Human-robot collaborative lean assembly workbench based on flexible end effector

Abstract

This utility model relates to the field of assembly workbench technology and discloses a human-machine collaborative lean assembly workbench based on a flexible end effector. It includes an assembly workbench, a flexible end effector parts area, an installation tool area, an assembly verification area, a screw-locking device, and control equipment. The assembly workbench serves as a support, with the screw-locking device, flexible end effector parts area, and material storage area arranged sequentially from top to bottom on one side of the assembly workbench. The installation tool area is located at the front end of one side of the assembly workbench. The assembly verification area and control equipment are located in the middle and bottom of the other side of the assembly workbench, respectively. A warning light is installed at the top of one side of the assembly workbench. This utility model's assembly workbench is designed for lean assembly of flexible end effectors. Through unique technical solutions, it can achieve efficient and flexible assembly, high-precision assembly, enhanced lean management, and integrated design, demonstrating significant technical effects and practical value.

Description

Technical Field

[0001] This utility model relates to the field of assembly workbench technology, specifically a human-machine collaborative lean assembly workbench based on a flexible end effector. Background Technology

[0002] Currently, in the field of automated production and assembly, as the manufacturing industry continues to demand higher production efficiency, product quality, and production flexibility, lean assembly operations have become a key link in enhancing industrial competitiveness. Flexible end effectors, as an innovative actuator, have broad application prospects in automated assembly across many industries due to their high adaptability and ability to gently and non-destructively grasp workpieces of different sizes, shapes, and weights.

[0003] However, traditional assembly workbenches rely heavily on manual operation, and the skill level and operational stability of workers significantly impact assembly quality. When assembling flexible end effectors, due to their structural complexity and high precision requirements, manual operation is prone to errors, leading to unstable product performance and affecting product quality. Secondly, the assembly process of traditional workbenches is relatively cumbersome, requiring multiple manual steps, including component selection, positioning, and assembly, which is time-consuming. Furthermore, workers may need to frequently change tools and adjust fixtures during assembly, further reducing efficiency. Moreover, because the tooling fixtures are fixed, they are difficult to adapt to the assembly needs of flexible end effectors of different specifications and shapes. Flexible end effectors have diverse sizes and shapes, and traditional assembly workbenches cannot be flexibly adjusted to suit their characteristics, potentially leading to inaccurate positioning and assembly difficulties during the assembly process. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention provides a human-machine collaborative lean assembly workbench based on a flexible end effector, which solves the problems mentioned in the background.

[0005] This utility model provides the following technical solution: a human-machine collaborative lean assembly workbench based on a flexible end effector, including an assembly workbench, a flexible end effector accessory area, an installation tool area, an assembly verification area, a screw-locking device, and a control device. The assembly workbench serves as a support, with the screw-locking device, the flexible end effector accessory area, and the material storage area arranged sequentially from top to bottom on one side of the assembly workbench. The installation tool area is located at the front end of one side of the assembly workbench. The assembly verification area and the control device are respectively located in the middle and bottom of the other side of the assembly workbench. A warning light is installed on the top of one side of the assembly workbench.

[0006] Selectedly, the flexible end effector accessory area includes an accessory box, which contains several independent storage spaces, and the storage items in the independent storage spaces include SFG flexible end effectors, mounting brackets, and TC4 connectors.

[0007] Selectedly, the assembly workbench is equipped with tools, positioning fixtures, and guide panels required for manual assembly in the middle.

[0008] The selected installation tool area includes a complete set of professional tools and accessories for assembling, debugging, and expanding the functionality of flexible end effectors.

[0009] Selectedly, the material storage area contains consumables related to the assembly of flexible end effectors, including components such as air tubes, cables, and screws.

[0010] Preferably, the assembly verification area includes a module controller and a three-axis extended closed module, and the end transmission end of the three-axis extended closed module can be assembled with the assembled flexible end effector and perform transmission verification.

[0011] Preferably, the screw fastening device includes a feeding mechanism, a distributing mechanism, and a fastening mechanism. The feeding mechanism includes an automatic screw feeder, a loading mechanism, and a vibrating guide rail. The fastening mechanism includes an electric screwdriver and a fastening nozzle. The distributing mechanism can guide the screw from the loading mechanism to the fastening nozzle by air blowing through an air pipe.

[0012] Selectedly, the control device includes a PLC module, a touch screen module, and a control computer host, and the warning light is electrically connected to the control computer host inside the control device through wires and displays the corresponding operating status of the overall device with different colored lights.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. This utility model integrates an assembly workbench, a flexible end effector accessory area, an installation tool area, a material storage area, an assembly verification area, a screw-locking device, and control equipment to form a compact and efficient assembly workbench. This integrated design avoids the space waste caused by the scattered placement of various functional modules in traditional assembly methods. Moreover, the centralized arrangement of various functional modules allows operators to complete all aspects of the assembly work in a relatively small space, greatly saving space and improving assembly efficiency.

[0015] 2. The assembly workbench set up in this utility model can be used as a lean assembly workbench for flexible end effectors. Subsequently, through unique technical solutions, it can achieve efficient and flexible assembly, high-precision assembly, enhanced lean management, integrated design and strong adaptability, and other operational effects, which have significant technical effects and practical value. Attached Figure Description

[0016] Figure 1 This is a three-dimensional schematic diagram of the structure of this utility model;

[0017] Figure 2 This is a front view schematic diagram of the structure of this utility model;

[0018] Figure 3 This is a right-side view of the structure of this utility model.

[0019] In the diagram: 1. Assembly workbench; 2. Flexible end effector accessory area; 3. Installation tool area; 4. Material storage area; 5. Assembly verification area; 6. Screw tightening device; 7. Control equipment; 8. Warning light. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please see Figure 1-3 A lean assembly workbench based on flexible end effectors includes an assembly workbench 1, a flexible end effector accessory area 2, an installation tool area 3, an assembly verification area 5, a screw-locking device 6, and a control device 7. The assembly workbench 1 serves as a support, with the screw-locking device 6, the flexible end effector accessory area 2, and the material storage area 4 arranged sequentially from top to bottom on one side of the assembly workbench 1. The installation tool area 3 is located at the front end of one side of the assembly workbench 1. The assembly verification area 5 and the control device 7 are located in the middle and bottom of the other side of the assembly workbench 1, respectively. A warning light 8 is installed on the top of one side of the assembly workbench 1.

[0022] The flexible end effector accessory area 2 includes an accessory box, which contains several independent storage spaces. The storage items in each independent storage space include SFG flexible end effectors, mounting brackets, and TC4 connectors. The mounting brackets are made of aerospace-grade aluminum alloy, which is lightweight and high-strength, and can easily cope with various industrial applications. The TC4 connectors serve as transitional connection components between SFG flexible end effectors and existing robotic arms.

[0023] The assembly workbench 1 is equipped with tools, positioning fixtures and guide boards for manual assembly in the middle. For products such as flexible end effectors with small batches, many varieties and complex assembly processes, the loading, complex assembly and inspection processes are usually done by humans in the actual production process. Therefore, the assembly workbench 1 provides the tools and positioning fixtures for manual assembly. After the manual loading is completed according to the guide board, the assembly object is fixed in the positioning fixture and the TC4 connector is connected to the mounting bracket according to the assembly process.

[0024] The installation tool area 3 contains a complete set of professional tools and accessories for the assembly, debugging and functional expansion of the flexible end effector, thereby providing flexible working conditions for subsequent actual needs. The material storage area 4 centrally stores consumables and materials related to the assembly of the flexible end effector, including air hoses, cables, screws and other parts, providing convenient access for subsequent assembly operations and improving the efficiency of subsequent assembly operations.

[0025] Assembly verification area 5 includes a module controller and a three-axis extended closed module. The end transmission end of the three-axis extended closed module can be assembled with the assembled flexible end effector and perform transmission verification. Furthermore, the assembly verification area can realize the handling action of the items through existing software programming, thereby verifying the assembly quality of the flexible end effector.

[0026] The screw fastening device 6 includes a feeding mechanism, a distribution mechanism, and a fastening mechanism. The feeding mechanism includes an automatic screw feeder, a loading mechanism, and a vibrating guide rail. The fastening mechanism includes an electric screwdriver and a fastening nozzle. The distribution mechanism can guide screws from the loading mechanism to the fastening nozzle by air blowing through a pipe. In further use, the automatic screw feeder uses the loading mechanism to sort the screws onto the vibrating guide rail and transport them to the distribution mechanism. The distribution mechanism distributes the screws and sends them to the fastening nozzle through air pressure. Finally, the electric screwdriver fastens the screws into the product, thereby realizing automated screw fastening operation and providing full assembly efficiency while ensuring assembly accuracy.

[0027] The control device 7 includes a PLC module, a touch screen module, and a control computer host. Warning lights 8 are electrically connected to the control computer host inside the control device 7 via wires and display the corresponding operating status of the overall equipment with different colored lights. In further use, the PLC module is suitable for open high-speed networks for machine control, integrating motion control servo drives and I / O-based field network devices. Furthermore, the PLC used in this embodiment stores user programs, set values, and power-off saved variables in its built-in memory, thus eliminating the need for a battery. This reduces the maintenance time of the entire device.

[0028] Touch screens are important human-machine interfaces. This product uses a 10-inch industrial touch screen and has been widely used in industries such as textiles, electrical, packaging, petroleum, and chemicals. It has also been successfully applied in the fields of rail transportation and low-carbon green energy. The control computer host adopts an all-in-one host and is equipped with a 21.5-inch LED backlit 1920*1080 high-definition commercial display.

[0029] In summary, during use, the flexible end effector accessory area 2 set up on the assembly workbench 1 stores a sufficient number of spare parts, such as SFG flexible end effectors, mounting brackets, TC4 connectors, etc. In the actual assembly process, operators can independently select appropriate spare parts from the flexible end effector accessory area 2 according to different assembly needs, without having to spend a lot of time searching for and allocating spare parts as in traditional assembly methods. Furthermore, in the subsequent operation process, when faced with the assembly task of flexible end effectors of different specifications, the corresponding mounting brackets and connectors can be quickly obtained from the flexible end effector accessory area 2 to quickly start the assembly work, which greatly shortens the assembly preparation time.

[0030] The tools and positioning fixtures for manual assembly provided on the assembly workbench 1 can be flexibly adjusted according to the characteristics of the flexible end effector. The positioning fixtures can accurately fix the assembly object, ensuring stability and accuracy during the assembly process. Operators can adjust the position and angle of the positioning fixtures according to the flexible end effectors of different shapes and sizes to achieve precise positioning and stable clamping. This flexible positioning method avoids the trouble of frequent replacement and adjustment of traditional fixed fixtures when assembling parts of different specifications, and improves the flexibility and efficiency of assembly.

[0031] Meanwhile, the screw fastening device 6 automatically completes screw fastening through the coordinated work of the feeding mechanism, the distribution mechanism, and the fastening mechanism. The feeding mechanism delivers the screws to the distribution mechanism in an orderly manner, and the distribution mechanism accurately distributes the screws to the designated positions according to the assembly requirements. Finally, the fastening mechanism uses an electric screwdriver to precisely fasten the screws into the product. The entire process does not require manual operation one by one, which greatly improves the efficiency of screw fastening, reduces the time and error of manual operation, and further improves the overall assembly efficiency.

[0032] In further use, the assembly workbench of this embodiment can achieve high-precision assembly, effectively ensuring product quality. This technical effect is achieved through the synergistic effect of multiple technical solutions. Specifically, the standardized assembly process and detailed assembly instructions used in the assembly process play a key role. The installation steps and standard operating procedure sheets in the guide board provide operators with clear and accurate assembly instructions. When operators assemble according to these standard steps, they can ensure that each link meets the quality requirements and reduce assembly errors caused by human factors. For example, in the process of assembling the flexible end effector, the standard operating procedure sheet specifies in detail the tightening torque and assembly sequence of each screw. When operators strictly follow the requirements, they can ensure assembly accuracy.

[0033] The coordinate measuring machine (CMM) module in assembly verification area 5 can perform comprehensive performance testing on the assembled flexible end effector. The CMM module has high-precision measurement capabilities and can accurately measure key performance indicators such as gripping force, motion accuracy, and position accuracy of the flexible end effector. Through existing software programming, the CMM module can simulate various actual working scenarios to test the handling action of the flexible end effector, thereby comprehensively verifying its assembly quality. If performance is found to be substandard during the test, the assembly process can be adjusted and improved in a timely manner to ensure that the final product meets the quality requirements.

[0034] In further use, during the work process, the assembly workbench of this embodiment can also use guidance boards as learning demonstration conditions, allowing students to master lean production-related skills such as 5S management, visual management, standard operating procedures, standard operating procedure sheets, and cause-and-effect diagrams. 5S management includes sorting, straightening, sweeping, cleaning, and sustaining. By implementing 5S management during the assembly process, the work site can be kept clean and orderly, improving work efficiency and safety. For example, operators can sort and straighten the material storage area according to 5S management requirements, classifying and storing different types of consumables such as air pipes, cables, and screws, with clear labels for easy and quick access, reducing assembly delays caused by material disorder.

[0035] Visual management uses intuitive visual signals and guided boards to display key information during the assembly process, enabling operators to quickly understand the assembly status and requirements. For example, brightly colored icons and charts on the guided boards display information such as assembly progress and quality standards, allowing operators to clearly grasp the assembly status at a glance, identify problems in a timely manner, and make adjustments.

[0036] Standard operating instructions and standard operating procedure sheets provide standardized operating procedures and processes for the assembly process. Standard operating instructions describe in detail the operating methods and precautions for each assembly step, while standard operating procedure sheets combine multiple related steps to form a complete assembly process. When operators follow these standard documents, they can ensure the consistency and stability of the assembly process, thereby improving assembly quality and management level.

[0037] Cause-and-effect diagrams can help operators analyze the causes of problems during assembly, identify root causes, and develop corresponding solutions. For example, if the gripping force of a flexible end effector is found to be unstable during assembly, a cause-and-effect diagram can be drawn to analyze possible causes from multiple aspects such as personnel, machines, materials, methods, and environment. These factors include the operator's skill level, the performance of the screw-fastening machine, the quality of the flexible end effector, the rationality of the assembly method, and the influence of the working environment. This allows for targeted problem-solving and improved management of the assembly process.

[0038] The assembly workbench in this embodiment adopts an integrated design, which has significant advantages in saving space and cost. Specifically, the assembly workbench in this embodiment integrates the following functional modules: assembly workbench 1, flexible end effector accessory area 2, installation tool area 3, material storage area 4, assembly verification area 5, screw fastening device 6, control equipment 7, and 8, forming a compact and efficient assembly system. This integrated design avoids the space waste caused by the scattered placement of various functional modules in traditional assembly methods. For example, in a traditional assembly workshop, the assembly workbench, tool storage area, and material storage area may be distributed in different areas, and operators need to walk back and forth between different areas, which not only wastes time but also occupies a lot of space. However, the assembly workbench in this embodiment centrally arranges the various functional modules, and operators can complete all aspects of the assembly work in a relatively small space, which greatly saves space.

[0039] Furthermore, integrated design reduces equipment procurement and maintenance costs. Because various functional modules are integrated, the number of connections and interfaces between devices is reduced, lowering equipment complexity and failure rates. For example, traditional assembly methods may require separate procurement of assembly workbenches, screw fastening machines, coordinate measuring machines, etc., and the connection and debugging of these devices incur costs. In contrast, the assembly workbench in this embodiment integrates these functions into a single system, allowing for unified procurement and maintenance, thus reducing equipment procurement costs and maintenance complexity. In addition, integrated design improves equipment utilization, avoiding equipment idleness and waste, further reducing costs.

[0040] The assembly workbench of this embodiment has strong adaptability and can meet diverse assembly needs. This advantage is mainly reflected in the assembly workbench's ability to assemble flexible end effectors of different specifications, shapes and materials. The flexible end effector accessory area stores a variety of spare parts, such as different types of mounting brackets and connectors, providing a wide range of choices for assembling flexible end effectors with different needs.

[0041] Furthermore, the assembly workbench's control system boasts high flexibility and scalability. The PLC module, serving as the workstation's control core, is responsible for signal input, internal calculations, data communication, and equipment control. It can adjust control strategies through software programming to achieve precise control of various functional modules based on different assembly requirements. For instance, when it is necessary to change the type of flexible end effector used in assembly, simply adjusting the corresponding control parameters in the PLC module will allow equipment such as the screw-locking device 6 and the coordinate measuring machine module to adapt to the new assembly requirements without requiring large-scale hardware modifications, further enhancing the adaptability of the assembly workbench.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Additionally, in the accompanying drawings of this utility model, the fill patterns are merely for distinguishing layers and do not constitute any other limitation.

[0043] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A lean assembly workbench based on a flexible end effector, comprising an assembly workbench (1), a flexible end effector parts area (2), an installation tool area (3), an assembly verification area (5), a screw-locking device (6), and a control device (7), characterized in that: The assembly workbench (1) serves as a support, with the screw-locking device (6), the flexible end effector accessory area (2), and the material storage area (4) arranged sequentially from top to bottom on one side of the assembly workbench (1). The installation tool area (3) is located at the front end of one side of the assembly workbench (1). The assembly verification area (5) and the control device (7) are respectively located in the middle and bottom of the other side of the assembly workbench (1). A warning light (8) is installed on the top of one side of the assembly workbench (1).

2. The human-robot collaborative lean assembly station based on a flexible end effector according to claim 1, characterized in that: The flexible end effector accessory area (2) includes an accessory box, which contains several independent storage spaces. The storage items in the independent storage spaces include SFG flexible end effectors, mounting brackets, and TC4 connectors.

3. The human-robot collaborative lean assembly station based on a flexible end effector of claim 1, wherein: The assembly workbench (1) is equipped with tools, positioning fixtures and guide panels required for manual assembly in the middle.

4. The human-robot collaborative lean assembly station based on a flexible end effector of claim 2, wherein: The installation tool area (3) includes a full set of professional tools and accessories for assembling, debugging and functional expansion of flexible end effectors.

5. The human-robot collaborative lean assembly station based on a flexible end effector of claim 2, wherein: The material storage area (4) contains consumables for assembling flexible end effectors, including components such as air pipes, cables, and screws.

6. The human-robot collaborative lean assembly station based on a flexible end effector of claim 2, wherein: The assembly verification area (5) includes a module controller and a three-axis extended closed module, and the end transmission end of the three-axis extended closed module can be assembled with the assembled flexible end effector and perform transmission verification.

7. The human-robot collaborative lean assembly station based on a flexible end effector of claim 1, wherein: The screw fastening device (6) includes a feeding mechanism, a distribution mechanism, and a fastening mechanism. The feeding mechanism includes an automatic screw feeder, a feeding mechanism, and a vibrating guide rail. The fastening mechanism includes an electric screwdriver and a fastening nozzle. The distribution mechanism can guide the screw from the feeding mechanism to the fastening nozzle by blowing air through a pipe.

8. The human-robot collaborative lean assembly station based on a flexible end effector of claim 1, wherein: The control device (7) includes a PLC module, a touch screen module, and a control computer host. The warning light (8) is electrically connected to the control computer host inside the control device (7) through wires and displays the corresponding operating status of the overall equipment with different colored lights.

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