CN110653583A - Gold needle assembly device and method - Google Patents
Gold needle assembly device and method Download PDFInfo
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- CN110653583A CN110653583A CN201910777571.9A CN201910777571A CN110653583A CN 110653583 A CN110653583 A CN 110653583A CN 201910777571 A CN201910777571 A CN 201910777571A CN 110653583 A CN110653583 A CN 110653583A
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- clamping jaw
- axis robot
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- gold needle
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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 discloses a golden needle assembly device which comprises a four-axis robot and a golden needle assembly module, wherein the golden needle assembly module is connected to the working end of the four-axis robot; the golden needle assembly module comprises a rotary connection module, and a visual guide module, a displacement detection module and a clamping jaw module which are connected to the rotary connection module; the clamping jaw module comprises a three-jaw cylinder and a clamping jaw, the clamping jaw is connected to the output end of the three-jaw cylinder, the three-jaw cylinder works to drive the clamping jaw to grab and install a gold needle, and the visual guide module is used for observing the position information of a gold needle installation hole and transmitting the position information to the four-axis robot; the displacement detection module is used for detecting the height information of the golden needle mounting hole and transmitting the height information to the four-axis robot; the device is installed by a machine, and has the advantages of high installation precision and high speed compared with manual installation; this device adopts the mode of two clamping jaws, has saved a large amount of installation time, has improved the installation effectiveness.
Description
Technical Field
The invention relates to the technical field of base station production, in particular to a gold needle assembling device and method.
Background
The base station includes a base transceiver station and a base station controller. A base station controller may control tens to tens of base transceiver stations. The base station may have a plurality of PCBs including an insulating substrate and conductive traces, wherein the insulating substrate may have a plurality of holes therein, wherein a portion of the holes may be adapted for receiving the pins. In the prior art, the gold needle is mounted in a manual mounting mode, and when the gold needle is manually mounted, the working time is long, neglected mounting is easy, and the gold needle is easy to be mounted in place.
Disclosure of Invention
The invention aims to provide a gold needle assembling device and method, and aims to solve the problems of long gold needle assembling time and low efficiency in the prior art.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
the invention provides a golden needle assembly device, which comprises a four-axis robot and a golden needle assembly module, wherein the golden needle assembly module is connected to the working end of the four-axis robot; the golden needle assembly module comprises a rotary connection module, and a visual guide module, a displacement detection module and a clamping jaw module which are connected to the rotary connection module; the clamping jaw module comprises a three-jaw air cylinder and a clamping jaw, the clamping jaw is connected to the output end of the three-jaw air cylinder, the three-jaw air cylinder works to drive the clamping jaw to grab and install a gold needle, and the visual guide module is used for observing the position information of a gold needle installation hole and transmitting the position information to the four-axis robot; the displacement detection module is used for detecting height information of the golden needle mounting hole and transmitting the height information to the four-axis robot.
Further, the swivelling joint module includes robot connecting block, pressure sensor and connecting plate device, the connecting plate device is used for connecting vision guide module, displacement detection module and clamping jaw module, pressure sensor fixes between connecting plate device and the robot connecting block.
Further, the vision guide module comprises a camera, and the working direction of the camera is the same as the gripping direction of the clamping jaw.
Further, the visual guidance module also comprises a light source, and the working direction of the light source is the same as the working direction of the camera.
Further, the displacement detection module comprises a second cylinder and a displacement sensor, the second cylinder is fixed on the rotary connection module, and the displacement sensor is fixed at the output end of the second cylinder.
Further, the clamping jaw modules are at least two.
The second aspect of the invention provides a gold needle assembling method, which comprises the following steps:
step one, a clamping jaw at the working end of the four-axis robot grabs the golden pin.
And step two, the visual detection module observes position information of the gold needle mounting hole and transmits the position information to the four-axis robot, and the four-axis robot drives the clamping jaw to move to the position of the gold needle mounting hole.
And step three, the displacement detection module detects the height information of the detection golden pin mounting hole and transmits the height information to the four-axis robot, and the four-axis robot drives the clamping jaw to descend to mount the golden pin.
Further, the height information of the detection gold needle mounting hole comprises the following steps:
step one, after the clamping jaw is in place, the displacement sensor detects the initial height information of the gold needle mounting hole.
And secondly, the displacement sensor descends by a specified height, and the displacement sensor detects the second height position of the gold needle mounting hole.
And step three, the displacement sensor descends to a specified height, and the displacement sensor detects third height information of the gold needle mounting hole.
And step four, the position detection module transmits the acquired initial height information, the acquired second height information and the acquired third height information to the four-axis robot, and the four-axis robot acquires height information of the golden needle mounting hole.
The invention has the advantages that:
1. the device is installed by a machine, and has the advantages of high installation precision and high speed compared with manual installation; the device adopts a double-clamping jaw mode, thereby saving a large amount of installation time and improving the installation efficiency;
2. when the device is designed, the visual guide module is adopted to perform plane positioning to obtain the position of the mounting hole, and the displacement detection module is used to perform height positioning to obtain the height information of the mounting hole, so that the mounting error during mounting is avoided, and the gold needle can be accurately mounted;
3. pressure sensors are arranged in the robot connecting block and the connecting plate device, whether the gold needle is installed in place or not is judged according to pressure changes of the pressure sensors, and the gold needle installation accuracy is improved.
Drawings
FIG. 1 is a schematic view showing the overall structure of a gold needle assembling apparatus according to an embodiment of the present invention;
fig. 2 is a schematic overall structure diagram of a gold needle assembling module according to an embodiment of the present invention;
FIG. 3 is a schematic view of the overall structure of the clamping jaw module according to the embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating an overall structure of a visual inspection module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an overall structure of a displacement detection module according to an embodiment of the present invention;
fig. 6 is a schematic view of an overall structure of a rotary connection module according to an embodiment of the present invention.
Wherein: 1. a four-axis robot; 2. assembling a gold needle module; 3. a rotary connection module; 4. a visual guidance module; 5. a displacement detection module; 7. a clamping jaw module; 31. a robot connecting block; 32. a pressure sensor; 33. a clamping jaw module connecting plate; 34. a second connecting plate; 35. a third connecting plate; 41. a camera; 42. a protective cover; 43. a lens; 44. a light source; 45. a camera fixing plate; 51. a second cylinder; 52. a displacement sensor; 53. a cylinder fixing plate; 54. a sensor fixing plate; 71. a cylinder fixing plate; 72. a first cylinder; 73. a three-jaw cylinder; 74. a clamping jaw; 75. the cylinder connecting plate.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
It should be noted that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. As used in the description of the present invention, the terms "front," "back," "left," "right," "up," "down" and "in" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
In actual production, most of golden pins are installed manually, the manual installation has the defects of low efficiency and low precision, and the golden pin assembling device is developed for improving the speed and the precision of golden pin installation. The gold needle assembling device is arranged on an existing four-axis robot 1 to work through a developed gold needle assembling module 2, the gold needle assembling module 2 comprises a clamping jaw module 7 for grabbing a gold needle, a visual guide module 4 for detecting position information of a mounting hole and a displacement detection module 5, and the gold needle assembling device is further provided with a pressure sensor 32 for judging whether the gold needle is arranged in place or not. The gold needle mounting precision is guaranteed through the assembly of the devices, and the gold needle mounting speed is improved.
As shown in fig. 1 to 6, a gold pin assembling apparatus includes a four-axis robot 1 and a gold pin assembling module 2, the gold pin assembling module 2 is connected to a working end of the four-axis robot 1; the golden needle assembly module 2 comprises a rotary connecting module 3, a vision guide module 4, a displacement detection module 5 and two clamping jaw modules 7, wherein the vision guide module 4, the displacement detection module 5 and the two clamping jaw modules 7 are connected around the rotary connecting module 3; the clamping jaw module 7 comprises a three-jaw cylinder 73 and a clamping jaw 74, the clamping jaw 74 is connected to the output end of the three-jaw cylinder 73, the three-jaw cylinder 73 works to drive the clamping jaw 74 to grab and install a gold needle, and the visual guide module 4 is used for observing the position information of a gold needle installation hole and transmitting the position information to the four-axis robot 1; the displacement detection module 5 is used for detecting the height information of the golden needle mounting hole and transmitting the height information to the four-axis robot 1.
Specifically, a control device is arranged on the four-axis robot 1 in the device, and the control device can be a microcomputer. The microcomputer is used for receiving signals of the vision guide module 4, the displacement detection module 5 and the pressure sensor 32 and transmitting the received signals to the four-axis robot 1, and the four-axis robot 1 makes corresponding movement according to the received signals. The microcomputer can also control the three-jaw air cylinder 73 to work, and the three-jaw air cylinder 73 works to drive the clamping jaw 74 to grab and loosen the gold needle.
In this embodiment, the rotary connection module 3 includes a robot connection block 31, a pressure sensor 32, and a connection plate device, the connection plate device is used to connect the vision guide module 4, the displacement detection module 5, and the clamping jaw module 7, and the pressure sensor 32 is fixed between the connection plate device and the robot connection block 31.
Specifically, as shown in fig. 6, a bolt connection hole is formed in the robot connection block 31, the robot connection block 31 is fixed to a working end of the four-axis robot 1 by a bolt, and a pressure sensor 32 is connected between the robot connection block 31 and the connection plate device. The web arrangement comprises a total web, two jaw module webs 33, a second web 34 and a third web 35. The total connecting plate is connected with the pressure sensor 32, the two clamping jaw module connecting plates 33 are symmetrically and fixedly connected to the left side and the right side of the total connecting plate, and the second connecting plate 34 and the third connecting plate 35 are fixed in front of the total connecting plate.
As shown in fig. 4, the visual guidance module 4 includes a camera 41, a protective cover 42, a lens 43, a light source 44, and a camera fixing plate 45, and the protective cover 42 is fitted around the periphery of the camera 41 to protect the camera 41 from damage. The protective cover 42 is attached to the camera fixing plate 45, and the camera fixing plate 45 is detachably attached to the second connecting plate 34 by bolts. The camera is also provided with a lens 43, and the working direction of the lens 43 is the same as the grabbing direction of the clamping jaw 74. Further, in order to increase the image capturing effect of the lens 43, a light source 44 is connected to the outer periphery of the lens 43. Specifically, the camera 41 and the light source 44 are connected to the microcomputer by signals, the microcomputer can control the light source 44 to be turned on or off, and the image information acquired by the camera 41 can be transmitted to the microcomputer.
As shown in fig. 5, the displacement detecting module 5 includes a second cylinder 51, a displacement sensor 52, a cylinder fixing plate 53, and a sensor fixing plate 54. The cylinder fixing plate 53 is bolted on the third connecting plate 35, the second cylinder 51 is bolted on the cylinder fixing plate 53, the moving direction of the second cylinder 51 is the vertical direction, and the direction of the image captured by the clamping jaw 74 is the same as the direction of the image captured by the lens 43. The displacement sensor fixing plate 54 is connected to the output end of the second cylinder 51, and the displacement sensor 52 is used for detecting the height information of the gold needle mounting hole. The displacement sensor 52 is connected with the second cylinder 51 through signals of a microcomputer, the microcomputer controls the second cylinder 51 to work, and the displacement sensor 52 transmits measured position information to the microcomputer.
As shown in fig. 3, the two jaw modules 7 have the same structure, and the two jaw modules 7 are respectively fixed to the jaw module connecting plate 33. The clamping jaw module 7 comprises a cylinder fixing plate 71, a first cylinder 72, a three-jaw cylinder 73, a clamping jaw 74 and a cylinder connecting plate 75. The cylinder fixing plate 71 is connected to the gripper module connecting plate 33 by bolts, and the first cylinder 72 is fixed to the cylinder fixing plate 71. The first cylinder 72 is a double-guide-rod cylinder, and the cylinder connecting plate 75 is fixed at the output end of the first cylinder 72. The three-jaw cylinder 73 is fixed to the bottom surface of the cylinder connecting plate 75.
The golden needle assembling method specifically comprises the following steps: step 1, a clamping jaw 74 at the working end of the four-axis robot 1 grabs the golden pin. And 2, observing the position information of the gold needle mounting hole by the visual detection module 4, transmitting the position information to the four-axis robot 1, and driving the clamping jaw 74 to move to the position of the gold needle mounting hole by the four-axis robot 1. And 3.1, after the clamping jaw 74 is in place, the displacement sensor 52 detects the initial height information of the gold needle mounting hole. And 3.2, lowering the displacement sensor 52 by the specified height, and detecting the second height position of the gold needle mounting hole by the displacement sensor 52. And 3.3, lowering the displacement sensor 52 to the specified height again, and detecting third height information of the golden needle mounting hole by the displacement sensor 52. And 4, transmitting the height information to a microcomputer by the displacement sensor 52, transmitting the processed specific height information of the golden pin mounting hole to the four-axis robot 1 by the microcomputer, and driving the clamping jaw 74 to descend by the four-axis robot 1 to mount the golden pin.
When the height information is acquired, the accuracy of acquiring the height position information is ensured by measuring the height information of the gold needle mounting hole for three times. The installation accuracy of the device is improved. The pressure sensor 32 connected between the robot connecting block 31 and the connecting plate device of the device plays a role in pressure measurement. Specifically, when the gold pins are installed, the gold pins can smoothly descend in the gold pin installation holes in the early stage, and when the gold pins are installed in place, the gold pins do not descend. The reaction to the pressure sensor 32 reveals both a sudden change in pressure at the pressure sensor 32. If the value on the pressure sensor 32 suddenly increases, it indicates that the gold pin is installed in place.
In the description of the present invention, it should be understood that the terms "first", "second", and the like are used for limiting the components, and are used only for the convenience of distinguishing the components, and the terms have no special meaning if not stated otherwise, and thus should not be construed as limiting the scope of the present invention.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (8)
1. The golden needle assembly device is characterized by comprising a four-axis robot (1) and a golden needle assembly module (2), wherein the golden needle assembly module (2) is connected to the working end of the four-axis robot (1); the golden needle assembly module (2) comprises a rotary connection module (3), and a visual guide module (4), a displacement detection module (5) and a clamping jaw module (7) which are connected to the rotary connection module (3);
the clamping jaw module (7) comprises a three-jaw air cylinder (73) and a clamping jaw (74), the clamping jaw (74) is connected to the output end of the three-jaw air cylinder (73), the three-jaw air cylinder (73) works to drive the clamping jaw (74) to grab and install a gold needle, and the vision guide module (4) is used for observing the position information of a gold needle installation hole and transmitting the position information to the four-axis robot (1); the displacement detection module (5) is used for detecting height information of the golden needle mounting holes and transmitting the height information to the four-axis robot (1).
2. Gold needle assembly device according to claim 1, characterized in that said rotary connection module (3) comprises a robot connection block (31), a pressure sensor (32) and a connection plate device for connecting the vision guide module (4), the displacement detection module (5) and the gripper module (7), said pressure sensor (32) being fixed between said connection plate device and the robot connection block (31).
3. Gold needle assembly device according to claim 1, characterized in that said vision guide module (4) comprises a camera (41), the working direction of said camera (41) and the gripping direction of said gripping jaws (74) being the same.
4. A needle assembly device according to claim 3, characterized in that the vision guide module (4) further comprises a light source (44), the working direction of the light source (44) is the same as the working direction of the camera (41).
5. A needle assembling device according to claim 1, characterized in that the displacement detecting module (5) comprises a second cylinder (51) and a displacement sensor (52), the second cylinder (51) is fixed on the rotary connecting module (3), and the displacement sensor (52) is fixed at the output end of the second cylinder (51).
6. Gold needle assembly device according to claim 1, characterised in that there are at least two of said jaw modules (7).
7. A gold needle assembling method is characterized by comprising the following steps:
a clamping jaw (74) at the working end of the four-axis robot (1) grabs the golden needle;
the visual detection module (4) observes position information of the gold needle mounting hole and transmits the position information to the four-axis robot (1), and the four-axis robot (1) drives the clamping jaw (74) to move to the position of the gold needle mounting hole;
the displacement detection module (5) detects the height information of the detection gold needle mounting hole, and transmits the height information to the four-axis robot (1), and the four-axis robot (1) drives the clamping jaw (74) to descend to mount the gold needle.
8. The gold needle assembling method according to claim 7, wherein the detecting height information of the gold needle mounting holes comprises the steps of:
after the clamping jaw (74) is in place, the displacement sensor (52) detects the initial height information of the gold needle mounting hole;
the displacement sensor (52) descends to a designated height, and the displacement sensor (52) detects a second height position of the gold needle mounting hole;
the displacement sensor (52) descends to a designated height, and the displacement sensor (52) detects third height information of the gold needle mounting hole;
the displacement detection module (5) transmits the obtained initial height information, the obtained second height information and the obtained third height information to the four-axis robot (1), and the four-axis robot (1) obtains height information of the golden needle mounting holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910777571.9A CN110653583A (en) | 2019-08-22 | 2019-08-22 | Gold needle assembly device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910777571.9A CN110653583A (en) | 2019-08-22 | 2019-08-22 | Gold needle assembly device and method |
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| CN110653583A true CN110653583A (en) | 2020-01-07 |
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| CN201910777571.9A Pending CN110653583A (en) | 2019-08-22 | 2019-08-22 | Gold needle assembly device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112247525A (en) * | 2020-09-29 | 2021-01-22 | 智瑞半导体有限公司 | Intelligent assembling system based on visual positioning |
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| CN108305553A (en) * | 2018-01-30 | 2018-07-20 | 江苏理工学院 | A kind of experiment device for teaching of view-based access control model assembly |
| CN207869601U (en) * | 2017-07-26 | 2018-09-14 | 珠海智新自动化科技有限公司 | Robot abnormal shape plug-in machine |
| CN109531117A (en) * | 2018-10-12 | 2019-03-29 | 盐城工学院 | A kind of automobile six-joint robot visual grasping device |
| CN109834455A (en) * | 2019-03-16 | 2019-06-04 | 慈溪市三佩机械有限公司 | A kind of split pin press-loading device of skylight motor plastic casing |
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2019
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03170288A (en) * | 1989-11-29 | 1991-07-23 | Pentel Kk | Apparatus for setting working position of working shaft of robot |
| CN107052777A (en) * | 2017-02-28 | 2017-08-18 | 无锡黎曼机器人科技有限公司 | A kind of end effector of robot of vision guide engine shaft coupling assembling |
| CN207869601U (en) * | 2017-07-26 | 2018-09-14 | 珠海智新自动化科技有限公司 | Robot abnormal shape plug-in machine |
| CN108305553A (en) * | 2018-01-30 | 2018-07-20 | 江苏理工学院 | A kind of experiment device for teaching of view-based access control model assembly |
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| CN112247525A (en) * | 2020-09-29 | 2021-01-22 | 智瑞半导体有限公司 | Intelligent assembling system based on visual positioning |
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Application publication date: 20200107 |