CN109807605B - Oblique installation method of mobile phone installation equipment - Google Patents
Oblique installation method of mobile phone installation equipment Download PDFInfo
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- CN109807605B CN109807605B CN201910228111.0A CN201910228111A CN109807605B CN 109807605 B CN109807605 B CN 109807605B CN 201910228111 A CN201910228111 A CN 201910228111A CN 109807605 B CN109807605 B CN 109807605B
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Abstract
A method for obliquely installing mobile phone installation equipment comprises the following steps that A, an installation robot takes a mobile phone main board, B, a lower camera element photographs the mobile phone main board and calculates the offset of the mobile phone main board, C, an upper camera element photographs a mobile phone shell and calculates the offset of the mobile phone shell through comparison, D, after photographing is completed, a joint position posx, posy and posa is calculated, E, a compensation value x3 in the x direction and a compensation value z2 in the z direction are calculated through a trigonometric function, F, a plane installation position posx', posy and posa of the mobile phone main board are calculated, G, the installation robot takes the mobile phone main board to reach the plane installation position, the installation position posz in the z direction of the mobile phone main board is equal to a reference position △ z + the compensation value z1 in the z direction of the installation robot, and H, the installation robot controls the mobile phone main board to rotate around a buckle by a certain angle so that the installation of the mobile phone main board and the mobile phone shell can be installed.
Description
Technical Field
The invention relates to an intelligent installation system, in particular to an oblique installation method of mobile phone installation equipment.
Background
The existing installation system which is matched through vision is generally used for plane matching installation, and the matching installation with an angle is basically realized by a clamp; therefore, on the basis of the installation system provided with the vision device, the corresponding clamp is required to be provided to realize the angle matching installation; for example, in the production process of a mobile phone, the mobile phone motherboard and the mobile phone shell are installed through a buckle, so that the mobile phone motherboard is required to have a certain angle during installation so as to be clamped to the buckle of the mobile phone shell and then installed, but because the installation systems on the market are generally installed on a plane, an oblique installation needs to be realized by using a clamp as a mechanism, so that the design requirement on the clamp is higher on one hand, the equipment cost is increased on the other hand, and the performance of the equipment is wasted. With the development of the industry 4.0, the automation level requirement is higher and higher, and in order to better complete the automation upgrade, the technology must be continuously improved, optimized and reduced in cost, so as to accelerate the modification and the promotion of the industry 4.0, and therefore, further improvement on the existing vision installation system is necessary.
Disclosure of Invention
The invention aims to provide the oblique installation method of the mobile phone installation equipment, which can increase the flexibility of debugging, reduce the cost of the equipment, improve the installation efficiency, improve the installation precision, improve the yield and have high automation degree, so as to overcome the defects in the prior art.
The mobile phone installation equipment comprises an installation robot, an upper camera element and a lower camera element, wherein the upper camera element is arranged on the installation robot; the method is characterized in that: the oblique installation method comprises the following steps
A. Installing a robot to take the mobile phone mainboard;
B. photographing the mobile phone mainboard through the lower photographing element, and calculating the offset of the mobile phone mainboard, wherein the offset of the mobile phone mainboard comprises an offset x1 in the x direction and/or an offset y1 in the y direction;
C. the robot is installed to take a mobile phone mainboard to move above a mobile phone shell, the mobile phone shell is photographed through an upper camera element, and the offset of the mobile phone shell is calculated through comparison, wherein the offset of the mobile phone shell comprises an offset x2 in the x direction and/or an offset y2 in the y direction;
D. after the photographing is finished, calculating a bonding position posx, posy and posa, wherein posx is x2-x1, posy is y2-y1, and the value range of posa is 40-50 degrees, preferably 45 degrees;
E. obtaining a compensation value x3 in the x direction and a compensation value z2 in the z direction through a trigonometric function;
F. calculating a plane installation position posx', posy, posa of the mobile phone mainboard, wherein posx ═ posx + compensation value x 3;
G. the installation robot takes the mobile phone mainboard to reach a plane installation position, and the installation position posz in the z direction of the mobile phone mainboard is a reference position △ z + compensation value z1 where the installation robot is located in the z direction;
H. the installation robot controls the mobile phone mainboard to rotate a certain angle around the buckle so as to complete the installation of the mobile phone mainboard and the mobile phone shell.
The offset x3 is x1 cosa, and the offset z1 is x1 sina.
The mobile phone installation equipment also comprises a transfer platform, and a mobile phone mainboard is loaded to the transfer platform and is taken by the installation robot; the lower camera element is arranged close to the transfer table.
The mounting robot is a six-axis robot.
The mobile phone installation equipment further comprises an installation conveying line and a shell tool, the installation conveying line drives the shell tool to move, and the mobile phone shell is placed on the shell tool.
The invention has the following beneficial effects:
1. the flexibility of automatic debugging of the equipment is improved: the offset of the mobile phone mainboard can be calculated by utilizing the photographing comparison of the upper and lower photographing elements, and the system can compensate displacement according to the offset, so that the mobile phone mainboard and the mobile phone shell are ensured to be accurately assembled;
2. the convenience of automatic transformation is improved: in the whole installation process, the shooting of the parts, the counting of the offset and the like can be automatically completed by the system, the automation degree is high, and the convenience is improved;
3. the automation cost of the equipment is reduced: the whole working process of the mobile phone installation equipment can be automatically completed without manual participation, so that the labor cost is effectively reduced, the working efficiency is ensured, and the working quality is improved;
4. the adaptability of automation to multiple products is increased: this technical scheme can accomplish accurate installation through links such as shooing, contrast and calculation, and it is not restricted to the installation to the cell-phone, all can use to similar products that need oblique installation from top to bottom.
Drawings
Fig. 1 is a schematic diagram illustrating a reference clamping center for mounting a robot and a mobile phone motherboard in an ideal state according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating a reference clamping center of an installation robot and a mobile phone shell in an ideal state according to an embodiment of the present invention.
Fig. 3 is a top view of a mobile phone motherboard fastened to a buckle on a mobile phone case in an ideal installation process according to an embodiment of the invention.
Fig. 4 is a side view of a mobile phone motherboard fastened to a buckle on a mobile phone case in an ideal installation process according to an embodiment of the invention.
Fig. 5 is a top view of an assembly state of a main board and a housing of a mobile phone according to an ideal state of the invention.
Fig. 6 is a side view of an assembled state of a main board and a housing of a mobile phone according to an ideal state of the invention.
Fig. 7 is a schematic diagram illustrating a reference clamping center of an installation robot and a mobile phone motherboard in an offset state according to an embodiment of the present invention.
Fig. 8 is a schematic diagram illustrating a reference gripping center of an installation robot and a mobile phone shell in an offset state according to an embodiment of the present invention.
Fig. 9 is a top view of a mobile phone motherboard fastened to a buckle on a mobile phone case during installation under an offset state according to an embodiment of the present invention.
Fig. 10 is a side view of a mobile phone motherboard fastened to a buckle on a mobile phone case during installation under an offset condition according to an embodiment of the invention.
Fig. 11 is a top view of an assembled state of a mobile phone motherboard and a mobile phone case in an offset state according to an embodiment of the invention.
Fig. 12 is a side view of an assembled state of a mobile phone motherboard and a mobile phone case in an offset state according to an embodiment of the invention.
Fig. 13 is a front view of a handset mounting device in accordance with an embodiment of the invention.
Fig. 14 is a top view of a handset mounting apparatus in accordance with an embodiment of the invention.
Fig. 15 is a right side view of a handset mounting device in accordance with an embodiment of the invention.
Fig. 16 is a schematic partial structure diagram of a mobile phone installation device according to an embodiment of the present invention.
Fig. 17 and 18 are schematic views of different orientations during installation of an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
Referring to fig. 1 to 6, when the installation robot 1 executes the operation of holding the center position of the mobile phone motherboard 6 (△ a is a reference center, △ x is an x-direction reference, △ y is a y-direction reference, and △ z is a z-direction reference), the mobile phone motherboard 6 and the mobile phone case 7 do not move in both the x direction and the y direction, and the installation robot 1 performs the oblique installation.
Referring to fig. 7 to 12, in a case where the installation robot 1 takes a central position of the mobile phone motherboard 6 as it is (a1 is an actual center), the mobile phone motherboard 6 and the mobile phone housing 7 move in both the x direction and the y direction, and the installation robot 1 performs oblique installation; the oblique installation method of the mobile phone installation equipment comprises the following steps
A. The installation robot 1 takes the mobile phone mainboard 6;
B. the mobile phone mainboard 6 is photographed through the lower camera element 3, and the offset of the mobile phone mainboard 6 is calculated, wherein the offset of the mobile phone mainboard 6 comprises an offset x1 in the x direction and/or an offset y1 in the y direction;
C. the mounting robot 1 takes the mobile phone mainboard 6 to move above the mobile phone shell 7, takes a picture of the mobile phone shell 7 through the upper camera element 2, and calculates the offset of the mobile phone shell 7 through comparison, wherein the offset of the mobile phone shell 7 comprises an offset x2 in the x direction and/or an offset y2 in the y direction;
D. after the photographing is finished, calculating a bonding position posx, posy and posa, wherein posx is x2-x1, posy is y2-y1, and posa is 45 degrees;
E. obtaining a compensation value x3 in the x direction and a compensation value z2 in the z direction through a trigonometric function;
F. calculating a plane installation position posx', posy, posa of the mobile phone motherboard 6, wherein posx ═ posx + compensation value x 3;
G. the installation robot 1 executes the mobile phone motherboard 6 to reach a planar installation position, and the installation position posz in the z direction of the mobile phone motherboard 6 is equal to the reference position △ z + compensation value z1 where the installation robot 1 is located in the z direction;
H. the mounting robot 1 controls the mobile phone motherboard 6 to rotate around the buckle by a certain angle to complete the mounting of the mobile phone motherboard 6 and the mobile phone shell 7.
Further, the offset value x3 is x1 cosa, and the offset value z1 is x1 sina.
Further, referring to fig. 13 to 18, the mobile phone installation apparatus includes an installation robot 1, an upper camera element 2, a lower camera element 3, and a transfer platform 4, the upper camera element 2 is disposed on the installation robot 1, a mobile phone motherboard 6 is loaded to the transfer platform 4 and is taken out by the installation robot 1, and the lower camera element 3 is disposed near the transfer platform 4; the mounting robot 1 is a six-axis robot.
Further, the mobile phone installation equipment further comprises an installation conveying line 8 and a shell tool 5, the installation conveying line 8 drives the shell tool 5 to move, and the mobile phone shell 7 is placed on the shell tool 5.
The foregoing is a preferred embodiment of the present invention, and the basic principles, principal features and advantages of the invention are shown and described. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and the invention is intended to be protected by the following claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. An oblique installation method of a mobile phone installation device comprises an installation robot (1), an upper camera element (2) and a lower camera element (3), wherein the upper camera element (2) is arranged on the installation robot (1); the oblique installation method comprises the following steps
A. The installation robot (1) is used for taking the mobile phone mainboard (6);
B. the mobile phone mainboard (6) is photographed through the lower camera element (3), the offset of the mobile phone mainboard (6) is calculated, and the offset of the mobile phone mainboard (6) comprises an offset x1 in the x direction and/or an offset y1 in the y direction;
C. the mounting robot (1) takes a mobile phone mainboard (6) to move above a mobile phone shell (7), photographs the mobile phone shell (7) through an upper photographing element (2), and calculates the offset of the mobile phone shell (7) through comparison, wherein the offset of the mobile phone shell (7) comprises an offset x2 in the x direction and/or an offset y2 in the y direction;
D. after the photographing is finished, calculating a joint position (posx, posy, posa), wherein the posx is x2-x1, the posy is y2-y1, and the posa value ranges from 40 degrees to 50 degrees;
E. obtaining a compensation value x3 in the x direction and a compensation value z2 in the z direction through a trigonometric function;
F. calculating a plane installation position (posx', posy, posa) of the mobile phone mainboard (6), wherein posx ═ posx + compensation value x 3;
G. the mounting robot (1) takes the mobile phone mainboard (6) to reach a plane mounting position, and the mounting position posz of the mobile phone mainboard (6) in the z direction is equal to a reference position △ z + compensation value z1 where the mounting robot (1) is located in the z direction;
H. the mounting robot (1) controls the mobile phone mainboard (6) to rotate for a certain angle around the buckle so as to complete the mounting of the mobile phone mainboard (6) and the mobile phone shell (7);
the offset x3 is x1 cosa, and the offset z1 is x1 sina;
posa 45 °;
the mobile phone installation equipment further comprises a transfer platform (4), and a mobile phone mainboard (6) is fed to the transfer platform (4) and is taken by the installation robot (1); the lower camera element (3) is arranged close to the transfer table (4);
the method is characterized in that: the mounting robot (1) is a six-axis robot;
the mobile phone installing equipment further comprises an installing conveying line (8) and a shell tool (5), the installing conveying line (8) drives the shell tool (5) to move, and the mobile phone shell (7) is placed on the shell tool (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910228111.0A CN109807605B (en) | 2019-03-25 | 2019-03-25 | Oblique installation method of mobile phone installation equipment |
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| CN201910228111.0A CN109807605B (en) | 2019-03-25 | 2019-03-25 | Oblique installation method of mobile phone installation equipment |
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| CN109807605A CN109807605A (en) | 2019-05-28 |
| CN109807605B true CN109807605B (en) | 2020-07-10 |
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| CN111283401A (en) * | 2020-03-05 | 2020-06-16 | 广州市斯睿特智能科技有限公司 | Visual positioning method for realizing automatic installation of snap fasteners |
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| CN105835045B (en) * | 2016-06-06 | 2017-12-01 | 福建工程学院 | A kind of panel installation truss manipulator and installation method |
| KR101850118B1 (en) * | 2016-08-09 | 2018-04-19 | 한국생산기술연구원 | Method and System for Calibration of Mobile Robot and Camera |
| CN107572252A (en) * | 2017-09-27 | 2018-01-12 | 广东利迅达机器人系统股份有限公司 | A kind of robot clamp carried for cell phone mainboard |
| CN107717442B (en) * | 2017-10-11 | 2019-05-14 | 温州职业技术学院 | The multirobot work compound assembly line of machine vision auxiliary |
| CN108747313A (en) * | 2018-06-29 | 2018-11-06 | 东莞华贝电子科技有限公司 | The installation equipment of mobile phone side key |
| CN109434839A (en) * | 2018-12-25 | 2019-03-08 | 江南大学 | A kind of robot self-calibrating method based on monocular vision auxiliary positioning |
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