CN110039272B - Automatic change equipment of disassembling cell-phone winding displacement - Google Patents
Automatic change equipment of disassembling cell-phone winding displacement Download PDFInfo
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- CN110039272B CN110039272B CN201910221496.8A CN201910221496A CN110039272B CN 110039272 B CN110039272 B CN 110039272B CN 201910221496 A CN201910221496 A CN 201910221496A CN 110039272 B CN110039272 B CN 110039272B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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Abstract
The invention provides equipment for automatically disassembling a mobile phone flat cable, which comprises a support frame, a mechanical arm body, a mechanical claw rotating device and a control platform, wherein the support frame is movably connected to the mechanical arm body; the mechanical claw rotating device sequentially comprises an actuating mechanism and a mechanical claw structure from top to bottom, the mechanical claw structure comprises a mechanical claw and a sucker, the mechanical claw is provided with a groove, the surface of the groove is provided with a reticular rubber friction pad, and the sucker is controlled to act on the surface of a terminal through a lateral air inlet by a pneumatic pump; the clamping jaw component of the invention provides quantitative analysis and calculation, can be better adsorbed on the surface of a flat cable terminal, is convenient for disassembling the flat cable, has simple operation and high accuracy, and can improve the working efficiency and the product quality.
Description
Technical Field
The invention relates to a mobile phone flat cable disassembled by automatic equipment, in particular to an automatic equipment which is designed to replace manual work, and the execution tail end of the equipment is utilized to simulate the operation of a person, so that the mobile phone flat cable can be disassembled quickly and accurately, and the working efficiency is improved.
Background
In the information era, mobile phones have become necessities in life of people, and with the development of global networks, the information era is more and more perfect, and the most common mobile phones at present are apple mobile phones, samsung mobile phones, Huawei mobile phones, OPPO mobile phones, VIVO mobile phones and the like. However, as the brands and the number of mobile phones increase, the mobile phone maintenance also faces a large workload. The cell-phone winding displacement is the connecting wire of cell-phone display screen, camera, keypad and mainboard etc. of mobile phone motherboard connection, is the inside important ring of cell-phone, and characteristics are small, light in weight, so when generally disassembling the winding displacement, all disassemble with the help of the small-size instrument, if: small crowbars, tweezers, etc. In investigation, the maintenance shop for mobile phone is disassembled manually, and when the flat cable is generally disassembled, the cover plate and the screws above the flat cable are disassembled in advance, and the direction is found by a prying bar or tweezers, so that the terminals at two ends of the flat cable are pried open, that is, the disassembling of one flat cable is completed. At present, the flat cable of the smart phone is basically connected through a buckle, so that the smart phone is convenient to mount and disassemble. At the present stage, however, the maintenance of the flat cable of the mobile phone is generally performed manually, so that the efficiency is low and certain damage uncertainty exists; therefore, the equipment for automatically disassembling the mobile phone flat cable is invented, so that the mobile phone flat cable is automatically disassembled, the disassembling time can be greatly shortened, the efficiency is improved, and the labor is saved.
CN207509209U discloses a manipulator mechanism with suction cup, comprising: the manipulator device comprises a lifting table, a lifting block, a first manipulator device, a second manipulator device and a driving assembly for driving the lifting block, wherein the lifting block is slidably arranged on the lifting table, and the first manipulator device and the second manipulator device are respectively arranged at two ends of the lifting block; the first mechanical arm device comprises a first mechanical arm mounting fixing block, a first sucker component and a second sucker component, the first mechanical arm mounting fixing block is mounted on the lifting block, the first sucker component and the second sucker component are mounted at two ends of the first mechanical arm mounting fixing block respectively, and the first sucker component comprises a first sucker rotating block and a first sucker. According to the invention, the material is sucked by the first manipulator device with the first sucker and the second manipulator device with the third sucker and the fourth sucker. Compare in traditional utilization and snatch the piece and snatch the material, utilize the sucking disc to absorb the material and can not cause the damage to the material, protected the material effectively.
CN206764810U discloses a vacuum chuck type manipulator end effector, which comprises a vacuum chuck and a manipulator arm body, wherein the vacuum chuck comprises an upper air duct, a lower air duct, a universal head, a chuck seat and a chuck lip, the lower plate surface of the chuck seat is provided with a chuck cavity, and the chuck lip comprises a nitrile rubber bonding layer, a silicone rubber contact layer, an upper reinforcing rib net layer and a lower reinforcing rib net layer; the free end of the mechanical arm body is fixedly connected with the upper end of the upper air duct, the lower end of the upper air duct is in fluid conduction connection with the upper end of the lower air duct, and the lower end of the lower air duct penetrates through the universal head to be in fluid conduction connection with the upper end of the first air vent in the sucker seat. The invention can transfer the objects with uneven contact surface roughness, utilizes the silicon rubber contact layer to extrude the air among rough particles of the contact surface, further enhances the adsorption force of the vacuum sucker, and reduces the energy consumption and the operation inconvenience brought by improving the internal vacuum degree of the vacuum sucker. However, none of the above prior arts has a specific judgment control system, and the clamping force of the gripper and the coordinated movement of the gripper need to be improved.
Disclosure of Invention
In order to solve the problems, aiming at the actual situation, the invention provides equipment for automatically disassembling a flat cable of a mobile phone, which mainly aims at disassembling a connection screen FPC and a connection main and auxiliary plate FPC, after the power is supplied by an external power supply, a micro camera carries out accurate positioning of the flat cable, a control system PLC controls a mechanical claw to clamp a flat cable terminal, a pressure sensor detects the condition of the clamping force of a groove of the mechanical claw, a motor controls a telescopic rod to drive a sucker, the sucker is controlled to act on the surface of the flat cable terminal through a vacuum pump to further suck and loosen the flat cable terminal, and the flat cable disassembling process of the mobile phone is completed through the joint operation of the mechanical claw and the sucker.
The automatic equipment for disassembling the flat cable of the mobile phone comprises: the manipulator comprises a support frame, a mechanical arm body, a mechanical claw rotating device and a control platform, wherein the support frame is movably connected to the mechanical arm body;
furthermore, the equipment for automatically disassembling the flat cable of the mobile phone also comprises a mobile phone clamping device;
furthermore, the mobile phone clamping device comprises a fixed mobile phone clamp main body, a spring device, a clamping mechanism I, a spring fixing screw, an expansion link and a clamping mechanism II; the number of the telescopic rods and the number of the spring fixing screws are four respectively, the telescopic rods penetrate through the spring devices, one ends of the telescopic rods are fixedly connected with the spring fixing screws fixed in the fixed mobile phone clamp main body, the other ends of the telescopic rods are fixedly connected with the clamping mechanism I and the clamping mechanism II, and the spring devices are in a clamping state;
furthermore, the mechanical arm body comprises a slide block I, a waist joint, a big arm and a small arm which are sequentially connected from top to bottom.
Further, the gripper rotating device comprises an actuating mechanism and a gripper structure from top to bottom, and the gripper structure comprises a gripper.
Furthermore, the mechanical claw rotating device also comprises a connecting block, an actuating mechanism, a micro force measuring sensor, a slide block guide rail II, a pressure sensor, a micro camera and a slide block II;
the mechanical claw structure further comprises a servo motor I, a gear I, a servo motor II, an electric telescopic rod, a lateral air inlet, a groove and a sucker.
Preferably, the equipment for automatically disassembling the flat cable of the mobile phone is powered by an external power supply, the power is processed by a voltage stabilizer, the current is transmitted to the whole circuit, and a PLC program of a control system starts to run;
slider I connects robotic arm and can slide on slider guide rail I, and robotic arm's waist joint is being connected to slider I bottom, and big arm is being connected to waist joint bottom, drives big arm through servo motor III and around the Z rotation of axes, and rotatory angle is 360, and the upper end of big arm is provided with elbow joint I, drives big arm along Y axle back-and-forth movement, mobilizable scope around by servo motor V through gear III: -10cm to 10 cm;
furthermore, the upper part of the waist joint is fixedly connected with a cylindrical sliding block I, the bottoms of the two sides of the waist joint are provided with downwards extending protruding parts, and the elbow joint I is hinged with the downwards extending protruding parts of the waist joint;
the bottom of big arm also is provided with elbow joint II, is connecting the forearm, drives the forearm through gear IV by servo motor VI and reciprocates along the Z axle, mobilizable scope from top to bottom: 2cm to 5 cm;
further, the elbow joint II is hinged with the forearm;
the wrist joint is connected to the forearm bottom, is driven wrist joint rotation, pivoted angle scope by servo motor IV through gear II: the wrist joint is arranged between 45 degrees and 45 degrees, the bottom of the wrist joint is connected with a connecting block, and the lower end of the connecting block is connected with an actuating mechanism; the actuating mechanism is provided with a slide block guide rail II, a slide block II, a miniature force transducer, a pressure sensor and a miniature camera; the upper part of the sliding block II is connected with an actuating mechanism, and the bottom of the sliding block II is connected with a mechanical claw;
furthermore, the tail end of the connecting block is connected with a slide block guide rail II, a slide block II, a micro force measuring sensor, a pressure sensor and a micro camera of the actuating mechanism;
furthermore, the tail end of the connecting block is movably connected with a slide block guide rail II, and the slide block guide rail II can do circular motion around the vertical axis of the connecting block;
furthermore, extension parts are arranged on the left side and the right side of the execution mechanism, a sliding block guide rail II penetrates through the extension parts on the left side and the right side of the execution mechanism, and the horizontal plane on the inner side of the execution mechanism sequentially comprises the sliding block guide rail II, a miniature camera and a sliding block II from top to bottom;
furthermore, the micro camera is arranged on the upper side of the sliding block II, the micro force transducer is arranged on the right side of the actuating mechanism, and the pressure sensor is arranged on the left side of the actuating mechanism;
preferably, the sliding block II is connected with the micro camera; the inner shell wall of the sliding block II is connected with the outside of the servo motor II;
furthermore, the micro camera accurately positions the position of the flat cable by shooting and scanning, a servo motor II is arranged in a sliding block II, the servo motor II drives a mechanical claw to rotate around a Z axis, the bottom of the sliding block II is provided with a servo motor I, a gear I, the mechanical claw, an electric telescopic rod and a sucker, the electric telescopic rod is connected above the sucker, and the electric telescopic rod is connected with the horizontal end face in the sliding block II;
furthermore, the mechanical claws are arranged on two sides of the electric telescopic rod, and one side of the mechanical claw, which is close to the electric telescopic rod, is in transmission connection with the gear I;
further, a servo motor I controls the transmission of a gear I to enable the mechanical claw to perform tensioning movement;
furthermore, a gear I is used for driving a mechanical claw to perform tensioning motion, the mechanical claw is provided with a groove, the surface of the groove is provided with a reticular rubber friction pad, and the sucker is controlled by a vacuum pump through a lateral air inlet to act on the surface of the terminal;
further, the length of the fingers of the mechanical claw is determined according to the shape of the flat cable terminal;
preferably, the length of the fingers of the mechanical claw is 35mm, and the width of the fingers of the mechanical claw is 10 mm;
preferably, the width of the groove is 10mm, and the depth is 2 mm;
preferably, the thickness of the reticular rubber friction pad is 1 mm;
preferably, the mechanical arm works mainly in a plane, and in order to facilitate the clamping of the terminal, the jaw angle of the mechanical claw is set to be 100 degrees, the angle is favorable for clamping the terminal edge into the groove, an inclined upward axial force F1 is generated, and finally the object is accurately clamped.
The working mode of the device is as follows:
1) firstly, a mobile phone is manually fixed on a console by using a fixed mobile phone clamp main body, the back of the mobile phone faces upwards, a spring device is arranged in a fixed clamp, and a clamping mechanism I and a clamping mechanism II are driven by the spring device to clamp the mobile phone.
2) When the grooves on the inner sides of the claws clamp the flat cable terminals, the grooves on the claws clamp the most front ends of the terminals by 10mm, and the front end surfaces of the terminals can be stressed by clamping the front ends, so that the terminals are easier to disassemble.
3) When the claw part is clamped, the clamping force needs to be controlled, the clamping force for disassembling the flat cable terminal is 3.32N through calculation, the clamping condition of the groove of the mechanical claw is detected by a pressure sensor, after the claw part is clamped, a telescopic rod is controlled by a motor to drive a sucker, the sucker is controlled by a vacuum pump to act on the surface of the flat cable terminal, when the sucker is used for sucking, the suction force needs to be controlled, and the suction force for disassembling the flat cable terminal is 2.81N through calculation.
4) When the clamp force exceeded 3.32N and suction exceeded 2.81N, still can not be with when dismantling the winding displacement, will have the alarm to report to the police, and the gripper stop work is taken away the cell-phone by the manual work, and the manual work is dismantled in the later stage.
5) When clamping force and suction force simultaneously act on the flat cable terminal, the control system controls the small arm to lift upwards by 3cm, and one end of the flat cable is disassembled;
the other end of the flat cable is disassembled by another mechanical claw and the sucking disc, and the disassembling process is the same as the above, when the two mechanical claws and the sucking disc work simultaneously, the terminals at the two ends of the flat cable are disassembled simultaneously, namely the whole flat cable is disassembled.
6) When the disassembly is completed, the flat cable is placed into the storage box through the slide block guide rail I above the supporting frame by the mechanical arm, the small slide rail is arranged at the bottom of the storage box, and the storage box is convenient to take and place.
The technical scheme of the invention at least has the following advantages and beneficial effects:
1. when the mobile phone flat cable is disassembled, the control system controls the clamping jaw assembly to disassemble the flat cable terminal, the vacuum pump controls the sucker to act on the surface of the flat cable terminal to suck, the clamping jaw assembly and the sucker assembly operate together to complete the disassembling process of the mobile phone flat cable, and the operation is simple and rapid.
2. The clamping jaw assembly gives quantitative analysis and quantitative calculation to ensure that the conditions of damage to a flat cable terminal and the like are avoided in the disassembling process; when the clamping force of the clamping jaw assembly exceeds the maximum theoretical value of quantitative calculation, the flat cable still cannot be disassembled, the control system controls the actuating mechanism to give up disassembling, manual disassembling at the later stage is performed, disassembling is performed through combined operation of machinery and manpower, and products can be prevented from being damaged by forcible disassembling of equipment.
3. The sucker component adopts a special sucker with a magnetic material, and the operation is controlled by a vacuum pump, so that the adverse effect caused by the surface roughness of the flat cable terminal can be avoided; in addition, the sucking disc gives quantitative analysis and quantitative calculation, so that the sucking disc meets the sucking condition and is convenient to operate.
4. Compared with the traditional manual operation, the device provided by the invention is simple to operate, high in accuracy and good in safety performance, can meet the large-batch requirements, reduces the labor intensity of workers, and improves the working efficiency and the product quality.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that need to be used in the embodiments are briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and should not be construed as limiting the scope of the present invention, and it is obvious for those skilled in the art to be able to obtain other drawings based on the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of the automatic disassembling mobile phone cable arranging device of the invention.
Fig. 2 is a schematic front view of the automatic mobile phone cable disassembling device of the present invention.
Fig. 3 is a schematic structural diagram of an execution terminal of the automatic disassembling mobile phone cable arranging device of the invention.
Fig. 4 is a schematic structural view of a gripper for automatically disassembling a mobile phone cable arranging device according to the present invention.
Fig. 5 is a partially enlarged view of the gripper of the automatic mobile phone wire arranging device of the invention.
Fig. 6 is a schematic structural view of the fixing table for automatically disassembling the mobile phone cable arranging device according to the present invention.
FIG. 7 is a flow chart of the removal of the flex cable according to the present invention.
Fig. 8 is a simplified diagram of the spring structure of the terminal of the present invention.
Figure 9 is a schematic view of the horizontally disposed suction cup configuration of the present invention.
Figure 10 is a diagram of vacuum pump pneumatic connections.
The figure is marked with: the device comprises a support frame 1, an actuating mechanism 2, a connecting block 3, a small arm 4, a large arm 5, a waist joint 6, a slider I7, a slider guide rail I8, an elbow joint I9, an elbow joint II10, a wrist joint 11, a storage box 12, a control system 13, a console 14, a micro force measuring sensor 15, a slider guide rail II16, a pressure sensor 17, a micro camera 18, a slider II19, a mechanical claw 20, a servo motor I21, a gear I22, a servo motor II23, an electric telescopic rod 24, a lateral air inlet 25, a groove 26, a suction cup 27, a mesh rubber friction pad 28, a fixed hand clamp main body 29, a spring device 30, a clamping mechanism I31, a spring fixing screw 32, a telescopic rod 33, a clamping mechanism II34, a servo motor III35, a gear II36, a servo motor IV37, a servo motor V38, a gear III39, a gear IV40, a servo motor VI41, an air pipe 42, a vacuum pump 43.
Detailed Description
The invention is described below with reference to the accompanying drawings and specific embodiments.
In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments.
Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention as claimed, but is merely representative of some embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "back", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are usually placed in when used. Such terms are merely used to facilitate describing the invention and to simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
It should also be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1-6, the embodiment of the present invention is:
an automatic device for disassembling a mobile phone cable comprises: the manipulator comprises a support frame 1, a mechanical arm body, a mechanical claw rotating device and a console 14, wherein the support frame 1 is movably connected to the mechanical arm body, the mechanical arm body is movably connected with the mechanical claw rotating device, and the console 14 is placed on the support frame 1;
as a preferred embodiment of the present invention, the device for automatically disassembling a flat cable of a mobile phone further comprises a mobile phone clamping device;
as a preferred embodiment of the present invention, the handset clamping device comprises a fixed handset clamp main body 29, a spring device 30, a clamping mechanism I31, a spring fixing screw 32, a telescopic rod 33, a clamping mechanism II 34; four telescopic rods 33 and four spring fixing screws 32 are arranged, the telescopic rods 33 penetrate through the spring device 30, one end of each telescopic rod 33 is fixedly connected with the spring fixing screw 32 fixed in the mobile phone fixing clamp main body 29, the other end of each telescopic rod 33 is fixedly connected with the clamping mechanism I31 and the clamping mechanism II34, and the spring device 30 is in a clamping state;
as a preferred embodiment of the invention, the mechanical arm body comprises a slide block I7, a waist joint 6, a big arm 5 and a small arm 4 which are connected in sequence from top to bottom.
As a preferred embodiment of the present invention, the gripper rotation device comprises an actuator 2 and a gripper structure from top to bottom, and the gripper structure comprises a gripper 20.
As a preferred embodiment of the present invention, the gripper rotation device further includes a connection block 3, an actuator 2, a micro load cell 15, a slider guide rail II16, a pressure sensor 17, a micro camera 18, and a slider II 19;
as a preferred embodiment of the invention, the mechanical claw structure further comprises a servo motor I21, a gear I22, a servo motor II23, an electric telescopic rod 24, a lateral air inlet 25, a groove 26 and a suction cup 27.
As a preferred embodiment of the present invention, the device for automatically disassembling the flat cable of the mobile phone is powered by an external power source, processed by a voltage stabilizer, and the current is transmitted to the whole circuit, and the PLC program of the control system 13 starts to run;
as a preferred embodiment of the present invention, the slider I7 is connected to a robot arm and can slide on a slider guide rail I8, the bottom of the slider I7 is connected to a waist joint 6 of the robot arm, the bottom of the waist joint 6 is connected to a large arm 5, the large arm 5 is driven to rotate around a Z axis by a servo motor III35, the rotation angle is 360 °, an elbow joint I9 is arranged at the upper end of the large arm 5, the large arm 5 is driven to move back and forth along the Y axis by a servo motor V38 through a gear III39, and the range of the forward and backward movement is: -10cm to 10 cm;
as a preferred embodiment of the invention, the upper part of the waist joint 6 is fixedly connected with a cylindrical slide block I7, the bottoms of the two sides of the waist joint 6 are provided with downward extending protrusions, and the elbow joint I9 is hinged with the downward extending protrusions of the waist joint 6;
as a preferred embodiment of the present invention, the lower end of the large arm 5 is also provided with an elbow joint II10 connected to the small arm 4, and the small arm 4 is driven by a servo motor VI41 through a gear IV40 to move up and down along the Z axis within the range of up and down movement: 2cm to 5 cm;
as a preferred embodiment of the invention, the elbow joint II10 is hinged to the lower arm 4;
as a preferred embodiment of the present invention, the lower end of the small arm 4 is connected to the wrist joint 11, and the servo motor IV37 drives the wrist joint 11 to rotate through the gear II36, the rotation angle range is: the angle is minus 45 degrees to minus 45 degrees, the bottom of the wrist joint 11 is connected with a connecting block 3, and the lower end of the connecting block 3 is connected with an actuating mechanism 2; the actuating mechanism 2 is provided with a slide block guide rail II16, a slide block II19, a micro force measuring sensor 15, a pressure sensor 17 and a micro camera 18; the upper part of the sliding block II19 is connected with the actuating mechanism 2, and the bottom of the sliding block II19 is connected with the mechanical claw 20;
as a preferred embodiment of the present invention, the end of the connecting block 3 is connected with a slide guide rail II16, a slide II19, a micro force sensor 15, a pressure sensor 17, and a micro camera 18 of the actuating mechanism 2;
as a preferred embodiment of the present invention, the end of the connecting block 3 is movably connected with a slider guide rail II16, and the slider guide rail II16 can make a circular motion around the vertical axis of the connecting block 3;
as a preferred embodiment of the present invention, the actuator has extending portions on the left and right sides, the slider guide rail II16 passes through the extending portions on the left and right sides of the actuator, and the horizontal plane inside the actuator sequentially comprises, from top to bottom, a slider guide rail II16, a micro camera 18, and a slider II 19;
as a preferred embodiment of the present invention, the micro-camera 18 is disposed on the upper side of the slider II19, the micro-load cell 15 is disposed on the right side of the actuator 2, and the pressure sensor 17 is disposed on the left side of the actuator 2;
as a preferred embodiment of the present invention, the slider II19 is connected to the micro camera 18; the inner shell wall of the sliding block II19 is connected with the outside of a servo motor II 23;
as a preferred embodiment of the present invention, the micro-camera 18 accurately locates the position of the flat cable by shooting and scanning, a servo motor II23 is arranged in the slider II19, the servo motor II23 drives the gripper 20 to rotate around the Z axis, the bottom of the slider II19 is provided with a servo motor I21, a gear I22, the gripper 20, an electric telescopic rod 24, a suction cup 27, an electric telescopic rod 24 connected above the suction cup 27, and the electric telescopic rod 24 is connected with the horizontal end face in the slider II 19;
as a preferred embodiment of the present invention, the gripper 20 is disposed on both sides of the electric telescopic rod 24, and one side of the gripper 20 close to the electric telescopic rod 24 is in gear transmission connection with the gear I22;
as a preferred embodiment of the invention, the mechanical claw 20 is driven by a gear I22 to move in a tensioning way, the mechanical claw 20 is provided with a groove 26, the surface of the groove 26 is provided with a reticular rubber friction pad 28, and the suction cup 27 is controlled by a vacuum pump 43 to act on the surface of the terminal through a lateral air inlet 25;
as a preferred embodiment of the invention, a servo motor I21 controls a gear I22 to drive the mechanical claw 20 to move in a tensioning mode;
as a preferred embodiment of the present invention, the length of the finger of the gripper 20 is determined according to the shape of the bus bar terminal;
as a preferred embodiment of the present invention, the fingers of the gripper 20 have a length of 35mm and a width of 10 mm;
as a preferred embodiment of the present invention, the width of the groove 26 is 10mm, and the depth is 2 mm;
as a preferred embodiment of the present invention, the mesh-shaped rubber friction pad 28 has a thickness of 1 mm;
as a preferred embodiment of the invention, the robot arm works mainly in one plane, and to facilitate the gripping of the terminals, the jaw angle of the gripper 20 is set to 100 °, which facilitates the snapping of the terminal edge into the groove 26, which will generate an obliquely upward axial force F1, and eventually, the precise gripping of the article.
As shown in fig. 7, as an embodiment of a preferred embodiment of the apparatus for automatically disassembling a flex cable according to the present invention, the operation mode is as follows:
1) firstly, the mobile phone is fixed on the console 14 by manually using the fixed mobile phone clamp main body 29, the back of the mobile phone faces upwards, the spring device 30 is arranged in the fixed clamp, and the spring device 30 drives the clamping mechanism I31 and the clamping mechanism II34 to clamp the mobile phone.
2) When the grooves 26 on the inner side of the claw part clamp the flat cable terminal, the claw part grooves 26 clamp the most front end 10mm of the terminal, and the front end surface of the terminal can be stressed and is easier to disassemble by clamping the front end.
3) When the claw part is used for clamping, the clamping force needs to be controlled, the clamping force for disassembling the flat cable terminal is 3.32N generally through calculation, the clamping condition of the groove 26 of the mechanical claw 20 is detected by the pressure sensor 17, after the claw part is clamped, the motor controls the telescopic rod 24 to drive the suction cup 27, the suction cup 27 is controlled by the vacuum pump 43 to act on the surface of the flat cable terminal, when the suction cup 27 is used for sucking, the suction force needs to be controlled, and the suction force for disassembling the flat cable terminal is 2.81N generally through calculation.
4) When the clamping force exceeds 3.32N and the suction force exceeds 2.81N, still can not be with when dismantling the winding displacement, will have the alarm to report to the police, gripper 20 stop work, takes away the cell-phone by the manual work, and the manual work is dismantled in the later stage.
5) When clamping force and suction force simultaneously act on the flat cable terminal, the control system 13 controls the small arm 4 to lift upwards by 3cm, and one end of the flat cable is disassembled;
the other end of the flat cable is disassembled by the other gripper 20 and the suction cup 27, and the disassembling process is the same as the above, when the two grippers 20 and the suction cup 27 work simultaneously, the terminals at the two ends of the flat cable are disassembled simultaneously, that is, the whole flat cable is disassembled.
6) After the disassembly is finished, the flat cable is placed into the storage box 12 through the slider guide rail I8 above the support frame 1 by moving the mechanical arm to the left, and the bottom of the storage box 12 is provided with a small-sized slide rail, so that the storage box can be conveniently taken and placed.
As another preferred embodiment of the present invention, the gripper 20 and the suction cup do not operate simultaneously, but first use the gripper 20 to grasp, and an embodiment of the apparatus for automatically disassembling the flex cable, which operates as follows:
1) firstly, the mobile phone is fixed on the console 14 by manually using the fixed mobile phone clamp main body 29, the back of the mobile phone faces upwards, the spring device 30 is arranged in the fixed clamp, and the spring device 30 drives the clamping mechanism I31 and the clamping mechanism II34 to clamp the mobile phone.
2) When the grooves 26 on the inner side of the claw part clamp the flat cable terminal, the claw part grooves 26 clamp the most front end 10mm of the terminal, and the front end surface of the terminal can be stressed and is easier to disassemble by clamping the front end.
3) When the claw part clamps the flat cable terminal, the clamping force is controlled, the range of the clamping force required for removing the flat cable terminal is 3.98N-6.64N generally through calculation, the clamping condition of the groove 26 of the mechanical claw 20 is detected by the pressure sensor 17, and after the claw part clamps the flat cable terminal, the control system 13 controls the small arm 4 to be lifted upwards for 3cm, and the flat cable terminal is removed.
4) After the flat cable terminal is dismantled, the interval is 0.5 s; then, the motor controls the telescopic rod 24 to drive the sucking disc 27, and the vacuum pump 43 controls the sucking disc 27 to act on the surface of the flat cable terminal to suck the flat cable terminal; through calculation, according to the vacuum degree of 75kpa of the PH2506B type sucker of the micro vacuum pump, the force born by a single sucker is 2.81N, the theoretical suction force required by the suction and the wire arrangement is 2.4N, and the sucker meets the requirement.
5) When the clamping force exceeds 6.64N and still can not dismantle the winding displacement terminal, there will be the alarm to report to the police, gripper 20 stops working, takes away the cell-phone by the manual work, and the manual work is demolishd in the later stage.
6) The other end of the cable is removed as described above, and when the two gripper arms 20 and the suction cup 27 work simultaneously, the removal of the entire cable is completed.
7) When the whole flat cable is removed, the flat cable is moved to the upper side of the storage box 12 through the slider guide rail I8 on the upper side of the support frame 1 by a mechanical arm, the electromagnetic valve 44 is powered off, the vacuum disappears, the flat cable falls into the storage box 12, and the bottom of the storage box 12 is provided with a small-sized sliding rail, so that the storage box can be conveniently taken and placed.
The present embodiment is further described below:
as shown in fig. 8, high precision is required for disassembling a small object such as a flat cable of a mobile phone, so that structural requirements need to be satisfied when designing a gripper and a suction cup, and through measurement and numerical analysis, a flat cable terminal generally has a shape of 1.8 × 1.2 × 0.3cm (length × width × thickness), a mass of 20g, and a position of the flat cable terminal is 180 ° from a horizontal plane of a main board of the mobile phone.
And (3) analyzing the stress of the flat cable terminal: gravity G, connector pull-out force T, clamping force F,
the paw grip F × μ ═ G/2) + T (where μ is the coefficient of friction), where F is the minimum grip
In the formula: g-mg-0.02 × 9.8-0.196N, T-1N,
wherein the terminal plug force is calculated: the terminal insertion and extraction force is the friction force required by insertion and extraction when the male end and the female end are matched with each other, and is an important part in the mechanical performance of the connector, and if the terminal insertion and extraction force is too small, the terminal is easy to loosen, so that the electrical contact is unstable or fails; the assembly is difficult due to overlarge insertion and extraction force, and the elastic structure of the terminal is simplified into a cantilever beam model according to the stress condition when the male end and the female end are matched with each other and the existing elastic structure of the terminal;
according to the cantilever beam theory and the friction force theory, the insertion and extraction force formula when the male end is matched with the female end can be obtained
T＝μ×Fn＝μ×(dEWt3/4L3)
In the formula: μ — coefficient of friction; f-positive pressure of the terminal; d is the displacement of the terminal elastic structure; w is the width of the terminal elastic structure; l is the length of the terminal elastic structure; e-modulus of elasticity of the material; t-the thickness of the material.
Referring to the friction chapter in the second edition of handbook of mechanical engineers, the material is copper, and the friction coefficient μ is 0.2, it can be known from the above formula that the magnitude of the connector terminal insertion force is proportional to the thickness of the terminal material, the elastic modulus, the friction coefficient, the width and displacement of the elastic structure, and inversely proportional to the cantilever length of the elastic structure. After the product structure design is finished, the magnitude of the insertion and extraction force can be adjusted by changing the parameters (elastic modulus, surface roughness, plating material and thickness) of the terminal material. The insertion force T is calculated by table look-up to 1N.
In order to increase the friction coefficient of the finger part and facilitate replacement, a rubber friction pad is used at a clamping contact position, and the friction coefficient of rubber is known to be 0.36 by looking up a mechanical design manual, and the minimum clamping force F is calculated to be 3.32N.
Considering the factors such as different models of mobile phones, different plug-in and pull-out functions of the male and female terminals of the flat cable terminal, and the like, when the clamping force is designed, a certain safety factor s is 1.2-2.0, and the clamping force of the paw is in the range of 3.98N-6.64N.
As shown in fig. 9, selection of vacuum chuck: this design adopts vacuum chuck, and operating condition is the level and places, required theoretical maximum suction W promptly, can make the object remove, wherein carries out the atress analysis like figure 9, can obtain: the required suction force W of the suction cup,
W＝m×(g+a/μ)×s
wherein m represents mass; g-acceleration of gravity, here taken at 10m/s2(ii) a a-lifting acceleration, here taken at 5m/s according to the usual speed2(ii) a s-safety factor, here taken as 2 based on material properties; mu-friction coefficient, the given friction coefficient is an average value, and the value is 0.1 according to the material of the workpiece; the available suction force is:
W＝m×(g+a/μ)×s＝0.02×(10+5/0.1)×2＝2.4N
calculating the specification and the number of the suckers: the theoretical suction force N of the suction cup,
N＝μ×0.1×S×P
wherein: s is the area (cm) of the suction cup2) P is air pressure (kpa), μ is friction coefficient (μ ═ 0.75);
the design adopts a vacuum generator as a micro vacuum pump PH2506B, and the vacuum degree is-75 kpa;
area of sucking disc S ═ pi × r × r ═ 3.14 × 0.4 × 0.4 ═ 0.5cm2；
The suction force N ═ μ × 0.1 × 75 × 0.5 ═ 2.81N.
According to the micro vacuum pump PH2506B type suction cup, when the vacuum degree is 75kpa, the force which can be born by a single suction cup is 2.81N, the required theoretical suction force is 2.4N, and one suction cup is required.
Description of the structure of the gripper: the mechanical paw is a double-gear paw, the size of the paw is that the length of a finger is 35mm, the width of the finger is 10mm, the tail end of the paw is provided with a groove, the clamping of a flat cable terminal is facilitated, the depth of the groove is 2mm, meanwhile, the surface of the paw is provided with a layer of reticular rubber friction pad, the thickness of the paw is 1mm, when the paw works, the friction force is increased, and the paw is prevented from falling off in the movement process. The angle of keeping silent of hand claw sets up to 100, for pressing from both sides when getting the terminal, has inclination, is convenient for press from both sides and gets. In addition, a proper angle is opened according to the size of the terminal to be grabbed to grab, the opening angle of the claw part is required to be less than or equal to 80 degrees, and the opening caliber is required to be less than or equal to 50 mm;
description of the structure of the vacuum chuck: the vacuum sucker disclosed by the invention comprises a sucker body and a connecting piece, wherein a metal framework is adopted, the sucker is made of a silicon rubber material, the friction coefficient is 0.75, a side air inlet mode is adopted, the diameter of the designed sucker is 0.8cm, the sucker body comprises a vacuum connecting device, an air exhaust groove, a sucker device and the like, a small sliding rail is arranged at the lower end of the connecting piece, the upper end of the sucker device is connected with the sliding rail, and the sucker device can slide in a small range to adjust the position of the sucker device according to the surface of a terminal. In addition, a layer of magnetic material is arranged at the bottom of the sucker device, so that the terminal made of the metal material can be conveniently adsorbed.
As shown in fig. 9-10, as a preferred embodiment of the present invention, since the flat cable terminals have different surface roughness, when a general suction cup is used for suction, the suction cup may leak air, and thus the suction force cannot be generated; therefore, the two-position three-way electromagnetic valve 44 is connected with the vacuum pump 43, the vacuum pump 43 controls the sucker to act on the surface of the terminal, the vacuum pump 43 is connected with the sucker through the air pipe 42, the suction and air discharge operations of the sucker are realized through the electrification and the outage of the two-position three-way electromagnetic valve 44, and the situation that the sucker cannot suck is avoided.
The above embodiments are merely illustrative, not restrictive, of the technical solutions of the present invention, and any modifications or partial replacements without departing from the spirit of the present invention should be covered within the scope of the claims of the present invention.
Claims (1)
1. The utility model provides an automatic change equipment of disassembling cell-phone winding displacement which characterized in that: the manipulator comprises a support frame (1), a mechanical arm body, a mechanical claw rotating device and a control platform (14), wherein the support frame (1) is movably connected to the mechanical arm body, the mechanical arm body is movably connected with the mechanical claw rotating device, and the control platform (14) is placed on the support frame (1);
the equipment for automatically disassembling the mobile phone flat cable also comprises a mobile phone clamping device;
the mobile phone clamping device comprises a fixed mobile phone clamp main body (29), a spring device (30), a clamping mechanism I (31), a spring fixing screw (32), an expansion link (33) and a clamping mechanism II (34); four telescopic rods (33) and four spring fixing screws (32) are arranged respectively; the telescopic rod (33) penetrates through the spring device (30), one end of the telescopic rod (33) is fixedly connected with a spring fixing screw (32) fixed in the fixed mobile phone clamp main body (29), the other end of the telescopic rod is fixedly connected with the clamping mechanism I (31) and the clamping mechanism II (34), and the spring device (30) is in a clamping state;
the mechanical arm body comprises a slide block I (7), a waist joint (6), a large arm (5) and a small arm (4) which are connected in sequence from top to bottom;
the mechanical claw rotating device sequentially comprises an actuating mechanism (2) and a mechanical claw structure from top to bottom, wherein the mechanical claw structure comprises a mechanical claw (20);
the mechanical claw rotating device further comprises a connecting block (3), a micro force measuring sensor (15), a sliding block guide rail II (16), a pressure sensor (17), a micro camera (18) and a sliding block II (19);
the mechanical claw structure further comprises a servo motor (I21), a gear I (22), a servo motor II (23), an electric telescopic rod (24), a lateral air inlet (25), a groove (26) and a sucker (27);
slider I (7) are connected robotic arm and can be slided on slider guide rail I (8), robotic arm's waist joint (6) are being connected to slider I (7) bottom, big arm (5) are being connected to waist joint (6) bottom, it is rotatory around the Z axle to drive big arm (5) through servo motor III (35), rotatory angle is 360, the upper end of big arm (5) is provided with elbow joint I (9), drive big arm (5) through gear III (39) by servo motor V (38) and follow Y axle back-and-forth movement, mobilizable scope around: -10cm to 10 cm;
the upper part of the waist joint (6) is fixedly connected with a cylindrical sliding block I (7), the bottoms of the two sides of the waist joint (6) are provided with downwards extending protruding parts, and the elbow joint I (9) is hinged with the downwards extending protruding parts of the waist joint (6);
the bottom of big arm (5) also is provided with elbow joint II (10), is connecting forearm (4), is being followed Z axle and is reciprocated, mobilizable scope from top to bottom by servo motor VI (41) through gear IV (40) drive forearm (4): 2cm to 5 cm; the elbow joint II (10) is hinged with the small arm (4);
the working mode of the automatic mobile phone cable disassembling device is as follows:
1) firstly, manually fixing the mobile phone on the console 14 by using the fixed mobile phone clamp main body 29, wherein the back of the mobile phone faces upwards, the spring device 30 is arranged in the fixed clamp, and the spring device 30 drives the clamping mechanism I31 and the clamping mechanism II34 to clamp the mobile phone;
2) when the grooves 26 on the inner side of the claw part clamp the flat cable terminal, the grooves 26 on the claw part clamp the position of the most front end 10mm of the terminal, and the front end surface of the terminal can be stressed and is easier to disassemble by clamping the front end;
3) when the claw part is used for clamping, the clamping force is required to be controlled, the clamping force for disassembling the flat cable terminal is 3.32N generally through calculation, the clamping condition of the groove 26 of the mechanical claw 20 is detected by the pressure sensor 17, after the claw part is clamped, the motor controls the telescopic rod 24 to drive the suction cup 27, the suction cup 27 is controlled by the vacuum pump 43 to act on the surface of the flat cable terminal, when the suction cup 27 is used for sucking, the suction force is required to be controlled, and the suction force for disassembling the flat cable terminal is 2.81N generally through calculation;
4) when the clamping force exceeds 3.32N and the suction force exceeds 2.81N, the flat cable can not be disassembled, an alarm is given, the mechanical claw 20 stops working, the mobile phone is taken away manually, and manual disassembly is carried out at the later stage;
5) when clamping force and suction force simultaneously act on the flat cable terminal, the control system 13 controls the small arm 4 to lift upwards by 3cm, and one end of the flat cable is disassembled;
the other end of the flat cable is disassembled by the other mechanical claw 20 and the sucking disc 27, the disassembling process is the same as the above, when the two mechanical claws 20 and the sucking disc 27 work simultaneously, the terminals at the two ends of the flat cable are disassembled simultaneously, namely the whole flat cable is disassembled;
6) after the disassembly is finished, the flat cable is placed into the storage box 12 through the slider guide rail I8 above the support frame 1 by moving the mechanical arm to the left, and the bottom of the storage box 12 is provided with a small-sized slide rail, so that the storage box can be conveniently taken and placed.
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| CN111890044B (en) * | 2020-08-27 | 2024-07-02 | 成都九系机器人科技有限公司 | Automatic pipe fitting assembly system |
| CN113194190B (en) * | 2021-04-28 | 2022-09-09 | 青岛科技大学 | Intelligent classification processing method for waste mobile phone disassembly fault based on cloud computing |
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| US4580340A (en) * | 1982-02-23 | 1986-04-08 | Shields Charles E | Method and apparatus for applying two piece connector blocks to multiconductor cable |
| US20020189073A1 (en) * | 2001-06-08 | 2002-12-19 | Neng-Shu Tseng | Apparatus for assembling nuts and method therefor |
| CN206154322U (en) * | 2016-11-11 | 2017-05-10 | 西北机器有限公司 | Precision assembly robot |
| CN207027511U (en) * | 2017-04-19 | 2018-02-23 | 深圳市卓誉自动化科技有限公司 | Common rail robot device |
| CN207239602U (en) * | 2017-07-28 | 2018-04-17 | 福士瑞精密工业(郑州)有限公司 | Disassembly mechanism |
| CN107856029B (en) * | 2017-11-29 | 2021-08-10 | 长春工业大学 | Electro-hydraulic hybrid driving industrial mechanical arm structure and control system |
| CN208231793U (en) * | 2018-04-26 | 2018-12-14 | 南安市耀森智能设备有限公司 | A kind of Multi Role Aircraft machinery claw |
| CN108748076B (en) * | 2018-06-21 | 2021-10-01 | 山东拓步教育科技有限公司 | Automatic connect end water robot |
| CN208614203U (en) * | 2018-08-21 | 2019-03-19 | 东莞市爱康电子科技有限公司 | A kind of camera assembling equipment |
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