position detection unit and the control unit. Furthermore, the universality of the standardized interfaces allows for rapid disassembly and interchangeability of the feeding, loading, and unloading modules without the need for re-drilling or adjusting the mechanical structure, significantly reducing downtime. The module position detection unit can monitor installation deviations in real time and generate adjustment signals through the control unit, guiding users to perform precise calibration and avoiding problems such as material transfer jams, mechanical interference, and decreased processing accuracy caused by module position offsets. In addition, this application's technical solution, through modular reconfiguration and positioning feedback mechanisms, improves equipment reuse rate and changeover efficiency while ensuring the stability and accuracy of the system after reconfiguration, meeting the high flexibility requirements of multi-variety mixed-flow production. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0028] Figure 1 This is an exploded view of the flexible intelligent manufacturing equipment of this application;

[0029] Figure 2 This is an overall schematic diagram of the flexible intelligent manufacturing equipment of this application;

[0030] Figure 3 This is an overall schematic diagram of the flexible intelligent manufacturing equipment of this application from a downward viewing angle;

[0031] Figure 4 This is a schematic diagram of the working modules in the flexible intelligent manufacturing equipment of this application;

[0032] Figure 5 This is one of the schematic diagrams of the standardized fixed interface group and module fixed interface group in the flexible intelligent manufacturing equipment of this application.

[0033] Figure 6 This is the second schematic diagram of the standardized fixed interface group and module fixed interface group in the flexible intelligent manufacturing equipment of this application.

[0034] Figure 7 This is a schematic diagram of the laser rangefinder in the flexible intelligent manufacturing equipment of this application.

[0035] Figure 8 This is a schematic diagram of the recognition camera in the flexible intelligent manufacturing equipment of this application.

[0036] Explanation of icon numbers:

[0037] 1. Flexible intelligent manufacturing equipment; 11. Frame; 111. Standardized fixing interface group; 1111. Threaded hole; 1112. Frame electromagnet; 12. Working module; 121. Feeding module; 122. Loading module; 123. Unloading module; 124. Module fixing interface group; 1241. Through hole; 1242. Module magnetic plate; 13. Detachable fixing mechanism; 14. Module position detection unit; 141. Laser rangefinder; 142. Recognition camera; 15. Control unit.

[0038] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0040] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0041] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0042] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if the word "and / or" appears throughout the text, it means including three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0043] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0044] In the industrial manufacturing sector, non-standard equipment is usually customized and developed according to specific process requirements. Although it can meet the high-efficiency operation of a single scenario, its fixed working modules and interface design result in low equipment reuse rate and high modification costs.

[0045] In material handling scenarios such as automotive welding lines, 3C electronic product assembly, and semiconductor packaging, it is necessary to frequently adjust the type and position of feeding, loading, and unloading modules to adapt to the transfer requirements of workpieces of different specifications. In related technologies, existing material handling equipment typically rigidly fixes various transfer modules to the machine base. Adjustments often require disassembling multiple fasteners of the corresponding transfer module, rewiring and calibrating the position, and re-drilling holes on the machine base, resulting in downtime of several hours. Sometimes, it is even necessary to directly replace other working equipment to meet production requirements. Furthermore, after replacing the transfer module, there are often module positioning deviations, which can easily lead to material jamming, mechanical interference, and deterioration of processing accuracy, making it difficult to meet the high-frequency reconfiguration and high transfer accuracy requirements of multi-variety mixed-flow production. In other words, existing material handling equipment suffers from poor versatility, low changeover efficiency, and accumulated transfer errors due to the difficulty in quickly replacing modules and the inaccurate positioning after reconfiguration, severely restricting flexible manufacturing capabilities.

[0046] In view of this, this application proposes a flexible intelligent manufacturing equipment 1, which effectively solves the problems of cumbersome module replacement and insufficient positioning accuracy of traditional equipment by using the unified design of the standardized fixed interface group 111 on the mounting surface of the frame 11 and the module fixed interface group 124 at the bottom of the working module 12, combined with the coordinated guidance of the module position detection unit 14 and the control unit 15.

[0047] Please refer to Figures 1 to 8 , Figures 1 to 8 The flexible intelligent manufacturing equipment 1 provided in this application is shown. Specifically, the flexible intelligent manufacturing equipment 1 may include a frame 11, multiple working modules 12, a detachable fixing mechanism 13, a module position detection unit 14, and a control unit 15.

[0048] The mounting surface of the frame 11 is provided with a standardized fixing interface group 111, which includes multiple fixing units distributed along a preset direction.

[0049] The working module 12 includes a feeding module 121, a loading module 122 and a unloading module 123, and each of the working modules 12 is provided with a module fixing interface group 124 at the bottom.

[0050] The detachable fixing mechanism 13 is formed by the cooperation of the standardized fixing interface group 111 and the module fixing interface group 124. The detachable fixing mechanism 13 is used to fix the working module 12 on the frame 11 through a detachable connection.

[0051] A module position detection unit 14 is disposed on the top of the frame 11 and is used to detect the position of the working module 12 on the mounting surface.

[0052] Control unit 15, which is electrically connected to module position detection unit 14, is used to generate a position adjustment signal based on module data collected by module position detection unit 14. The position adjustment signal is used to instruct the user to adjust the position of working module 12.

[0053] All of the module fixed interface groups 124 and the standardized fixed interface group 111 have the same mating size and connection form to enable the interchangeability of the same or different types of working modules 12.

[0054] Specifically, rack 11 refers to the basic frame structure that supports all working modules 12. It is usually made of high-strength metal (such as aluminum alloy or steel) and has one or more mounting surfaces on top for fixing the working modules 12. Power supply lines, air ducts and communication buses can be integrated inside rack 11 to provide energy and signal transmission channels for the working modules 12.

[0055] The standardized fixed interface group 111 refers to the collection of fixed units distributed according to a preset pattern on the mounting surface of the frame 11, used to provide a unified connection reference for the working modules 12. Its core function is to ensure that all working modules 12 can connect to the frame 11 in the same way through standardized design (such as uniform spacing, size, and shape). For example, the standardized fixed interface group 111 can be an array of threaded holes, specifically threaded holes 1111 distributed in a grid pattern, serving as a fixing reference for mechanical locking. The standardized fixed interface group 111 can also be uniformly distributed electromagnet units, serving as an adsorption reference for non-contact locking. In addition, the standardized fixed interface group 111 can also be other fixing structures, such as pneumatic clamping fixing structures.

[0056] The working module 12 refers to an independent unit that performs a specific function, including a feeding module 121 (for material supply), a loading module 122 (for material transfer), and a unloading module 123 (for finished product output). Each module has a module fixing interface group 124 at the bottom for matching with the standardized fixing interface group 111 of the frame 11.

[0057] The module fixing interface group 124 refers to the connection structure at the bottom of the working module 12, whose design perfectly matches the standardized fixing interface group 111 of the frame 11. For example, if the frame 11 is an array of threaded holes, the bottom of the module has a corresponding through-hole group; if the frame 11 is an electromagnetic adsorption point, the bottom of the module has a magnetic plate. Its core function is to achieve quick alignment and fixation between the module and the frame 11. It should be noted that all compatible interface groups of the working modules 12 are strictly uniform in size, spacing and connection form, thereby ensuring that modules of the same type can be directly interchanged across types. For example, the flexible vibration feeding module 121 can be replaced with a clip feeding module 121, or the flexible vibration feeding module 121 can be replaced with a tray module.

[0058] The detachable fixing mechanism 13 is a connection system composed of a standardized fixing interface group 111 and a module fixing interface group 124. It achieves the detachable fixing of the working module 12 through physical action (such as mechanical clamping force and electromagnetic adsorption force). Detachable fixing refers to a connection form that can be separated without damaging the structure (such as bolt connection, electromagnetic adsorption, pneumatic clamping, etc.). Its core feature is that it allows the working module 12 to be quickly replaced.

[0059] Specifically, if the detachable fixing mechanism 13 is a bolt-connected fixing structure, suitable for heavy-duty processing environments (such as stamping and bending) requiring high vibration resistance and rigid fixing, then the mounting surface of the frame 11 can be an array of threaded holes, and the bottom of the working module 12 corresponds to a group of through holes, with bolts used in conjunction with the detachable fixing mechanism 13. If the detachable fixing mechanism 13 is an electromagnetic adsorption fixing structure, suitable for cleanrooms or high-frequency changeover production lines (such as electronic assembly), requiring non-contact and rapid operation, then the mounting surface of the frame 11 can be an electromagnetic adsorption unit array, and the bottom of the working module 12 corresponds to a magnetic plate.

[0060] In this application, all module fixing interface groups 124 and standardized fixing interface groups 111 have the same mating dimensions and connection forms. Specifically, all module fixing interface groups 124 of working modules 12 and standardized fixing interface groups 111 of rack 11 are completely identical in size (such as hole diameter, spacing), shape (such as round, square) and connection method (such as threaded engagement, magnetic attraction). This is the core technical basis for realizing module interchangeability.

[0061] In some application scenarios, a mobile phone assembly line needs to switch between different models of camera welding modules on the same production line. In existing welding machines, the welding module is fixed to the frame 11 by welding. When replacing it, the original welding module needs to be cut and the new welding module welded to the frame 11, which may take several hours, meaning the welding machine needs to be shut down for several hours. In this application, the detachable fixing mechanism 13 can be an electromagnetic adsorption type. Therefore, when replacing the welding module, the corresponding electromagnet can be de-energized, causing the frame 11 to lose its adsorption force on the welding module. At this time, the new welding module can be replaced. Then, the corresponding electromagnet is energized, restoring the adsorption force of the frame 11 on the replaced welding module, fixing the replaced welding module, and completing the welding module replacement. Obviously, compared with the prior art, the embodiment of this application can quickly replace the working module 12 without damaging the frame 11 or the working module 12.

[0062] like Figure 1 and Figure 4 As shown, where, Figure 1 The feeding module and unloading module in the middle are respectively with Figure 4The feeding module and unloading module are different types of modules, so it can be seen that the type and position of the working module can be easily changed in the embodiments of this application.

[0063] like Figure 2 and Figure 3 As shown, the module position detection unit 14 is a position sensing system installed on the top of the rack 11, used to detect the actual installation position of the working module 12. Specifically, it can be an optical sensor, such as a laser displacement sensor, which obtains position coordinates by measuring the reflective marks on the side of the module; or a vision system, such as using a recognition camera 142 to photograph the positioning mark (such as a QR code or specific pattern) on the top of the working module 12, or photographing the shape of the working module 12 for module identification, and calculating the position deviation through image processing; or a contact probe, such as triggering a position signal by contacting the edge of the module with a mechanical probe. Therefore, the module position detection unit 14 can monitor the actual position of the module after installation in real time, identify the offset caused by assembly errors or deformation of the rack 11, thereby providing data for adjusting the position of the working module 12.

[0064] The control unit 15 can receive data collected by the module position detection unit 14 and generate visual adjustment instructions. Specifically, it can perform operations such as deviation calculation, signal generation, and data recording, transforming abstract position deviations into intuitive operation instructions, thereby reducing reliance on operator experience and ensuring consistent adjustment accuracy. In addition, the control unit 15 can be electrically connected to the feeding module 121, the loading module 122, and the unloading module 123 respectively, to control the feeding module 121, the loading module 122, and the unloading module 123 to perform corresponding operations.

[0065] In some typical application scenarios, such as in automotive body-in-white welding production lines, the size differences of parts from different car models necessitate frequent replacements of the feeding and loading modules 122. In traditional solutions, the feeding, loading, and unloading modules 123 are typically rigidly fixed by welding or bolts. Replacing the working module 12 requires cutting / drilling, taking several hours and resulting in low replacement efficiency. Furthermore, after reinstalling the working module 12, manual visual alignment is required, leading to positioning errors and increasing the failure rate of the loading module 122, such as when gripped by a welding robot. Additionally, the interfaces of different working modules 12 may be inconsistent, making modules from different suppliers incompatible. However, in this embodiment, the operator can quickly disassemble and install the new working module 12 using the detachable fixing mechanism 13, significantly reducing production line reconfiguration time, for example, to within half an hour. Moreover, this embodiment can use the module position detection unit 14 to detect the position of the working module 12 in real time and generate a position adjustment signal through the control unit 15, thereby instructing the user to adjust the position of the working module 12 with positional deviations, thus improving the positioning accuracy of the working module 12.

[0066] The flexible intelligent manufacturing equipment 1 provided in this application, through the unified design of the standardized fixed interface group 111 on the mounting surface of the frame 11 and the module fixed interface group 124 at the bottom of the working module 12, combined with the coordinated guidance of the module position detection unit 14 and the control unit 15, effectively solves the problems of cumbersome module replacement and insufficient positioning accuracy in traditional equipment. Furthermore, the universality of the standardized interface allows for quick disassembly and interchangeability of the feeding, loading, and unloading modules 123 without the need for re-drilling or adjusting the mechanical structure, significantly reducing downtime. The module position detection unit 14 can monitor installation deviations in real time and generate adjustment signals through the control unit 15, guiding users to perform precise calibration and avoiding problems such as material transfer jams, mechanical interference, and decreased processing accuracy caused by module position offset. In addition, through modular reconstruction and positioning feedback mechanisms, this application's technical solution improves equipment reuse rate and changeover efficiency while ensuring the stability and accuracy of the system after reconstruction, meeting the high flexibility requirements of multi-variety mixed-flow production.

[0067] like Figure 5 As shown, in some optional embodiments, the standardized fixing interface group 111 includes a threaded hole array, the module fixing interface group 124 includes a through hole group, and the detachable fixing mechanism 13 further includes a bolt that passes through the through hole 1241 and engages with the threaded hole 1111. The bolt simultaneously undertakes the functions of module positioning and locking. The threaded holes 1111 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 a plurality of through holes 1241, and the distance between any two adjacent through holes 1241 is a second preset distance, which is an integer multiple of the first preset distance.

[0068] In this embodiment, the standardized fixing interface group 111 is an array of threaded holes on the mounting surface of the frame 11. This array is evenly distributed at preset intervals along mutually perpendicular X and Y axes, forming a gridded fixing reference covering the entire mounting surface. The module fixing interface group 124 at the bottom of the working module 12 is a through-hole group, with the diameter of the through-hole 1241 slightly larger than the inner diameter of the threaded hole 1111. For example, assuming the threaded hole 1111 is an M8 threaded hole 1111, then the M8 threaded hole 1111 corresponds to a Φ8.5mm through-hole 1241, with a tolerance range of ±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 1241 can be aligned with the corresponding threaded holes 1111 when the module is at any position on the mounting surface. The inner wall of the through-hole 1241 needs to be deburred and chamfered (e.g., C0.5) at the edges to allow bolts to pass through smoothly. Furthermore, the detachable fixing mechanism 13 can use stainless steel bolts (such as A2-70 grade). These bolts can be used with a combination of spring washers and flat washers. The spring washers prevent loosening, while the flat washers distribute the clamping force, preventing deformation of the module or frame 11 surface. In this case, the bolt can simultaneously perform both coarse positioning and fine locking functions. The coarse positioning function refers to the dimensional matching between the through hole 1241 and the threaded hole 1111 (ensuring automatic alignment during initial module placement, with a positional deviation not exceeding ±0.2mm). The fine locking function refers to the axial clamping force generated by tightening the bolt to a preset torque, which firmly fixes the module to the frame 11, achieving a vibration resistance of 10g acceleration (compliant with GB / T 2423.10 standard).

[0069] Specifically, the threaded hole array in the standardized fixed interface group 111 is uniformly distributed at a first preset interval along a first mutually perpendicular direction (e.g., the X-axis) and a second direction (e.g., the Y-axis), forming a gridded positioning reference covering the mounting surface of the frame 11. For example, assuming the first preset interval is 50mm, that is, the center-to-center distance between adjacent threaded holes 1111 in the X-axis and Y-axis directions is 50mm, forming a 50mm × 50mm standard grid. The threaded holes 1111 are M8 specification, 15mm deep, and have a thread accuracy grade of 6H. This gridded design ensures that any position on the mounting surface of the frame 11 can serve as a fixed reference point for the module. Furthermore, the gridded layout of the threaded hole array can be formed in one step by a CNC machining center, with a positional accuracy error of less than ±0.05mm. The surface of the threaded holes 1111 is galvanized to improve corrosion resistance.

[0070] In the through-hole group at the bottom of the working module 12, the distance between any two adjacent through holes 1241 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 50mm, the second preset distance can be set to 200mm (i.e., 4 times the distance) or 400mm (i.e., 8 times the distance), etc. By setting the spacing of the through holes 1241 to an integer multiple of the spacing of the threaded holes 1111, it is ensured that no matter how the module moves in the grid, the through-hole group at its bottom can be completely aligned with at least one set of threaded holes 1111. For example, when the module length is 1000mm, its bottom through-hole group is provided with two through holes 1241 along the X-axis direction, with a spacing of 800mm (16×50mm). Then, every time the module moves 50mm along the X-axis on the frame 11, the through hole 1241 can be aligned with the next set of threaded holes 1111. Understandably, the bottom of the working module 12 typically has four through holes 1241: two in the X-axis direction and two in the Y-axis direction. The spacing between the two through holes 1241 in the X-axis direction and the spacing between the two through holes 1241 in the Y-axis direction are both set as a second preset spacing. However, it should be noted that the second preset spacing in the X-axis direction and the second preset spacing in the Y-axis direction may be the same or different. For example, the second preset spacing in the X-axis direction may be four times the first preset spacing, and the second preset spacing in the Y-axis direction may be three times the first preset spacing.

[0071] 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 frame 11 structure must be modified by stopping the machine. Because additional welding modules are needed, the positions of other related working modules 12 (e.g., feeding module 121, loading module 122, unloading module 123) must be adjusted simultaneously. In existing technologies, the feeding module 121, loading module 122, and unloading module 123 may be fixed to the frame 11 by welding. If adjustments are needed, these working modules 12 must 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 must be determined, and new holes must 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 1241 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.

[0072] 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.

[0073] 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 1241 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.

[0074] In this embodiment, by matching the radius of the positioning post with the distance between the through hole 1241 in the working module 12 and the bottom edge, when the positioning post is fixed to the threaded hole 1111 by the fixing bolt, and the bottom edge of the working module 12 abuts against the positioning post, the through hole 1241 at the bottom of the working module 12 can communicate with the threaded hole 1111 at the top of the frame 11 so that the bolt can pass smoothly to fix the working module 12, thereby fully realizing the precise positioning function of the positioning post.

[0075] like Figure 6 As shown, in some other embodiments, the detachable fixing mechanism 13 includes a complementary electromagnetic unit and a magnetically conductive unit. The electromagnetic unit is integrated into the standardized fixing interface group 111 or the module fixing interface group 124 and includes at least one electromagnet array. The magnetically conductive unit is correspondingly integrated into the module fixing interface group 124 or the standardized fixing interface group 111 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 12 by adsorption force when energized.

[0076] In this embodiment, the detachable fixing mechanism 13 can be composed of complementary electromagnetic units and magnetically conductive units. That is, besides the detachable fixing mechanism 13 composed of threaded holes 1111, through holes 1241, and bolts mentioned above, the detachable fixing mechanism 13 can also be composed of complementary electromagnetic units and magnetically conductive units. An electromagnetic unit refers to the component in the detachable fixing mechanism 13 that generates a magnetic field, and is composed of an array of electromagnets. The electromagnetic unit can be integrated into the standardized fixing interface group 111 of the frame 11 or the module fixing interface group 124 of the working module 12. An electromagnet array is a collection of one or more electromagnets arranged according to a preset rule (such as a grid). A magnetically conductive unit refers to the magnetically conductive component in the detachable fixing mechanism 13 that cooperates with the electromagnetic unit, and is composed of a magnetically conductive region. The magnetically conductive unit is correspondingly integrated into the module fixing interface group 124 or the standardized fixing interface group 111. The magnetically conductive region is a magnetically conductive structure made of a high-permeability material (such as low-carbon steel or silicon steel), used to concentrate magnetic field lines and enhance electromagnetic attraction. Distribution matching ensures a perfect physical correspondence between the magnetic and electromagnetic units. For example, if the electromagnetic unit is an electromagnet with a 50mm x 50mm grid, the magnetically conductive unit must cover at least one complete grid area (e.g., a 50mm x 50mm magnetically conductive plate). Adsorption fixation refers to the process where, when energized, the electromagnetic unit generates a magnetic field, and the magnetically conductive unit is attracted by magnetization, forming a non-contact fixation; when the power is off, the magnetic field disappears, the adsorption force is released, and quick disassembly is achieved.

[0077] 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.

[0078] 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 124 is a magnetic guiding unit, the magnetic guiding unit is a module magnetic guiding plate 1242, and each working module 12 is fixed with the module magnetic guiding plate 1242 at its bottom.

[0079] 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 124 is a module magnetic plate 1242, i.e., the module magnetic plate 1242 is fixed to the bottom of the working module 12. The module magnetic plate 1242 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.

[0080] In some applications, such as in the surface mount technology (SMT) process for smartphone motherboards, different SMT head modules need to be replaced depending on the component type (e.g., resistors, chips). In traditional solutions, the SMT head is bolted to the frame 11, requiring the removal of 6-8 bolts and the use of positioning pins for calibration, a time-consuming operation. Furthermore, metal debris generated during bolt removal can contaminate the circuit board, increasing the product defect rate, and frequent mechanical contact gradually reduces module positioning accuracy. This application's implementation uses an electromagnet array and magnetic plate fixing mechanism. A module magnetic plate 1242 is fixed to the bottom of the SMT head module. During replacement, the power supply to the frame electromagnet 1112 in the original module area is disconnected via the control system. After the magnetic attraction disappears, the module is directly removed. The new module is then moved to the target grid area. Upon power-up, the target grid area instantly attracts the module magnetic plate 1242, thus fixing the SMT head module, allowing it to be put into production. Changeover time can be reduced from 1 hour to 3 minutes, avoiding prolonged production line downtime. Furthermore, zero-contact operation eliminates metal debris, reducing the product defect rate. In addition, it can improve the accuracy of repeatability.

[0081] This invention achieves high-precision non-contact fixation of the working module 12 through the gridded independent control of the electromagnet array and the precise matching design of the modular magnetic plate 1242. The standardized dimensions and high magnetic permeability of the modular magnetic plate 1242 ensure the uniformity and stability of the adsorption force. In scenarios such as frequent replacement of the working module 12, optical precision assembly, and medical clean production, the embodiments of this application, with their advantages of high versatility, no pollution, high efficiency, and high precision, solve the problems of poor versatility, low efficiency, and product quality risks caused by traditional mechanical fixation, providing technical support for the high-end manufacturing field.

[0082] In some specific embodiments, the control unit 15 is electrically connected to the rack electromagnet 1112 via the power supply bus, and is used to independently control the opening and closing state of each rack electromagnet 1112.

[0083] In this embodiment, the control unit 15 is an electronic control system in the flexible intelligent manufacturing equipment 1 responsible for managing the on / off states of the rack electromagnets 1112. It independently controls the energization and de-energization of each electromagnet by analyzing module position signals or operation commands. The power supply bus is the power transmission network connecting the control unit 15 and the electromagnet array, employing an independent circuit design to ensure that the on / off states of each rack electromagnet 1112 do not interfere with each other. The on / off state of the rack electromagnets 1112 refers to their energized (on) or de-energized (off) states. When energized, the rack electromagnets 1112 generate an attractive force; when de-energized, the attractive force disappears.

[0084] The control unit 15 can be integrated inside or on the rack 11, and may include a main control unit, a signal acquisition unit, and a drive unit. The main control unit can receive external commands (such as module position coordinates or process parameters), and generate electromagnet control signals after parsing. The signal acquisition unit can monitor the module position and electromagnet operating status in real time using sensors (such as position sensors and current sensors). The drive unit can send power-on or power-off commands to designated rack electromagnets 1112 according to the control signals. The power supply bus uses multi-channel independent wiring, with each line corresponding to one rack electromagnet 1112, ensuring that the control unit 15 can individually control the on / off state of any rack electromagnet 1112. For example, when a working module 12 needs to be replaced, the control unit 15 can only turn off the rack electromagnets 1112 in the area covered by that working module 12, so that the rack 11 no longer exerts an attractive force on that working module 12, allowing for easy replacement of the working module 12. Meanwhile, the frame electromagnets 1112 in the remaining areas remain on, and the frame 11 continues to exert an attractive force on these areas, ensuring that the corresponding working modules 12 remain fixed.

[0085] This embodiment of the application achieves precise management of the adsorption force by independently controlling the opening and closing of the frame electromagnet 1112 through the control unit 15. When it is necessary to replace the module, only the adsorption force of the target area is released, while other areas remain fixed, which not only greatly improves the versatility of the equipment, but also ensures the continuous operation of the production line.

[0086] In 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 disposed on the top of the frame 11, the module fixed interface group 124 is a magnetic guiding unit, the magnetic guiding unit is a module magnetic guiding plate 1242, and the bottom of each working module 12 is fixed with the module magnetic guiding plate 1242.

[0087] In this embodiment, the electromagnetic unit is also mounted on the frame 11, but instead of an electromagnet array, it is a continuous electromagnet plate embedded in the top of the frame 11. The area of ​​this continuous electromagnet plate can be equal to or smaller than the area of ​​the mounting surface at the top of the frame 11. The module fixing interface group 124 is a magnetically conductive unit, specifically a module magnetically conductive plate 1242. When the electromagnetic unit is a continuous electromagnet plate, the entire mounting surface of the frame 11 can provide magnetic attraction, resulting in better stability. Furthermore, other accessories can be arbitrarily fixed to the mounting surface using magnetic force, improving the expandability of the equipment.

[0088] In some specific embodiments, the detachable fixing mechanism 13 further includes a positioning post, which is a magnetic conductor. The positioning post is used to detachably fix the frame 11 at a preset position under the magnetic attraction of the continuous electromagnet plate, so as to position the working module 12 to the corresponding working area.

[0089] In this embodiment, when a continuous electromagnet plate is provided on the top of the frame 11, the positioning posts made of magnetic conductive material can be magnetically attracted and fixed to the mounting surface of the frame 11. Users can fix several positioning posts at preset positions on the mounting surface of the frame 11 as needed. For example, the positioning posts can be used to enclose a rectangular working area. Users only need to place the working module 12 into this working area, and the working module 12 will be fixed under magnetic force without needing to adjust its position. Furthermore, users can adjust the magnetic force exerted by the continuous electromagnet plate on the working module 12 by adjusting the current or voltage applied to it. For example, the magnetic force can be reduced so that after initially placing the working module 12 into the working area enclosed by the positioning posts, the user can further adjust the position of the working module 12 under a smaller magnetic force, ensuring that the working module 12 accurately reaches the preset working area.

[0090] In the usage scenario corresponding to the embodiments of this application, when a user needs to change the position of the working module 12, the positioning posts in conventional technology are usually welded to the frame 11, and therefore are generally immovable. When the position of the working module 12 needs to be changed, the corresponding positioning posts need to be re-welded, and if there are positioning posts in the corresponding working area after the working module 12 is moved, these positioning posts also need to be cut off, which is very inconvenient and results in low module replacement efficiency. In the embodiments of this application, the positioning posts are magnetic materials, which are fixed to the frame 11 by magnetic adsorption. Therefore, the user can adjust the position of the positioning posts at any time as needed, which is simple to operate and highly efficient, further improving the versatility of the flexible intelligent manufacturing equipment 1.

[0091] 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 to the top of the frame 11, the module fixed interface group 124 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.

[0092] 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 124 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 15 via its 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 attraction 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 manually or with auxiliary equipment (such as a robotic arm) remove the working module 12 after the magnetic attraction disappears.

[0093] 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 module electromagnet. The operation is simple and can greatly improve the versatility of the flexible intelligent manufacturing equipment 1.

[0094] In some embodiments, the working module 12 further includes a universal power module, which includes one or more standardized power interfaces and a power bus. The working module 12 includes a power input interface, the electrical parameters of which are matched with those of the standardized power interface. A power through-hole 1241 is provided on the standardized fixed interface group 111, through which the standardized power interface is detachably connected to the power input interface. The power bus passes through the universal power module and is connected to the power output interface group for distributing electrical energy to any of the connected working modules 12.

[0095] In this embodiment, a universal power module can be housed inside the rack 11 to power the working modules 12, such as the functional module 123, the feeding module 121, the loading module 122, and the unloading module 123. The universal power module includes one or more standardized power interfaces, and a power input interface is provided on the working module 12. The electrical parameters of the standardized power interface match those of the power input interface, meaning the universal power module has a wide voltage / current output capability, allowing different working modules 12 to establish an electrical connection with it. Therefore, when a working module 12 needs to be replaced, the user can disconnect the standardized power interface from the power input interface of the working module 12 to be replaced. After replacing the new working module 12, the standardized power interface can be reconnected to the power input interface of the new working module 12 to power it. In other words, when replacing a working module 12, it is not necessary to replace the corresponding power module, enabling power module reuse, reducing costs, and further improving the versatility of the flexible intelligent manufacturing equipment 1. Furthermore, the centralized power supply design of the power bus reduces redundant wiring and lowers hardware complexity.

[0096] like Figure 7 As shown, in some embodiments, the module position detection unit 14 is a laser ranging array, which includes four laser rangefinders 141. The four laser rangefinders 141 are respectively arranged at the four corners of the top plate of the frame 11. The laser ranging array is used to measure the position of the working module 12 on the mounting surface.

[0097] In this embodiment, the module position detection unit 14 can be a position sensing device based on the laser ranging principle, with its core component being a laser ranging array. The array consists of four independent laser rangefinders 141, each including a laser emitter, a receiver, and a signal processing circuit. The four laser rangefinders 141 are rigidly fixed to the four corners of the top plate of the frame 11 (i.e., the four vertices of the geometric rectangle on the top surface of the frame 11), ensuring that the laser emission direction of each rangefinder points vertically downwards towards the mounting surface during installation. The rangefinders can be connected to the frame 11 via adjustable angle brackets (e.g., a universal ball joint structure), thereby ensuring that the laser beam covers the entire mounting surface.

[0098] Specifically, a single laser rangefinder 141 can be a phase-based ranging device based on the TOF (Time-of-Flight) principle, which may include: a laser emitting module for emitting a near-infrared laser beam with a wavelength of 850nm and a beam divergence angle ≤0.5mrad; a reflection receiving module for receiving the laser signal reflected from the top surface of the working module 12, with a built-in APD avalanche photodiode; and a data processing module for calculating the laser round-trip time through the phase difference and outputting the distance measurement value.

[0099] The specific workflow is as follows:

[0100] Reference calibration: In the module-free state, four rangefinders simultaneously measure the reflection distance of the mounting surface reference plate to establish the origin of the coordinate system; Module detection: After the working module 12 is placed on the mounting surface, the laser beams emitted by each rangefinder illuminate the preset reflection area on the top surface of the module (e.g., the positioning mark on the reflective film); Distance calculation: Based on the distance values ​​dd from the four rangefinders to the module reflection point, combined with the known coordinates (x, y) to (x, y) of each rangefinder, the module center coordinates (X, Y) and deflection angle θ are solved by the least squares method; Deviation output: The calculated actual position is compared with the preset theoretical position to generate adjustment signals including horizontal deviation, longitudinal deviation and rotational deviation.

[0101] In this embodiment, by designing a multi-sensor spatial distribution and fusion algorithm, X / Y / θ three-dimensional deviation data can be output in real time, so as to promptly detect the position deviation of the replaced working module 12, thereby improving detection accuracy and adaptability.

[0102] In some specific embodiments, the flexible intelligent manufacturing equipment 1 further includes a module identification unit, which includes an RFID tag and a reader / writer. The RFID tag is disposed in the working module 12, and the reader / writer is disposed on the frame 11. Each RFID tag stores module information corresponding to the working module 12.

[0103] In this embodiment, the module identification unit can be a module identity authentication system based on radio frequency identification (RFID) technology, consisting of RFID tags and a reader / writer. The RFID tags are passive electronic tags that can be embedded inside each working module 12; the reader / writer is a fixed radio frequency scanning device that can be installed in the electrical control box of the rack 11. By automatically acquiring the identification information of the working module 12 through wireless radio frequency signals, identity verification, automatic parameter loading, and usage record tracking of the working module 12 can be achieved.

[0104] The workflow is as follows: When a new working module 12 is placed on the mounting surface of the rack 11, the reader can continuously transmit radio frequency signals to activate the RFID tag in the working module 12. The RFID tag can return the stored module information through backscatter modulation. Then the reader can parse the received signal, extract the module ID and parameters, and transmit them to the control unit 15.

[0105] The implementation method can automatically identify the module type of the working module 12 installed on the rack 11, so that further control can be carried out based on the identification results.

[0106] like Figure 8As shown, in some other embodiments, the module position detection unit 14 is an identification camera 142, which is disposed in the middle of the top plate of the frame 11. The identification camera 142 is used to measure the position of the working module 12 on the mounting surface and to identify the module type of the working module 12.

[0107] In this embodiment, the module position detection unit 14 can be a machine vision-based recognition system, with a high-resolution recognition camera 142 as its core component. The recognition camera 142 can be an industrial-grade color CCD camera, equipped with a telecentric lens and a ring-shaped LED supplementary light source, used to simultaneously acquire the geometric position information and surface feature data of the working module 12. The recognition camera 142 can be fixed to the geometric center of the top plate of the frame 11 using an adjustable pitch-angle mounting bracket, with a mounting height of 1.5 meters above the mounting surface, and the lens optical axis vertically aligned with the center of the mounting surface. The camera's field of view covers the entire mounting surface area, ensuring that the working module 12 at any position can be completely photographed.

[0108] In this embodiment, the module position detection unit 14 can identify the edge contour of the working module 12 through an image processing algorithm, calculate its center coordinates (X, Y) and rotation angle θ, and thus measure the position deviation of the working module 12. It can also identify the module type (such as a feeding module 121, a loading module 122, or a unloading module 123) by analyzing preset marking patterns (such as QR codes, color block codes, or specific shape markings) on the module surface.

[0109] In some embodiments, the control unit 15 is configured to: receive the module data collected by the module position detection unit 14, determine the target working module 12 corresponding to the module data, obtain the preset module data corresponding to the target working module 12, determine whether the target working module 12 has a position deviation based on the preset module data and the module data, and if the determination result is that the target working module 12 has a position deviation, generate the position adjustment signal based on the preset module data.

[0110] In this embodiment, the control unit 15 can perform integrated data processing, logical judgment, and signal output operations. It can be installed in a protective control cabinet on the side of the rack 11 and connected to the module position detection unit 14, RFID reader / writer, and identification camera 142 via an industrial Ethernet bus. The cables are laid along the pre-embedded cable trays in the rack 11 to avoid external mechanical interference.

[0111] Specifically, the control unit 15 can receive data and identify targets. When the working module 12 is placed on the mounting surface of the rack 11, the control unit 15 receives raw data from the module position detection unit 14 (such as the module ID of the RFID tag, or the module type and coordinates obtained by the identification camera 142). Then, by parsing the module ID or type code, it retrieves the preset parameters of the corresponding module (including theoretical installation coordinates and allowable position deviation range ±Δmax) in the storage module, and then performs deviation calculation and judgment. Specifically, it can compare the detected actual coordinates (X_act, Y_act, θ_act) with the preset theoretical coordinates (X_ref, Y_ref, θ_ref) to calculate the deviation of the working module 12 in each direction. If any deviation exceeds the allowable threshold (such as ΔX>±0.5mm, Δθ>±0.5°), it can be determined that there is a position deviation. Then, according to the direction and magnitude of the deviation, a corresponding adjustment signal can be generated. The adjustment signal can be a text prompt, such as "move 3mm to the left" or "rotate 0.3° counterclockwise"; it can also be a graphic guide, such as displaying an arrow on the HMI interface indicating the adjustment direction, with the arrow length proportional to the deviation range; or it can be projected using a laser projector to show the correct installation position of the corresponding working module 12.

[0112] The embodiments of this application improve decision-making efficiency by replacing manual experience-based judgment with automated judgment, and the combination of quantitative deviation data and visual guidance can improve adjustment accuracy.

[0113] In some embodiments, the flexible intelligent manufacturing equipment 1 further includes a laser projector, which is electrically connected to the control unit 15. The laser projector is located in the middle of the top plate of the frame 11 and is used to project the correct installation position of the working module 12 under the control of the control unit 15.

[0114] In this embodiment, the laser projector is a high-precision optical projection device used to project visual module positioning guidance onto the mounting surface of the rack 11. Its core components may include a laser light source, a galvanometer system, and a control interface. The laser projector can be fixed to the geometric center of the top plate of the rack 11 using a rigid bracket, with an installation height of 1.5-2 meters from the mounting surface, and the projection optical axis coinciding with the normal to the mounting surface. The projector's light outlet faces downwards to ensure the laser beam covers the entire mounting surface area, and the projection range matches the maximum outer dimensions of the working module 12. The laser projector can directly project the theoretical installation position calculated by the control unit 15 onto the mounting surface as a laser graphic, providing an intuitive spatial position reference for manual adjustment and eliminating visual errors associated with traditional scale alignment.

[0115] Specifically, the workflow of the laser projector can include: the laser projector receiving in real time the theoretical outline of the target module (such as a rectangle or crosshair), the allowable deviation range boundary (such as a red dashed box indicating a ±0.5mm tolerance zone), and the current deviation direction indication (such as a flashing arrow indicating the adjustment direction) sent by the control unit 15. Then, the galvanometer system can drive the laser beam to scan at high speed based on the coordinate data, forming a continuously visible positioning mark on the mounting surface. For example, a green solid box indicates the theoretical position the module should reach; a yellow dashed box indicates the current actual position of the module; and a red arrow indicates the direction and distance to be moved. When the module position is manually adjusted, the laser pattern is updated with real-time data feedback from the control unit 15, forming a closed-loop guidance system.

[0116] In some applications, such as wafer transfer equipment, vacuum chuck modules need to be frequently repositioned depending on the wafer size (e.g., 8-inch vs. 12-inch). Traditional solutions rely on precise rulers and microscopes for visual alignment, which can take over 15 minutes per adjustment. Furthermore, manual reading of the scale can introduce cumulative errors of 0.1-0.3 mm, leading to wafer robotic arm failures. In this embodiment, however, a laser projector can directly calibrate the theoretical position, reducing adjustment time to within 2 minutes. Real-time projection also allows for manual adjustment accuracy of ±0.05 mm, thereby reducing wafer breakage rates.

[0117] The embodiments of this application replace physical rulers with laser graphics, which greatly improves the calibration speed and reduces the skill requirements of operators through dynamic projection guidance, optimizes the human-computer interaction experience, and helps users improve adjustment accuracy.

[0118] In some specific embodiments, the control unit 15 is further configured to: if the determination result is that the target working module 12 has a positional deviation, generate a first projection signal according to the preset module data, and send the first projection signal to the laser projector to instruct the laser projector to project the correct installation position of the target working module 12 according to the first projection signal.

[0119] In this embodiment, the first projection signal is a digital control command generated by the control unit 15 based on the position deviation analysis result. Specifically, it may include: theoretical position graphic data, i.e., the theoretical contour coordinates (such as the vertex coordinates of a rectangle) that the target working module 12 should reach; deviation indication parameters, i.e., the offset direction (ΔX, ΔY) and magnitude between the current actual position and the theoretical position; and projection display mode, i.e., graphic color (such as green for theoretical position and red for deviation direction) and flashing frequency (such as 2Hz for emergency adjustment).

[0120] Specifically, the control unit 15 can receive the actual coordinate data reported by the module position detection unit 14, then retrieve the preset theoretical coordinates of the module from the storage module, calculate the deviation vector between the actual coordinates and the theoretical coordinates, and finally convert the deviation vector into a graphic control command (first projection signal) that can be parsed by the laser projector. The laser projector can parse the coordinate data in the first projection signal, drive the galvanometer system to generate a theoretical position contour graphic at a preset scanning speed, and then provide dynamic guidance, superimposing the current module's actual position (such as a semi-transparent yellow box) and theoretical position (a green solid line box) to form a visual comparison. Then, closed-loop adjustment is performed, and the operator can move the module according to the projection guidance. The control unit 15 can continuously monitor position changes and update the projection graphic in real time until the deviation is eliminated.

[0121] In some embodiments, the control unit 15 is further configured to: when installing the working module 12 to be installed, determine the module type of the working module 12 to be installed, obtain the preset installation position of the working module 12 to be installed according to the module type, generate a second projection signal according to the preset installation position, and send the second projection signal to the laser projector to instruct the laser projector to project the preset installation position of the working module 12 to be installed according to the second projection signal.

[0122] In this embodiment, besides indicating the positional deviation of the working module 12 after replacement, the control unit 15 can also indicate the installation position of the working module 12 during replacement. Specifically, the control unit 15 can determine the type of the working module 12 to be installed through RFID reading or visual recognition, then retrieve the preset position of that type of working module 12 from its built-in storage module, and then convert the coordinate data into a vector graphic instruction (second projection signal) recognizable by the laser projector according to the preset installation coordinates corresponding to the identified module type. After receiving the second projection signal, the laser projector can project the theoretical installation position graphic of the module onto the mounting surface.

[0123] This application's implementation can directly mark the theoretical installation area using laser projection, eliminating manual search time and significantly improving installation efficiency. Furthermore, it supports installation rules for new modules simply by updating the database, requiring no hardware modifications and increasing scalability. The above are merely optional embodiments of this application and do not limit the patent scope. Any equivalent structural transformations made based on the inventive concept of this application, utilizing the description and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A flexible intelligent manufacturing equipment, 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; Multiple working modules, including a feeding module, a loading module and a unloading module, and each working module has a module fixing interface group at the bottom; 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. A module position detection unit is disposed on the top of the frame and is used to detect the position of the working module on the mounting surface; A control unit, electrically connected to the module position detection unit, is used to generate a position adjustment signal based on the module data collected by the module position detection unit. The position adjustment signal is used to instruct the user to adjust the position of the working module. All of the module fixed interface groups and the standardized fixed interface groups have the same mating size and connection form to enable the interchange of the same or different types of working modules; The control unit is configured to: receive the module data collected by the module position detection unit, determine the target working module corresponding to the module data, obtain the preset module data corresponding to the target working module, determine whether the target working module has a position deviation based on the preset module data and the module data, and generate the position adjustment signal based on the preset module data if the determination result is that the target working module has a position deviation. The flexible intelligent manufacturing equipment also includes a laser projector, which is electrically connected to the control unit. The laser projector is located in the middle of the top plate of the frame and is used to project the correct installation position of the working module under the control of the control unit. The control unit is further configured to: if the determination result indicates that the target working module has a positional deviation, generate a first projection signal based on the preset module data and send the first projection signal to the laser projector to instruct the laser projector to project the correct installation position of the target working module based on the first projection signal.

2. The flexible intelligent manufacturing equipment 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 equipment 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 equipment as described in claim 1, characterized in that, The module position detection unit is a laser ranging array, which includes four laser rangefinders. The four laser rangefinders are located at the four corners of the top plate of the frame. The laser ranging array is used to measure the position of the working module on the mounting surface.

5. The flexible intelligent manufacturing equipment as described in claim 4, characterized in that, The flexible intelligent manufacturing equipment also includes a module identification unit, which includes RFID tags and readers. The RFID tags are set inside the working modules, and the readers are set on the frame. Each RFID tag stores module information corresponding to the working module.

6. The flexible intelligent manufacturing equipment as described in claim 1, characterized in that, The module position detection unit is a recognition camera, which is located in the middle of the top plate of the frame. The recognition camera is used to measure the position of the working module on the mounting surface and to identify the module type of the working module.

7. The flexible intelligent manufacturing equipment as described in claim 1, characterized in that, The control unit is further configured to: when installing a working module to be installed, determine the module type of the working module to be installed, obtain a preset installation position of the working module to be installed according to the module type, generate a second projection signal according to the preset installation position, and send the second projection signal to the laser projector to instruct the laser projector to project the preset installation position of the working module to be installed according to the second projection signal.

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