Pre-integrated robot module and usage method therefor, and production line and commissioning method therefor

Abstract

A pre-integrated robot module, a production line, and a pre-integration and commissioning method for a production line. The pre-integrated robot module comprises: a main frame assembly (1), which is configured for a robot (4) to be mounted thereon; a process enhancement assembly (2), which is configured to customize and carry related process pre-assembled components onto the main frame assembly (1) according to actual process requirements; and an accessory assembly (3), which is configured to mount related general pre-assembled components of the robot (4) onto the main frame assembly (1). The main frame assembly (1) comprises a base (11) and a mounting seat (12) that is configured for the robot (4) to be mounted thereon, the mounting seat (12) being mounted on the base (11), the process enhancement assembly (2) being mounted on the base (11), and the accessory assembly (3) being mounted on the mounting seat (12). The process enhancement assembly (2) and the accessory assembly (3) of the pre-integrated robot module are pre-integrated onto the main frame assembly (1) in a production plant, which can significantly reduce on-site installation working hours and improve the installation efficiency of deploying the pre-integrated robot module into a production line.

Description

Pre-integrated robot modules and their usage methods, production lines and their debugging methods Technical Field

[0001] This invention belongs to the field of welding production lines, specifically relating to a pre-integrated robot module and its usage method, and a production line and its debugging method. Background Technology

[0002] As society's demand for and emphasis on automotive products increases, the level of automation in automotive welding production lines is also rising. In industrial sectors such as automotive manufacturing, higher demands are being placed on the efficiency and flexibility of automated production lines.

[0003] To meet the higher efficiency and flexibility requirements of automated production lines, the industry has begun exploring methods that pre-integrate robots and their auxiliary equipment into modular units within the factory and then rapidly deploy them into the production line. Currently, although some modular robot solutions exist on the market, most suffer from low integration, low standardization, and large footprint, making it difficult to meet the demands of efficient and flexible production. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention provides a pre-integrated robot module, a production line, and a method for pre-integrating and debugging the production line, in order to solve the problems of low integration, low standardization, and large footprint of automated production lines using robot modular solutions in existing technologies.

[0005] One aspect of the present invention provides a pre-integrated robot module, comprising:

[0006] The main frame assembly includes a base and a mounting base for mounting the robot, with the mounting base mounted on the base;

[0007] Process enhancement components are used to customize and mount relevant process pre-installed parts onto the main frame components according to actual process requirements;

[0008] The auxiliary components are used to install robot-related common pre-assembled parts on the main frame assembly. Both the process enhancement components and the auxiliary components are pre-integrated and pipelined with the main frame assembly in the production plant.

[0009] It should be noted that the present invention can be pre-integrated and pre-tested in the production plant to test the accuracy of the connection and fit between the components;

[0010] Specifically, the production plant is equipped with temporary module mounting plates, temporary fixture mounting plates, temporary power supply lines, and temporary tool mounting brackets. Temporary fixtures are mounted on the temporary fixture mounting plates, and temporary tools are mounted on the temporary tool mounting brackets. One end of each temporary tool can connect to the robot, and the other end can connect to and secure the temporary fixture. During pre-integration and pre-debugging, the robot is first mounted on the mounting base in the main frame assembly, and the main frame assembly is then mounted onto the temporary module mounting plate via the base. Power is supplied to the robot and temporary fixtures via the temporary power supply lines for pre-integration and pre-debugging. During pre-integration, the robot is first controlled to move towards the temporary tool mounting bracket and connect the temporary tools there. After connecting the temporary tools, the robot is then controlled to move towards the temporary fixture mounting plate and connect the temporary fixtures there. After completing the above pre-integration steps, the robot is tested, and the robot's motion path and the corresponding work step time are adjusted to complete trajectory pre-debugging and cycle time testing.

[0011] It should be further noted that the relevant process pre-assembly components and relevant general pre-assembly components are all pre-integrated with the main frame components and connected to pipelines in the production plant. The relevant process pre-assembly components can be selected according to the actual processing requirements to meet the actual processing requirements; the relevant general pre-assembly components can be selected according to the actual processing requirements to meet the actual processing requirements; the pre-integration and pre-testing of the relevant process pre-assembly components and relevant general pre-assembly components are carried out simultaneously during the pre-integration and pre-testing stage of this invention.

[0012] It should be noted that multiple versions of this invention can be combined and installed on an automated production line to increase the integration and standardization of the automated production line and expand its processing range. Specifically, multiple pre-integrated robot modules can be installed on both sides of the automated production line through the main frame component of this invention, so that they can be integrated into a new, high-density pre-integrated robot module with higher integration and standardization.

[0013] In this solution, the main frame component integrates the mounting base and the base, simplifying the robot installation process and improving assembly efficiency. Furthermore, the main frame component can be directly installed onto the production line, allowing users to customize the number of pre-integrated robot modules according to processing requirements. This enhances the flexibility and standardization of the production line and strengthens the compatibility and interchangeability between various pieces of equipment. The process enhancement component is pre-integrated with the main frame component and can be customized and fitted with relevant pre-installed process components according to actual process requirements, increasing the freedom and integration of the pre-integrated robot modules and simultaneously improving the flexibility and integration of the production line. The auxiliary components can be customized with specific sets of relevant general-purpose pre-installed components according to actual processing needs, further enhancing the freedom and integration of the pre-integrated robot modules and simultaneously improving the flexibility and integration of the production line.

[0014] Compared to existing methods of modularizing robots and deploying them into production lines, the pre-integrated robot module provided by this invention has the following significant advantages:

[0015] 1. Process enhancement components and auxiliary components are pre-integrated into the main frame components in the production plant, and pre-commissioning in the production plant can significantly reduce on-site installation time and improve the installation efficiency of deploying pre-integrated robot modules to the production line.

[0016] 2. Due to the significant reduction in on-site installation time, the present invention significantly reduces installation costs. Furthermore, the present invention, through the cooperation of main frame components, process enhancement components, and auxiliary components, constitutes a pre-integrated robot module with a high degree of standardization and modularity, which can further reduce material and manufacturing costs.

[0017] 3. By deploying pre-integrated robot modules with high standardization and modularity onto the production line, the layout of robots and their auxiliary equipment becomes more compact, effectively reducing the floor space occupied by the production line and improving space utilization.

[0018] 4. Through the process enhancement components and auxiliary components integrated on the main frame components, they can be flexibly configured and adjusted according to different process requirements and production line layouts to adapt to the production needs of different products.

[0019] 5. By deploying multiple pre-integrated robot modules on the production line at a high density, the production process can be further optimized, production efficiency and quality can be improved, thereby reducing production costs and the number of defective products.

[0020] 6. By deploying multiple pre-integrated robot modules on the production line at a high density, it is also possible to improve the automation level of the production line, reduce on-site installation time, improve production efficiency, and optimize the utilization of production space.

[0021] In one embodiment, the process enhancement component includes an electrical control component, a water / air component, and a mounting component, wherein the electrical control component and the water / air component are both mounted on the mounting component, and the mounting component is mounted on the base.

[0022] In one embodiment, the electrical control components include a control cabinet, a network box, and a control interface.

[0023] It should be noted that the control interface is used to receive user operation commands and convert them into analog signals for transmission to the network box. The network box is used to receive analog signals from the control interface and convert them into digital signals for transmission to the control cabinet. The control cabinet is used to receive digital signals from the network box and control the working status of corresponding units, such as the water inlet / outlet unit and the air extraction / discharge unit, based on the digital signals.

[0024] In this solution, users can operate on the control interface to send corresponding control signals to the control cabinet via the network box, thereby controlling the working status of the corresponding unit. When multiple pre-integrated robot modules are deployed to the production line at the same time, a main control interface can be set up to connect the network boxes and control cabinets of multiple pre-integrated robot modules to the main control interface. Then, the control of the entire pre-integrated robot module can be achieved by controlling the main control interface.

[0025] In one embodiment, the water-air component includes an inlet / outlet water unit, a water-air support, and a water-air distributor mounted on the water-air support, wherein the water-air support is mounted on the mounting component.

[0026] In one embodiment, the water vapor component further includes a gas extraction and release unit, which is connected to the water vapor distributor.

[0027] In one embodiment, both the water inlet / outlet unit and the air extraction / discharge unit are electrically connected to the control cabinet.

[0028] It should be noted that the installation component is specifically a fence panel, on which a water and air bracket is installed. Water and air distributors are all installed on the fence panel. The air extraction and release unit is installed on the mounting base. The air extraction and release unit and the water inlet and outlet unit are connected to the water and air distributor. The water and air distributor includes multiple water and air channels. The water channels are used to distribute liquid from the water inlet and outlet units, and the air channels are used to distribute gas from the air extraction and release unit.

[0029] It should be noted that the water inlet and outlet unit can be used to cool the fixture during the processing and welding process on the production line, while the air extraction and venting unit can be used to control the working status of the fixture during the processing process on the production line.

[0030] In this solution, users can directly control the working status of the pre-integrated robot module's water inlet and outlet units and air extraction and release units through the control interface. This allows them to adjust the overall working status of the production line according to actual production needs, thereby improving the overall production efficiency and quality of the production line.

[0031] In one embodiment, a pre-connected pipe is connected between the main frame assembly, the process enhancement assembly, and the auxiliary assembly. The auxiliary assembly includes a robot grinder and a robot cable bracket, the robot cable bracket being used to fix the pre-connected pipe.

[0032] It should be noted that during the pre-integration and pre-testing of this invention in the production plant, pre-connected pipelines are used to connect the main frame components, process enhancement components, and auxiliary components. Specifically, the pre-connected pipelines include 24V lines, network cables, welding power lines, welding feedback signal lines, and air pipes, etc. These pipelines are pre-connected to the main frame components through temporary brackets to facilitate quick on-site connection for pre-integration and pre-testing.

[0033] It should be noted that users can choose specific related general pre-assembled component sets from the auxiliary components according to their actual processing needs, such as the robot grinder and robot cable bracket in this solution. The robot grinder can be used to grind the surface of the workpiece to be processed to ensure the production quality of the automated production line, and the robot cable bracket can be used to fix the pre-connected cables to provide a basis for the cooperation of each unit in the pre-integration and pre-commissioning.

[0034] In this solution, users can customize the relevant general pre-assembled component sets in the auxiliary components according to actual processing needs, so as to increase the overall flexibility of the production line and improve the overall production efficiency or production quality of the production line.

[0035] In one embodiment, the base includes a mounting substrate with at least two mounting positions and a filling groove at the bottom.

[0036] In one embodiment, the mounting base is further provided with a mounting groove, and the base also includes a cover plate, which is installed in the mounting groove.

[0037] It should be noted that the mounting position is specifically used to install the mounting base or directly install the robot. The mounting base is used to install the robot. Setting at least two mounting positions on the mounting base can increase the number of corresponding mounting bases on the mounting base, thereby increasing the number of auxiliary components installed on the mounting base and the number of robots that can be installed on the mounting base at the same time, so as to improve the overall flexibility of the production line and improve the overall production efficiency or production quality of the production line.

[0038] It should be noted that the filling groove is used for the installation of the main frame components on the production line, and is not used for pre-integration and pre-commissioning. During the installation process on the production line, the mounting base of the main frame components is installed first, and the base is leveled by grouting into the filling groove. The grouting is done until the filling groove is completely filled. Then, the cover plate is installed into the mounting groove to isolate the grout in the filling groove and prevent water and dust from entering the filling groove and affecting the curing of the grout.

[0039] In this solution, by using the filling groove, mounting groove and cover plate in the mounting substrate, the base can be stably installed on the production line simply by filling the filling groove with grout and isolating the grout inside the filling groove from the external environment with the cover plate. Compared with the method of deploying pre-integrated modular units on the production line, the installation method of this solution is more stable.

[0040] One aspect of the present invention provides an automated production line, comprising a plurality of the aforementioned pre-integrated robot modules, wherein the plurality of pre-integrated robot modules are interconnected.

[0041] In one embodiment, at least two pre-integrated robot modules are provided, and a transfer device is provided between the pre-integrated robot modules. Each pre-integrated robot module is equipped with a working robot, which is used to process workpieces.

[0042] It should be noted that multiple pre-integrated robot modules can be combined and installed to form an automated production line, thereby increasing the integration and standardization of the automated production line and expanding its processing range. Specifically, multiple pre-integrated robot modules can be installed on both sides of the automated production line through the main frame component of this invention, so that they can be integrated into a new, high-density pre-integrated robot module with a higher degree of integration and standardization.

[0043] It should be noted that the type of robot can be freely selected according to the user's own processing needs. Specifically, it can be a welding robot, a repair welding robot, or a loading and unloading robot, or similar robots that can be mounted on the main frame component to complete the processing or transportation of the workpieces. The transfer device can also be freely selected according to the user's own processing needs. Specifically, it can be a turntable or a slide, or similar transfer device, to improve the efficiency of workpiece transfer.

[0044] In this solution, by combining and installing multiple pre-integrated robot modules to form an automated production line, it is possible to customize and install relevant pre-installed process components on the automated production line according to actual process requirements, and to select specific relevant general pre-installed component sets, thereby improving the flexibility and integration of the automated production line.

[0045] One aspect of the present invention provides a method for using a pre-integrated robot module, comprising the following steps: integrating process enhancement components and auxiliary components onto the main frame component in a manufacturing plant before installing the robot onto the main frame component.

[0046] In this solution, process enhancement components and auxiliary components are pre-integrated into the main frame components in the production plant, which can significantly reduce on-site installation time and improve the installation efficiency of deploying pre-integrated robot modules into the production line.

[0047] One aspect of this invention provides a pre-integration and debugging method for a production line, comprising an automated production line as described above. The automated production line further includes a temporary module mounting plate, a temporary fixture mounting plate, a temporary power supply line, and a temporary tool mounting bracket. Temporary fixtures are mounted on the temporary fixture mounting plate, and temporary tools are mounted on the temporary tool mounting bracket. One end of each temporary tool is connected to the working robot, and the other end is connected to the temporary fixture. The temporary power supply line supplies power to the temporary tools, temporary fixtures, and the working robot.

[0048] During the assembly and installation phases, automated production lines execute the following steps under the control of control units within the production plant:

[0049] The control unit installs relevant process pre-installed components and related general pre-installed components on the working robot, and completes the integration with the main frame components and pipeline connections;

[0050] The control unit controls the working robot to move towards the temporary tool mounting bracket and controls the working robot to connect with the temporary tool on the temporary tool mounting bracket;

[0051] The control unit controls the working robot to move towards the temporary fixture mounting plate and controls the working robot to complete the connection with the temporary fixture at the temporary fixture mounting plate;

[0052] The control unit controls the work robot to perform test processing, so as to adjust the work robot's motion path and the time consumption of the corresponding work steps, and complete the pre-debugging of the work robot's processing trajectory and cycle test.

[0053] The control unit controls the working robot to disconnect from temporary tools and fixtures, completing pre-integration and pre-debugging.

[0054] In this solution, pre-commissioning in the production plant can significantly reduce on-site installation time and improve the installation efficiency of deploying pre-integrated robot modules into the production line. This allows users to put the automated production line directly into use after simple testing, thus improving the convenience and reliability of automated production line installation.

[0055] Brief description of the attached figures

[0056] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0057] Figure 1 shows a schematic diagram of the overall structure of a pre-integrated robot module according to the present invention;

[0058] Figure 2 shows a schematic diagram of the construction of a process enhancement component in a pre-integrated robot module according to the present invention;

[0059] Figure 3 shows a schematic diagram of the main frame component in a pre-integrated robot module of the present invention;

[0060] Figure 4 shows a schematic diagram of the structure of a pre-integrated robot module after a robot is installed according to the present invention;

[0061] Figure 5 shows a schematic diagram of the main frame component in a pre-integrated robot module according to the present invention;

[0062] Figure 6 shows a schematic diagram of the structure of the base in a pre-integrated robot module according to the present invention;

[0063] Figure 7 shows a schematic diagram of the pre-integration and pre-debugging structure of a pre-integrated robot module according to the present invention;

[0064] Figure 8 shows a schematic diagram of one type of automated production line according to the present invention;

[0065] Figure 9 shows a schematic diagram of one type of automated production line according to the present invention;

[0066] Figure 10 shows a schematic diagram of one type of automated production line according to the present invention;

[0067] Figure 11 shows a schematic diagram of one type of automated production line according to the present invention;

[0068] Figure 12 shows a schematic diagram of one type of automated production line according to the present invention.

[0069] The components include: 1. Main frame assembly; 11. Base; 111. Mounting base plate; 112. Mounting position; 113. Filling groove; 114. Mounting groove; 115. Cover plate; 12. Mounting seat; 2. Process enhancement assembly; 21. Electrical control components; 211. Control cabinet; 212. Network box; 213. Control interface; 22. Water and air components; 221. Water inlet and outlet unit; 222. Water and air support; 223. Water and air distributor; 224. Air extraction and release unit; 23. Mounting parts; 3. Auxiliary components; 31. Robot grinder; 32. Robot cable bracket; 4. Robot; 200, 200a, 200b production lines; 300. Welding module group; 3a. Welding robot; 400. Loading and unloading module group; 4a. Loading and unloading robot; 500. Turntable; 600. Slide table; 601. Slide table moving part; 700. Ultra-high speed conveying system. Detailed Implementation

[0070] The technical solutions of the embodiments of the present invention 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 the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0071] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0072] Furthermore, if the embodiments of this invention 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. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the 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 by this invention.

[0073] Please refer to Figures 1 to 12. In one embodiment, a pre-integrated robot module is provided, including:

[0074] Main frame component 1, used to install robot 4;

[0075] Process enhancement component 2 is used to customize and mount relevant process pre-installed components onto the main frame component 1 according to actual process requirements;

[0076] Auxiliary component 3 is used to install common pre-assembled parts related to robot 4 on the main frame component 1;

[0077] The main frame assembly 1 includes a base 11 and a mounting base 12 for mounting the robot 4. The mounting base 12 is mounted on the base 11, the process enhancement assembly 2 is mounted on the base 11, and the auxiliary assembly 3 is mounted on the mounting base 12.

[0078] It should be noted that the present invention can be pre-integrated and pre-tested in the production plant to test the accuracy of the connection and fit between the components;

[0079] Specifically, referring to Figure 6, the production plant is equipped with a temporary module mounting plate, a temporary fixture mounting plate, a temporary power supply line, and a temporary tool mounting bracket. Temporary fixtures are mounted on the temporary fixture mounting plate, and temporary tools are mounted on the temporary tool mounting bracket. One end of each temporary tool can connect to the robot 4, and the other end can connect to and secure the temporary fixture. During pre-integration and pre-debugging, the robot 4 is first mounted on the mounting base 12 in the main frame assembly 1, and the main frame assembly 1 is mounted onto the temporary module mounting plate via the base 11. Power is supplied to the robot 4 and the temporary fixtures via the temporary power supply line for pre-integration and pre-debugging. During pre-integration, the robot 4 is first controlled to move towards the temporary tool mounting bracket, and the robot 4 completes the connection of the temporary tools on the bracket. After the robot 4 completes the connection, it moves towards the temporary fixture mounting plate, and the robot 4 completes the connection of the temporary fixtures there. After completing the above pre-integration steps, the robot 4 is controlled to perform testing, adjusting its motion path and the corresponding work step time to complete trajectory pre-debugging and cycle time testing.

[0080] It should be further noted that the relevant process pre-assembly components and relevant general pre-assembly components are all pre-integrated with the main frame components and connected to pipelines in the production plant. The relevant process pre-assembly components can be selected according to the actual processing requirements to meet the actual processing requirements; the relevant general pre-assembly components can be selected according to the actual processing requirements to meet the actual processing requirements; the pre-integration and pre-testing of the relevant process pre-assembly components and relevant general pre-assembly components are carried out simultaneously during the pre-integration and pre-testing stage of this invention.

[0081] It should be noted that multiple versions of this invention can be combined and installed on an automated production line to increase the integration and standardization of the automated production line and expand its processing range. Specifically, multiple pre-integrated robot modules can be installed on both sides of the automated production line through the main frame component 1 of this invention, so that they can form a brand-new, high-density pre-integrated robot module with higher integration and standardization.

[0082] In this embodiment, the main frame component 1 integrates the mounting base 12 and the base 11, simplifying the installation process of the robot 4 and improving assembly efficiency. Furthermore, the main frame component 1 can be directly installed on the production line, allowing users to customize the number of pre-integrated robot modules according to processing requirements, thereby improving the flexibility and standardization of the production line and enhancing the compatibility and interchangeability between specific equipment within the production line. The process enhancement component 2 is pre-integrated with the main frame component 1 and can be customized and equipped with relevant pre-installed process components according to actual process requirements, improving the freedom and integration of the pre-integrated robot modules and simultaneously enhancing the flexibility and integration of the production line. The auxiliary component 3 can independently select specific sets of relevant general-purpose pre-installed components according to actual processing requirements, further improving the freedom and integration of the pre-integrated robot modules and simultaneously enhancing the flexibility and integration of the production line.

[0083] Compared to existing methods that modularize robots and deploy them into production lines, the pre-integrated robot module provided in this embodiment has the following significant advantages:

[0084] 1. The process enhancement component 2 and auxiliary component 3 are pre-integrated into the main frame component 1 in the production plant. By pre-commissioning in the production plant, the on-site installation time can be significantly reduced and the installation efficiency of deploying the pre-integrated robot module into the production line can be improved.

[0085] 2. Due to the significant reduction in on-site installation time, the present invention significantly reduces installation costs. Furthermore, the present invention, through the cooperation of the main frame component 1, the process enhancement component 2, and the auxiliary component 3, constitutes a pre-integrated robot module with a high degree of standardization and modularity, which can further reduce material costs and manufacturing costs.

[0086] 3. By deploying highly standardized and modular pre-integrated robot modules onto the production line, the layout of Robot 4 and its auxiliary equipment becomes more compact, effectively reducing the floor space occupied by the production line and improving space utilization.

[0087] 4. Through the process enhancement component 2 and auxiliary component 3 integrated on the main frame component 1, they can be flexibly configured and adjusted according to different process requirements and production line layouts to adapt to the production needs of different products.

[0088] 5. By deploying multiple pre-integrated robot modules on the production line at a high density, the production process can be further optimized, production efficiency and quality can be improved, thereby reducing production costs and the number of defective products.

[0089] 6. By deploying multiple pre-integrated robot modules on the production line at a high density, it is also possible to improve the automation level of the production line, reduce on-site installation time, improve production efficiency, and optimize the utilization of production space.

[0090] In one embodiment, the process enhancement component 2 includes an electrical control component 21, a water and air component 22, and a mounting component 23. The electrical control component 21 and the water and air component 22 are both mounted on the mounting component 23, which is mounted on the base 11.

[0091] In one embodiment, the electrical control component 21 includes a control cabinet 211, a network box 212, and a control interface 213.

[0092] It should be noted that the control interface 213 is used to receive the user's operation instructions and convert them into analog signals for transmission to the network box 212. The network box 212 is used to receive the analog signals from the control interface 213 and convert them into digital signals for transmission to the control cabinet 211. The control cabinet 211 is used to receive the digital signals from the network box 212 and control the working status of the corresponding units, such as the water inlet / outlet unit 221 and the air extraction / discharge unit 224, according to the digital signals.

[0093] In this embodiment, the user can operate on the control interface 213 to send corresponding control signals to the control cabinet 211 through the network box 212, thereby controlling the working status of the corresponding unit. When multiple pre-integrated robot modules are deployed to the production line at the same time, a general control interface 213 can be set up to connect the network box 212 and the control cabinet 211 in the multiple pre-integrated robot modules to the general control interface 213. Then, the control of the entire pre-integrated robot module can be realized by controlling the general control interface 213.

[0094] In one embodiment, the water vapor component 22 includes a water inlet / outlet unit 221, a water vapor support 222, and a water vapor distributor 223 mounted on the water vapor support 222, wherein the water vapor support 222 is mounted on the mounting component 23.

[0095] In one embodiment, the water vapor component 22 further includes an air extraction and release unit 224, which is connected to the water vapor distributor 223.

[0096] In one embodiment, both the water inlet / outlet unit 221 and the air extraction / discharge unit 224 are electrically connected to the control cabinet 211.

[0097] It should be noted that the mounting component 23 is specifically a fence panel, on which a water and air bracket 222 is installed. Water and air distributors 223 are also installed on the fence panel. The air extraction and release unit 224 is installed on the mounting base 12. The air extraction and release unit 224 and the water inlet and outlet unit 221 are connected to the water and air distributor 223. The water and air distributor 223 includes multiple water and air paths. The water paths are used to distribute liquid from the water inlet and outlet unit 221, and the air paths are used to distribute gas from the air extraction and release unit 224.

[0098] It should be noted that the water inlet and outlet unit 221 can be used to cool the fixture part during the processing and welding process on the production line, and the air extraction and venting unit 224 can be used to control the working status of the fixture during the processing process on the production line.

[0099] In this embodiment, the user can directly control the working status of the working units such as the water inlet / outlet unit 221 and the air extraction / discharge unit 224 in the pre-integrated robot module through the control interface 213, and then adjust the overall working status of the production line according to actual production needs to improve the overall production efficiency and production quality of the production line.

[0100] In one embodiment, a pre-connected pipe is connected between the main frame assembly 1, the process enhancement assembly 2, and the auxiliary assembly 3. The auxiliary assembly 3 includes a robot grinder 31 and a robot cable bracket 32, the robot cable bracket 32 ​​being used to fix the pre-connected pipe.

[0101] It should be noted that during the pre-integration and pre-testing of this invention in the production plant, pre-connected pipelines are connected between the main frame component 1, the process enhancement component 2, and the auxiliary component 3. Specifically, the pre-connected pipelines include 24V lines, network cables, welding power lines, welding feedback signal lines, and air pipes, etc. These pipelines are pre-connected to the main frame component 1 through temporary brackets to facilitate quick on-site connection for pre-integration and pre-testing.

[0102] It should be noted that users can choose specific related general pre-assembled component sets in auxiliary component 3 according to actual processing needs to meet actual processing requirements. For example, the robot grinder 31 and robot cable bracket 32 ​​in this solution are one such set. The robot grinder 31 can be used to grind the surface of the workpiece to be processed to ensure the production quality of the automated production line. The robot cable bracket 32 ​​can be used to fix the pre-connected cable to provide a basis for the cooperation of each unit in pre-integration and pre-debugging.

[0103] In this embodiment, users can customize the relevant general pre-assembled component sets in the auxiliary component 3 according to actual processing needs, so as to increase the overall flexibility of the production line and improve the overall production efficiency or production quality of the production line.

[0104] In one embodiment, the base 11 includes a mounting substrate 111, the mounting substrate 111 having at least two mounting positions 112, and the bottom of the mounting substrate 111 having a filling groove 113.

[0105] In one embodiment, the mounting base 111 is further provided with a mounting groove 114, and the base 11 further includes a cover plate 115, which is installed in the mounting groove 114.

[0106] It should be noted that the mounting position 112 is specifically used to install the mounting base 12 or directly install the robot 4. The mounting base 12 is used to install the robot 4. Setting at least two mounting positions 112 on the mounting base 111 can increase the number of corresponding mounting bases 12 on the mounting base 111, thereby increasing the number of auxiliary components 3 installed on the mounting base 12 and the number of robots 4 that can be installed on the mounting base 111 at the same time, so as to improve the overall flexibility of the production line and improve the overall production efficiency or production quality of the production line.

[0107] It should be noted that the filling groove 113 is used for the installation of the main frame assembly 1 on the production line, and is not used for pre-integration and pre-commissioning. During the installation process on the production line, the mounting base 111 of the base 11 in the main frame assembly 1 is first installed, and the base 11 is leveled by grouting into the filling groove 113. The grouting is done to fill the filling groove 113 completely. Then, the cover plate 115 is installed into the mounting groove 114 to isolate the grout in the filling groove 113 and prevent water and dust from entering the filling groove 113 and affecting the curing of the grout.

[0108] In addition, during the specific installation process of the mounting base 12, the welding plate on the mounting base 12 can be replaced with the molding material, and the mounting surface on the mounting base 12 that is installed with the robot 4 can be replaced with the welding plate to reduce the amount of processing and the difficulty of installation.

[0109] In this embodiment, by cooperating with the filling groove 113, mounting groove 114 and cover plate 115 in the mounting substrate 111, it is only necessary to inject grout into the filling groove 113 and isolate the grout inside the filling groove 113 from the external environment by the cover plate 115, so that the base 11 can be stably installed on the production line. Compared with the method of deploying pre-integrated modular units to the production line, the installation method of this solution is more stable.

[0110] One embodiment of the present invention provides an automated production line, including a plurality of the aforementioned pre-integrated robot modules, wherein the plurality of pre-integrated robot modules are interconnected.

[0111] In one embodiment, at least two pre-integrated robot modules are provided, and a transfer device is provided between the pre-integrated robot modules. Each pre-integrated robot module is equipped with a working robot, which is used to process workpieces.

[0112] It should be noted that multiple pre-integrated robot modules can be combined and installed to form an automated production line, thereby increasing the integration and standardization of the automated production line and expanding its processing range. Specifically, multiple pre-integrated robot modules can be installed on both sides of the automated production line through the main frame component 1 of this invention, so that they can form a brand-new, high-density pre-integrated robot module with a higher degree of integration and standardization.

[0113] It should be noted that the type of robot can be freely selected according to the user's own processing needs. Specifically, it can be a welding robot, a repair welding robot, or a loading and unloading robot, or similar robots that can be mounted on the main frame component to complete the processing or transportation of the workpieces. The transfer device can also be freely selected according to the user's own processing needs. Specifically, it can be a turntable or a slide, or similar transfer device, to improve the efficiency of workpiece transfer.

[0114] In this embodiment, by combining and installing multiple pre-integrated robot modules to form an automated production line, it is possible to customize and install relevant pre-installed process components on the automated production line according to actual process requirements, and to select specific relevant general pre-installed component sets, thereby improving the flexibility and integration of the automated production line.

[0115] One embodiment of the present invention provides a pre-integration and debugging method for a production line, including an automated production line as described above. The automated production line further includes a temporary module mounting plate, a temporary fixture mounting plate, a temporary power supply line, and a temporary tool mounting bracket. A temporary fixture is mounted on the temporary fixture mounting plate, and a temporary tool is mounted on the temporary tool mounting bracket. One end of the temporary tool is connected to the working robot, and the other end is connected to the temporary fixture. The temporary power supply line is used to supply power to the temporary tool, the temporary fixture, and the working robot.

[0116] During the assembly and installation phases, automated production lines execute the following steps under the control of control units within the production plant:

[0117] The control unit installs relevant process pre-installed components and related general pre-installed components on the working robot, and completes the integration with the main frame components and pipeline connections;

[0118] The control unit controls the working robot to move towards the temporary tool mounting bracket and controls the working robot to connect with the temporary tool on the temporary tool mounting bracket;

[0119] The control unit controls the working robot to move towards the temporary fixture mounting plate and controls the working robot to complete the connection with the temporary fixture at the temporary fixture mounting plate;

[0120] The control unit controls the robot to perform testing and processing, so as to adjust the robot's motion path and the time consumption of corresponding work steps, and complete the pre-debugging of the robot's processing trajectory and cycle test.

[0121] The control unit controls the working robot to disconnect from temporary tools and fixtures, completing pre-integration and pre-debugging.

[0122] In this embodiment, pre-commissioning in the production plant can significantly reduce on-site installation time and improve the installation efficiency of deploying pre-integrated robot modules into the production line. This allows users to put the automated production line directly into use after simple testing, thus improving the convenience and reliability of automated production line installation.

[0123] When this invention is used in an actual production line, a number of pre-integrated robot modules can be installed at different positions on the production line according to actual processing needs. Different types of related process pre-installed components and related general pre-installed components are customized and mounted on the corresponding pre-integrated robot modules through process enhancement components 2 and auxiliary components 3, respectively, to improve the overall production quality and efficiency of the production line. For details, please refer to the production schemes in Figures 8-12.

[0124] Additionally, the main frame structure in this invention is made of high-strength materials, specifically aluminum alloy, magnesium alloy, titanium alloy, and other high-strength materials. Furthermore, the main frame structure has undergone finite element analysis to ensure that the deformation and stress under maximum working load are within safe limits. A specific embodiment is provided below for illustration:

[0125] Example 1

[0126] Referring to Figure 8, a production line 200 for small components such as the front longitudinal beam of a vehicle is disclosed. The production line 200 includes a welding module group 300, an unloading module group 400, and a turntable 500. The welding module group 300 includes multiple pre-integrated robot modules and welding robots 3a mounted to a main frame assembly 1 of the pre-integrated robot modules. The unloading module group 400 includes multiple pre-integrated robot modules and unloading robots 4a mounted to the main frame assembly 1 of the pre-integrated robot modules. The turntable 500 is disposed between the welding module group 300 and the unloading module group 400.

[0127] The pre-integrated robot module of welding module group 300 can be customized and equipped with relevant pre-installed process components for adjusting the operating conditions of welding robot 3a during operation, such as water tanks, water pumps, and / or heat exchangers, through process enhancement component 2. Furthermore, the pre-integrated robot module of welding module group 300 can function as a mounting unit for relevant general pre-installed components of welding robot 3a. For example, it can mount robot cable brackets to support pre-connected pipelines, or robot grinders to grind the electrodes of welding robot 3a when it is not in operation. Specifically, welding robot 3a is equipped with a welding torch for GEO welding. The welding torch is equipped with relevant components for GEO welding, such as tungsten electrodes, gas nozzles, and cooling systems.

[0128] The pre-integrated robot module of the loading / unloading module group 400 can be customized and equipped with relevant pre-installed process components for adjusting the working conditions of the loading / unloading robot 4a during operation, through the process enhancement component 2. For example, it can include end effectors, damping shock absorbers, and sensors for gripping workpieces. Furthermore, the pre-integrated robot module of the loading / unloading module group 400 can also function as a mounting point for relevant general pre-installed components of the loading / unloading robot 4a. For example, it can install lubricators for lubricating the joints of the loading / unloading robot 4a. Specifically, the loading / unloading robot 4a is equipped with end effectors and sensors for gripping parts, such as suction cups, grippers, and claws.

[0129] The specific processing flow for small workpieces on the vehicle is as follows: The workpiece is transported to the adjacent loading / unloading module group 400 via a transport mechanism (not shown). The end effector of the loading / unloading robot 4a picks up the workpiece and moves it to the turntable 500. The workpiece follows the rotation of the turntable 500 to the adjacent welding module group 300. The turntable 500 stops rotating. The welding robot 3a begins its work. After completing the GEO welding of the workpiece, the turntable 500 rotates again and moves the workpiece back to the adjacent loading / unloading module group 400. The loading / unloading robot 4a picks up the workpiece and moves it to the next workstation.

[0130] In one possible implementation, at least two welding module groups 300 can be arranged circumferentially along the turntable 500. The loading / unloading robot 4a in the loading / unloading module group 400 is equipped with at least two end effectors. In this case, the efficiency of the production line 200 is improved.

[0131] In this embodiment, small vehicle parts, such as front longitudinal beams, can be picked up and placed by a small loading / unloading robot 4a. In actual production, the welding points of the front longitudinal beams may differ for different vehicle models. By setting at least two welding module groups 300 arranged circumferentially along the turntable 500 at preset positions, the production line 200 can perform flat welding, vertical welding, and side welding on small automotive parts such as front longitudinal beams without requiring extensive adjustments to the production equipment. The production line 200 can adapt to the production of various small parts for different vehicle models, offering greater flexibility and lower replacement costs.

[0132] Example 2

[0133] Referring to Figure 9, a production line 200a for medium-sized vehicle components such as engines is disclosed. Production line 200a includes two welding module groups 300, one loading / unloading module group 400, and a slide table 600. The construction of the welding module groups 300 and the loading / unloading module group 400 is the same as or similar to that of the welding module groups 300 and 400 in Embodiment 1. The slide table 600 includes a slide table base and a slide table moving part 601 slidable relative to the slide table base. Optionally, the slide table moving part 601 is a plate-shaped member provided with two welding points. In this invention, the term "welding point" refers to the area where the welding robot 3a can form a weld when welding occurs after the fixture carrying the workpiece has moved into place. It is understood that the welding point is not a point in the traditional sense, but rather a three-dimensional space.

[0134] The specific processing flow for medium-sized workpieces in vehicles is as follows: The workpiece is transported to the adjacent loading / unloading module group 400 via a transport mechanism (not shown). The end effector of the loading / unloading robot 4a picks up the workpiece and moves it to the slide table moving part 601. The slide table moving part 601 receives the workpiece and moves relative to the slide table base. The workpiece follows the slide table moving part 601 as it rotates and moves a certain distance, so that the welding point is adjacent to the welding module group 300 located on both sides of the slide table 600. The slide table moving part 601 stops moving. The two welding robots 3a start working simultaneously. After completing the GEO welding of the workpiece, the slide table moving part 601 moves in the opposite direction relative to the slide table base and moves the workpiece back to the adjacent loading / unloading module group 400. The loading / unloading robot 4a picks up the workpiece and moves it to the next workstation.

[0135] Referring to Figure 10, in one possible implementation, four welding points may be provided on the sliding table 601. Correspondingly, four welding module groups 300 are provided on both sides of the sliding table 600. Each loading / unloading module group 400 has a loading / unloading robot 4a equipped with at least two end effectors. In this case, the efficiency of the production line 200a is improved.

[0136] Preferably, production line 200a may also be equipped with an overhead welding device (not shown). The welding locations of medium-sized vehicle parts may extend beyond the welding points set on the sliding table 601. By providing the overhead welding device, welding can be performed on portions of the medium-sized workpiece outside the welding points on the sliding table 601. Furthermore, processes such as capping and arc termination of medium-sized components can be completed using the overhead welding device via flat welding. This improves welding quality. The welding points of medium-sized vehicle parts may differ for different vehicle models. In this case, more than four welding module groups 300 can be arranged on both sides of the sliding table 600 to accommodate the welding requirements of medium-sized vehicle parts of different sizes and structures without requiring extensive adjustments to the production equipment. Production line 200a offers greater flexibility and lower replacement costs.

[0137] Example 3

[0138] Referring to Figure 11, a production line 200b for medium-sized vehicle components such as engines is disclosed. Production line 200b includes four welding module groups 300 and an ultra-high-speed conveyor system 700. The welding module groups 300 are constructed in the same or similar manner as those in Embodiment 1. The ultra-high-speed conveyor system 700 can be understood as a conveyor belt of a certain width, suitable for carrying and transporting large vehicle parts such as body panels and floor assemblies along a designed route. During transport and processing, the position of the large workpieces relative to the ultra-high-speed conveyor system 700 is fixed.

[0139] The specific processing flow for large workpieces on vehicles is as follows: The workpiece is fixed to the ultra-high-speed conveyor system 700. The workpiece is transported to its designated position via the ultra-high-speed conveyor system 700. Four welding robots 3a in adjacent welding module groups 300 work simultaneously / asynchronously. After completing the GEO welding of the workpiece, the ultra-high-speed conveyor system 700 is restarted to transport the workpiece away from the workstation.

[0140] In another possible implementation, the processing flow for large workpieces on a vehicle is as follows: The workpiece is fixed to an ultra-high-speed conveyor system 700. The workpiece moves continuously through the ultra-high-speed conveyor system 700. When the workpiece moves adjacent to one of the four adjacent welding module groups 300, that welding robot 3a begins to work. After the workpiece moves away from that welding robot 3a, the welding robot 3a stops working. When the workpiece passes another welding robot 3a, that welding robot 3a repeats the GEO welding action of that welding robot 3a. When the workpiece moves past the last welding robot 3a through the ultra-high-speed conveyor system 700, the GEO welding of the workpiece is completed. The ultra-high-speed conveyor system 700 then transports the workpiece away from the welding module group 300.

[0141] The processing flow for large workpieces in both of the aforementioned vehicle types shares the characteristic that the weld size formed by GEO welding of large vehicle workpieces is significantly larger than that of small and / or medium-sized vehicle workpieces. To save costs, multiple welding module groups 300 can be combined into a compact welding device with close spacing, as shown in Figure 11, or they can be combined into a welding device with wider spacing, as shown in Figure 12. Comparatively, the welding device shown in Figure 11 is more suitable for the first processing flow of this embodiment. The welding device shown in Figure 12 is more suitable for the second processing flow of this embodiment. To improve welding quality, production line 200b may optionally be equipped with an aerial welding repair device (not shown), or each welding module group 300 may include a welding repair device in its welding robot 3a. By providing an aerial welding repair device or a welding repair device in the welding robot 3a, processes such as capping and arc termination of large components can be completed using a flat welding method via the aerial welding repair device. This improves welding quality. The welding position of large vehicle workpieces may differ for different vehicle models. At this point, more or fewer than four welding module groups 300 (e.g., three welding module groups 300) can be arranged on both sides of the ultra-high-speed transport system 700 to accommodate the welding requirements of medium-sized workpieces from vehicles of different sizes and structures, without requiring extensive adjustments to production equipment. Production line 200b offers greater flexibility and lower replacement costs.

[0142] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A pre-integrated robot module, characterized in that, include: The main frame assembly (1) includes a base (11) and a mounting base (12) for mounting the robot (4), the mounting base (12) being mounted on the base (11); Process enhancement component (2), which is installed on the base (11), is used to customize and mount relevant process pre-installed components onto the main frame component (1) according to actual process requirements. The process pre-installed components are used to adjust the working condition of the robot (4) when the robot (4) is in working state. Auxiliary component (3) is installed on the mounting base (12) and is used to install relevant general pre-installed components of the robot (4) on the main frame assembly (1). The general pre-installed components are used to support pre-installed pipelines or to repair and maintain the robot (4) when the robot (4) is not in working condition. The auxiliary component (3) is mounted on the mounting base (12), wherein both the process enhancement component (2) and the auxiliary component (3) are pre-integrated with the main frame component (1) in the production plant.

2. The pre-integrated robot module as described in claim 1, characterized in that, The process enhancement component (2) includes an electrical control component (21), a water and air component (22), and a mounting component (23). The electrical control component (21) and the water and air component (22) are both mounted on the mounting component (23), which is mounted on the base (11).

3. A pre-integrated robot module as described in claim 2, characterized in that, The electrical control component (21) includes a control cabinet (211), a network box (212), and a control interface (213).

4. A pre-integrated robot module as described in claims 2 to 3, characterized in that, The water-air component (22) includes an inlet and outlet water unit (221), a water-air support (222), and a water-air distributor (223) mounted on the water-air support (222). The water-air support (222) is mounted on the mounting component (23). The inlet and outlet water unit (221) is connected to the water-air distributor (223). The water-air distributor (223) includes multiple water channels for distributing liquid from the inlet and outlet water unit (221).

5. A pre-integrated robot module as described in claims 2 to 4, characterized in that, The water-gas component (22) further includes a gas extraction and release unit (224), which is connected to the water-gas distributor (223). The water-gas distributor (223) includes multiple gas paths for distributing gas from the gas extraction and release unit (224).

6. A pre-integrated robot module as described in claim 5, characterized in that, The water-air component (22) includes a water inlet and outlet unit (221), the water-air bracket (222) is mounted on the mounting component (23), and the water inlet and outlet unit (221) and the air extraction and release unit (224) are both electrically connected to the control cabinet (211).

7. A pre-integrated robot module as described in claims 1 to 6, characterized in that, The pre-connected pipe is connected between the main frame assembly (1), the process enhancement assembly (2), and the auxiliary assembly (3). The auxiliary assembly (3) includes a robot grinder (31) and a robot cable bracket (32), which is used to fix the pre-connected pipe.

8. A pre-integrated robot module as described in claims 1 to 7, characterized in that, The base (11) includes a mounting base (111), which has at least two mounting positions (112) and a filling groove (113) at the bottom.

9. A pre-integrated robot module as described in claims 1 to 8, characterized in that, The base (11) includes a mounting base plate (111), and the mounting base plate (111) is also provided with a mounting groove (114). The base (11) also includes a cover plate (115), and the cover plate (115) is installed in the mounting groove (114).

10. An automated production line (200, 200a, 200b), characterized in that, It includes multiple pre-integrated robot modules as described in claims 1-9, and the multiple pre-integrated robot modules are interconnected.

11. The automated production line (200, 200a, 200b) as described in claim 10, characterized in that, The pre-integrated robot module is provided in at least two parts, and a transfer device is provided between the pre-integrated robot modules. The pre-integrated robot module is equipped with a working robot, which is used to process the workpiece.

12. The automated production line (200) as described in claims 10 to 11, for small parts of vehicles, characterized in that, include: A welding module group (300) includes a plurality of pre-integrated robot modules and a welding robot (3a) installed in a main frame assembly (1) of the pre-integrated robot modules; The upper and lower component module group (400) includes a plurality of the pre-integrated robot modules and an upper and lower component robot (4a) installed in the main frame assembly (1) of the pre-integrated robot modules; A turntable (500) is disposed between the welding module group (300) and the loading and unloading module group (400) to move the small workpiece adjacent to one of the welding module group (300) and the loading and unloading module group (400).

13. The automated production line (200a) as described in claims 10 and 11, for medium-sized components such as those in vehicles, characterized in that, include: Two welding module groups (300), each of the welding module groups (300) includes a plurality of pre-integrated robot modules and a welding robot (3a) mounted in the main frame assembly (1) of the pre-integrated robot modules; An upper and lower component module group (400) includes a plurality of the pre-integrated robot modules and an upper and lower component robot (4a) installed in the main frame assembly (1) of the pre-integrated robot modules; The slide table (600) includes a slide table base and a slide table moving part (601) that is slidable relative to the slide table base. The slide table moving part (601) is provided with at least two welding points. When the slide table moving part (601) moves into place, the welding robot (3a) performs welding at the welding points.

14. The automated production line (200a) according to claim 13, characterized in that, It also includes aerial welding equipment, which is capable of welding the portion of the medium-sized workpiece outside the welding point.

15. The automated production line (200b) as described in claims 10 to 11, for large components such as those in vehicles, characterized in that, include: At least three welding module groups (300), each of the welding module groups (300) includes multiple pre-integrated robot modules and a welding robot (3a) installed in the main frame assembly (1) of the pre-integrated robot module; An ultra-high-speed conveying system (700) is configured to carry and transport the large workpiece.

16. The automated production line (200b) as described in claim 15, characterized in that, It also includes aerial welding equipment, or welding equipment is provided in the welding robot (3a) in each of the welding module groups (300).

17. A method of using a pre-integrated robot module, characterized in that, Includes the following steps: Before the robot (4) is installed onto the main frame assembly (1), the process enhancement assembly (2) and auxiliary assembly (3) are integrated onto the main frame assembly (1) in the production plant.

18. A method for commissioning a production line, comprising an automated production line (200, 200a, 200b) as described in claims 10-17, characterized in that, The automated production line (200, 200a, 200b) also includes a temporary module mounting plate, a temporary fixture mounting plate, a temporary power supply line, and a temporary tool mounting bracket. Temporary fixtures are mounted on the temporary fixture mounting plate, and temporary tools are mounted on the temporary tool mounting bracket. One end of each temporary tool is connected to the working robot, and the other end is connected to the temporary fixture. The temporary power supply line supplies power to the temporary tools, temporary fixtures, and the working robot. During the assembly and installation phases, the automated production lines (200, 200a, 200b) perform the following steps under the control of the control unit in the production plant: The control unit installs relevant process pre-installed components and relevant general pre-installed components on the working robot, and completes the integration and pipeline connection with the main frame assembly (1); The control unit controls the working robot to move towards the temporary tool mounting bracket and controls the working robot to connect with the temporary tool on the temporary tool mounting bracket; The control unit controls the working robot to move towards the temporary fixture mounting plate and controls the working robot to complete the connection with the temporary fixture at the temporary fixture mounting plate; The control unit controls the work robot to perform test processing, so as to adjust the work robot's motion path and the time consumption of the corresponding work steps, and complete the pre-debugging of the work robot's processing trajectory and cycle test. The control unit disconnects the working robot from the temporary tools and fixtures to complete the debugging process.

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