CN110848220A - Automatic back glue replacing method and system for back cover of flexible smart phone - Google Patents

Automatic back glue replacing method and system for back cover of flexible smart phone Download PDF

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Publication number
CN110848220A
CN110848220A CN201911128867.4A CN201911128867A CN110848220A CN 110848220 A CN110848220 A CN 110848220A CN 201911128867 A CN201911128867 A CN 201911128867A CN 110848220 A CN110848220 A CN 110848220A
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CN
China
Prior art keywords
cover
unit
path
gum
station
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Granted
Application number
CN201911128867.4A
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Chinese (zh)
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CN110848220B (en
Inventor
李佳
姚林朋
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Shanghai Jiao Tong University
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Shanghai Jiao Tong University
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Priority to CN201911128867.4A priority Critical patent/CN110848220B/en
Publication of CN110848220A publication Critical patent/CN110848220A/en
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Publication of CN110848220B publication Critical patent/CN110848220B/en
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16BDEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS, WEDGES, JOINTS OR JOINTING
    • F16B11/00Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/001Cleaning by methods involving the use of tools, brushes, or analogous members characterised by the type of cleaning tool
    • B08B1/002Brushes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00Accessories or details of general applicability for machines or apparatus for cleaning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16BDEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS, WEDGES, JOINTS OR JOINTING
    • F16B11/00Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding
    • F16B11/006Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding by gluing
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84Systems specially adapted for particular applications
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00General purpose image data processing
    • G06T1/0014Image feed-back for automatic industrial control, e.g. robot with camera
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/0002Inspection of images, e.g. flaw detection
    • G06T7/0004Industrial image inspection
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/70Determining position or orientation of objects or cameras
    • G06T7/73Determining position or orientation of objects or cameras using feature-based methods
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84Systems specially adapted for particular applications
    • G01N2021/8411Application to online plant, process monitoring
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30108Industrial image inspection
    • G06T2207/30164Workpiece; Machine component

Abstract

The invention discloses a method and a system for automatically replacing a back glue of a back cover of a flexible smart phone, wherein the method comprises the following steps: positioning the rear cover; identifying the position of the rear cover and the back glue path of the rear cover; carrying out gum removal according to the gum path; detecting the residual glue removing effect; and pasting the gum according to the gum path. The method overcomes the defects that the cleaning of the residual glue of the rear cover of the mobile phone is time-consuming and labor-consuming and can not be efficiently automated in the prior art, can be suitable for various smart phone models, a flexible path is customized for each rear cover of the mobile phone, all the process steps are automatically carried out, and compared with the existing manual method, the method has the advantages of high efficiency and wide application range, can realize continuous production and is easy for industrial application.

Description

Automatic back glue replacing method and system for back cover of flexible smart phone
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a method and a system for automatically replacing back glue of a back cover of a flexible smart phone.
Background
With the improvement of living standard of people, the shipment volume of smart phones is increased in successive years, for example, 3.41 billion smart phones are sold in the second quarter of the year 2019. In the production process, the production of defective products is avoided, and even if the product is Huashi, large factories of mobile phones such as apples also have at least three thousandth of defective products. According to the data, 1.13 million defective mobile phones are generated every day, and the mobile phones are not sold and need to be repaired and then return to the production line for secondary assembly. This just needs to open the back lid of cell-phone and rubberize again, and the process of uncapping utilizes the instrument to realize fast, and the cull clearance needs a large amount of manual works with rubberizing process again, if the manual work of cull clearance process is cleared up and is wasted time and energy, and the clearance effect is also not ideal. And the mobile phone rear cover to be reworked comes from a plurality of models, so a flexible and automatic glue removing and sticking process is needed, and no effective scheme is available at present for removing and sticking the glue on the mobile phone rear cover efficiently, safely and environmentally.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the problems occurring in the prior art.
Therefore, the invention aims to provide an automatic replacement method for the back glue of a back cover of a flexible smart phone, which solves the defects that in the prior art, the cleaning of the residual glue of the back cover of the smart phone is time-consuming and labor-consuming, and the automatic replacement cannot be realized efficiently.
In order to solve the technical problems, the invention provides the following technical scheme: a method for automatically replacing a back adhesive of a back cover of a flexible smart phone comprises the following steps: s1: positioning the rear cover; s2: identifying the position of the rear cover and the back glue path of the rear cover; s3: carrying out gum removal according to the gum path; s4: detecting the residual glue removing effect; s5: and pasting the gum according to the gum path.
As a preferred scheme of the automatic replacement method for the back glue of the flexible smart phone rear cover, the method comprises the following steps: step S1 specifically includes: the rear cover is positioned through the clamping unit, the clamping unit is arranged on the conveying unit, and the clamping unit and the rear cover fixed on the clamping unit are conveyed to the positions corresponding to all the steps through the conveying unit.
As a preferred scheme of the automatic replacement method for the back glue of the flexible smart phone rear cover, the method comprises the following steps: step S2 specifically includes: setting clamp mark points on the clamping unit, and acquiring images of the clamping unit and the rear cover; and determining the space positions of the clamping unit and the rear cover through the clamp mark points, and extracting the characteristics of the image to obtain the gum path.
As a preferred scheme of the automatic replacement method for the back glue of the flexible smart phone rear cover, the method comprises the following steps: step S3 specifically includes: and removing the gum through a cleaning unit, wherein the cleaning unit moves according to the gum path.
As a preferred scheme of the automatic replacement method for the back glue of the flexible smart phone rear cover, the method comprises the following steps: step S4 specifically includes: collecting an image of the rear cover, and extracting the residual glue characteristic of the rear cover; if the adhesive meets the cleaning standard, entering the next step of gum pasting; if the back cover does not meet the cleaning standard, the clamping unit and the back cover are sent back to the process of identifying the position of the back cover and the back glue path of the back cover through the return unit, and the process is repeated until the cleaning standard is met.
As a preferred scheme of the automatic replacement method for the back glue of the flexible smart phone rear cover, the method comprises the following steps: step S5 specifically includes: and acquiring images of the clamping unit and the rear cover, identifying the terminal position of the rear cover, and determining the current gluing path of the rear cover by taking the initial position of the rear cover and the gluing path as references.
The invention also provides an automatic flexible smart phone back cover gum replacing system, which comprises a conveying unit, a return unit, a clamping unit, an image acquisition unit, a control unit, a cleaning unit and a gum pasting unit; the conveying unit is longitudinally arranged on a production process path, and a positioning station, an image acquisition station, a cleaning station, a residual glue detection station and a gluing station are sequentially and correspondingly arranged on the production process path; the back transmission unit is arranged on one side of the transmission unit, the head end and the tail end of the back transmission unit respectively extend to the residual glue detection station and the image acquisition station, and a back cover on the residual glue detection station can be transmitted to the image acquisition station; the clamping unit is placed at the positioning station and comprises a clamp table and a clamping assembly fixed on the clamp table, and the clamping assembly can position a rear cover placed on the clamp table; the image acquisition unit comprises an initial acquisition module which is arranged on the upper part of the image acquisition station and can acquire images of the rear cover, a residual glue detection module which is arranged on the upper part of the residual glue detection station and can acquire residual glue images, and a terminal acquisition module which is arranged on the upper part of the rubberizing station and can acquire images of the rear cover; the control unit can receive the image from the initial acquisition module and can identify the initial position and the gum applying path of the rear cover or identify the initial position and the gum residue path of the rear cover from the return unit; the residual glue detection module can also receive a residual glue image from the residual glue detection module, and compares and judges the residual glue image with a preset threshold value after extracting the residual glue characteristics; the terminal cover positioning system can also receive images from the terminal acquisition module, and after the terminal position of the rear cover is identified, the terminal position of the rear cover is compared with the initial position of the rear cover acquired by the initial acquisition module to obtain a rubberizing path; the cleaning unit is arranged on the cleaning station and comprises a three-dimensional motion assembly and a cleaning assembly connected to the three-dimensional motion assembly; the three-dimensional motion assembly drives the cleaning assembly to clean the rear cover according to the gum applying path or the gum residue path under the control of the control unit; and the rubberizing unit is used for rubberizing the rear cover positioned on the rubberizing station according to the rubberizing path under the control of the control unit.
As an optimal scheme of the flexible smart phone rear cover gum automatic replacement system, the system comprises: the back transmission unit is a groove-shaped path with an opening facing the transmission unit and comprises four turning areas which are distributed at four corners of a rectangle and connecting belts which are arranged on the other three sides except one side of the transmission unit, wherein the two turning areas are respectively arranged on the residual glue detection station and the image acquisition station, and the transmission unit sinks through a roller at the positions corresponding to the two turning areas; the steering area comprises a steering mounting frame, a transverse driving roller wheel and a longitudinal driving roller wheel which are fixed on the mounting frame, and driving pieces which are respectively used for driving the transverse driving roller wheel and the longitudinal driving roller wheel; the highest points of the tops of the transverse driving roller wheel and the longitudinal driving roller wheel are flush with each other.
As an optimal scheme of the flexible smart phone rear cover gum automatic replacement system, the system comprises: the three-dimensional motion assembly comprises a support erected on two sides of the conveying unit, a longitudinal slide rail fixed on the support, a longitudinal sliding piece arranged on the longitudinal slide rail and capable of longitudinally sliding, a transverse sliding piece arranged on the longitudinal sliding piece and capable of transversely sliding, and a vertical telescopic piece arranged on the transverse sliding piece and capable of vertically moving; the clearance subassembly set up in the bottom of vertical extensible member.
As an optimal scheme of the flexible smart phone rear cover gum automatic replacement system, the system comprises: the clamping assembly is in a plurality of the distribution of a week of anchor clamps platform, and all adopt sharp actuating mechanism, each sharp actuating mechanism's flexible end is inside to be fixed with pressure sensor at the end, pressure sensor can extrude the edge of back lid realizes the location, and will record pressure data transmission extremely the control unit.
The invention has the beneficial effects that: the method is suitable for various smart phone models, the flexible path is customized for each mobile phone rear cover, all the process steps are automatically carried out, and compared with the existing manual method, the method has the advantages of high efficiency and wide application range, can realize continuous production, and is easy for industrial application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a flow chart of automatic replacement of a flexible smart phone back cover gum.
Fig. 2 is a schematic diagram of an automatic replacement system for the residual glue of the rear cover of the flexible smart phone.
Fig. 3 is a schematic plan view of the jig stage.
FIG. 4 is a schematic diagram of an embodiment of gum removal.
Fig. 5 is a schematic plan view of the turning region.
Fig. 6 is a top view and a side view of the cleaning unit.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Referring to fig. 1 and 2, a first embodiment of the present invention provides an automatic replacement method for a back adhesive of a flexible smart phone rear cover, which is applicable to various smart phone models, wherein a flexible path is customized for each mobile phone rear cover, and each step of production and processing is automatically performed.
The automatic back glue replacing method for the flexible smart phone back cover comprises the following steps:
step S1: positioning the rear cover;
step S2: identifying the position of the rear cover and the back glue path of the rear cover;
step S3: carrying out gum removal according to the gum path;
step S4: detecting the residual glue removing effect;
step S5: and pasting the back glue according to the back glue path.
Specifically, in step S1, the rear cover of the mobile phone may be fixed by the clamping unit 300 to achieve positioning, so as to ensure that the side containing the adhesive faces upward, the clamping unit 300 is disposed on the conveying unit 100, and the clamping unit 300 and the rear cover fixed thereon are conveyed to the stations corresponding to the subsequent steps by the conveying unit 100.
The clamping unit 300 may employ an existing clamp or an adjustable clamping mechanism that can accommodate and secure cell phone back covers of different sizes. Conveying unit 100 can be along the conveyer belt of vertical setting, and preferably accurate graduation formula conveyer belt is fit for carrying out the accurate operation and the loading and unloading of widget, and the conveying precision can reach the silk meter level.
Step S2 specifically includes: a plurality of jig mark points O are provided on the clamping unit 300 as positioning coordinates for acquiring spatial positions of the clamping unit 300 and its rear cover. The whole images of the clamping unit 300 and the rear cover are shot and collected through a CCD camera, then the position information of each clamp mark point O can be determined by identifying the clamp mark points O in the image visual field, so that the spatial position of the clamping unit 300 is obtained, and meanwhile, the spatial position of the rear cover is mapped; meanwhile, by extracting the characteristics of the back cover and the gum of the back cover in the image, the outline of the back cover of the mobile phone and the point cloud data of the gum on the back cover can be obtained, and a gum path (namely a gum removing path data set) is further generated.
The images collected by the CCD camera can be sent to an industrial personal computer (an industrial control computer), the industrial personal computer identifies and extracts features of the images, and all data (including space position information, position point cloud data and generated gum paths) generated after identification can be stored in the industrial personal computer for calling of subsequent working procedure operation.
In the present invention, the mark points O of the fixture may be a plurality of short columnar or dot-shaped structures fixed on the clamping unit 300, or may be dot-shaped patterns directly drawn thereon, which play a role in marking and positioning.
Step S3 specifically includes: according to the invention, the back glue is removed through the cleaning unit 600, and the cleaning unit 600 adopts a physical cleaning mode, such as: brushing and stripping are carried out by adopting a brush head, or stripping is carried out by spraying dry ice. In the cleaning process, the cleaning unit 600 firstly calls the gum path from the industrial personal computer, and then the cleaning unit 600 moves and cleans the gum path, so that the cleaning integrity and pertinence are guaranteed.
Preferably, the bottom of the clamping unit 300 is provided with a heating module, and the heating module can increase the temperature difference between the upper surface and the lower surface of the gum to accelerate the removal speed and efficiency of the gum. The heating module may employ an existing heating rod and heating sheet, which are preferably embedded inside the clamping unit 300.
If the cleaning unit 600 of the present invention employs a brush head to scrub and peel, the material of the brush head can adjust the hardness according to the adhesion degree of the gum, and the brush head can contact with the gum residue by rotating or brushing in a reciprocating manner to generate friction force to peel the gum residue from the rear cover.
If the cleaning unit 600 of the present invention performs the stripping by spraying dry ice, the spraying flow rate of the dry ice can be adjusted according to the adhesion degree of the gum. When dry ice is sprayed into gaps of the residual glue, the volume is rapidly gasified and expanded, and a stripping effect is generated to strip the residual glue from the rear cover.
Step S4 specifically includes: the images of the clamping unit 300 and the cleaned mobile phone rear cover are shot and collected through a CCD (another) camera, the images are sent to an industrial personal computer, and the residual adhesive characteristics (namely the residual information of the back adhesive) of the rear cover are extracted by the industrial personal computer. Therefore, whether the gum cleaning work in the previous step is qualified and reaches the standard can be judged according to the amount and distribution condition of the residual gum on the rear cover. Preferably, a threshold value is preset in the industrial personal computer, and when the extracted residual glue characteristic data is compared with the threshold value and exceeds the threshold value, the judgment that the cleaning is unqualified is made. Such as: when the threshold value is set to be zero, the situation that cleaning is unqualified is judged as long as the back glue remains on the back cover.
If the cleaning standard is judged to be met by the industrial personal computer, the next procedure of back adhesive sticking is carried out; if the industrial personal computer judges that the cleaning standard is not met, the industrial personal computer sends a driving instruction to the return unit 200, the clamping unit 300 and the rear cover are sent back to the step S2 through the return unit 200 to be identified again, the residual glue path of the rear cover is obtained, the cleaning unit 600 cleans the residual glue path newly generated again, and the operation is circulated until the cleaning standard is met and the next process is started. The feeding back unit 200 of the present invention may be a turning feeding back belt or a robot for carrying.
Step S5 specifically includes: and (3) shooting and acquiring images of the clamping unit 300 and the qualified rear cover by using a (third) CCD camera, sending the images to an industrial personal computer, identifying the images by the industrial personal computer to obtain the terminal positions of the current front and rear covers, adaptively changing the gum path by using the initial position of the rear cover and the gum path as reference standards, and determining the current gum path of the rear cover. The principle is as follows: since the initial position and the adhesive-backed path of the acquired rear cover are the original positions when the rear cover is at the beginning, but the long-distance transmission (and the occurrence of other accidental factors) through the transmission unit 100 and the return unit 200 will cause the deviation of the lateral relative position and the placing angle of the clamping unit 300 (and the rear cover fixed on the upper portion thereof) on the transmission unit 100, so that the adhesive cannot be directly applied on the basis of the original adhesive-backed path, and it is necessary to adjust and update the terminal position of the currently newly-measured rear cover by using the initial position and the adhesive-backed path of the rear cover as reference to obtain the currently correct adhesive-backed path. And finally, controlling the gluing robot by the industrial control machine to finish automatic gluing on the rear cover according to the adjusted gluing path.
In conclusion, the method for automatically replacing the back glue of the back cover of the flexible smart phone has the advantages of automatic production and processing steps, high efficiency and wide application range, can realize continuous production, and is easy for industrial application.
Referring to fig. 2-6, based on the automatic replacement method of the back cover gum of the flexible smart phone, the invention further provides an automatic replacement system of the back cover gum of the flexible smart phone, which can realize automatic replacement of the back cover gum of the smart phone and realize automation of a production process and assembly line operation.
The automatic back glue replacing system for the flexible smart phone back cover comprises a clamping unit 300 for fixing and positioning the back cover of the smart phone, a conveying unit 100 for conveying the clamping unit 300 and the back cover, an image acquisition unit 400 for acquiring images of the back cover, a control unit 500 for identifying the acquired images and generating signals or data for each functional unit, a cleaning unit 600 for removing back glue from the back cover, a return unit 200 for returning and conveying the unqualified back cover after the back glue is removed, and a glue pasting device 700 for pasting back glue on the removed back cover.
Specifically, the transfer unit 100 is disposed on the production process path in the longitudinal direction, and it is preferably a linear type transfer belt disposed in the longitudinal direction, driven by a motor, as a main transfer belt. The production process route in the invention is the direction of a production line for automatically replacing the back cover gum. The production process path is sequentially and correspondingly provided with a positioning station G-1, an image acquisition station G-2, a cleaning station G-3, a residual glue detection station G-4 and a glue pasting station G-5.
The return unit 200 is a conveyor belt arranged on one side of the conveying unit 100, the head end and the tail end of the conveyor belt respectively extend to the residual glue detection station G-4 and the image acquisition station G-2, and the conveyor belt can convey the unqualified cover detected on the residual glue detection station G-4 to the image acquisition station G-2 for rework.
The clamping unit 300 is placed at the positioning station G-1, and includes a clamp table 301 and a clamping assembly 302 fixed on the clamp table 301, and the clamping assembly 302 can position the rear cover placed on the clamp table 301, so that the rear cover can be fixed relative to the clamp table 301.
The image collecting unit 400 comprises an initial collecting module 401 disposed on the upper portion of the image collecting station G-2 and capable of collecting the image of the back cover (including the initial image of the newly placed back cover and the image of the back cover returned thereto by the returning unit 200), a residual glue detecting module 402 disposed on the upper portion of the residual glue detecting station G-4 and capable of collecting the residual glue image of the back cover, and a terminal collecting module 403 disposed on the upper portion of the rubberizing station G-5 and capable of collecting the final image of the back cover. In the present invention, the initial collection module 401, the residual glue detection module 402, and the terminal collection module 403 may have the same structure, and each of them includes a fixing frame, and a CCD camera and a light source disposed on the fixing frame. The images collected by each module in the image collection unit 400 are sent to the control unit 500 for analysis and recognition.
The control unit 500 may be an industrial personal computer (industrial control computer) connected to the driving motors of the transmission unit 100 and the return unit 200, the image acquisition unit 400, the cleaning unit 600, and the adhesive applying unit 700 through a control cable and a wireless transmitter. The control unit 500 can receive the image information from the image acquisition unit 400, recognize and extract the image information, and can convert the residual glue profile data on the back cover into two-dimensional data, thereby extracting the residual glue profile. In addition, the control unit 500 can also send start/stop command signals to the conveying unit 100, the return unit 200, the cleaning unit 600 and the rubberizing unit 700 to control the motion states of the three.
Specifically, the control unit 500 can receive the image from the initial acquisition module 401, and can recognize the initial position of the rear cover and the adhesive applying path thereof or recognize the initial position of the rear cover from the return unit 200 and the adhesive residue path thereof according to the image.
The control unit 500 can also receive the residual glue image from the residual glue detection module 402, and compare and judge the residual glue image with a preset threshold value after extracting the residual glue characteristic, so as to obtain a result of whether the residual glue image is qualified or not.
The control unit 500 can also receive the image from the terminal acquisition module 403, and after the terminal position of the rear cover is identified, the image is compared with the initial position of the rear cover acquired by the initial acquisition module 401 and adjusted to obtain a final rubberizing path of the rear cover on the rubberizing station G-5.
The cleaning unit 600 is disposed on the cleaning station G-3, and includes a three-dimensional moving assembly 601 and a cleaning assembly 602 connected to the three-dimensional moving assembly 601. The three-dimensional moving assembly 601 may employ an existing three-dimensional sliding table, which can perform arbitrary movement in XYZ coordinates of space to adjust the spatial position of the cleaning assembly 602 fixed to the end thereof. The three-dimensional motion assembly 601 can drive the cleaning assembly 602 to clean the rear cover according to the adhesive-backed path or the adhesive residue path under the control of the control unit 500.
The taping unit 700 employs a gluing robot capable of taping the rear cover located on the taping station G-5 according to a taping path under the control of the control unit 500.
In summary, the flexible smart phone back cover gum automatic replacement system provided by the invention can realize automatic replacement of smart phone back cover gum, and realize automation of production process and assembly line operation.
Further, the backhaul unit 200 of the present invention may adopt the following structure:
the pass-back unit 200 is a slot-shaped path opening toward the conveying unit 100, and includes four turning areas 201 arranged at four corners of a rectangle and a connecting strip 202 disposed between two adjacent turning areas 201. It should be noted that: except for one side corresponding to the conveying unit 100, the connecting belts 202 are arranged between the turning areas 201 on the other three sides of the groove-shaped path, wherein two turning areas 201 positioned on the inner side are respectively arranged on the residual glue detection station G-4 and the image acquisition station G-2, and the conveying unit 100 is sunk through rollers at positions corresponding to the two turning areas 201 to avoid stroke conflict. The connecting belt 202 is an independent conveyor belt with rollers arranged at the head end and the tail end, and an independent driving motor is used for controlling the movement of the independent conveyor belt. The edge of the turning area 201 corresponding to the conveying unit 100 or the splicing tape 202 is adjacent to the edge of the conveying unit 100 or the splicing tape 202, so that the clamping unit 300 from the conveying unit 100 or the splicing tape 202 can be partially conveyed into the turning area 201, and can continue to move and turn under the driving of the turning area 201.
The turning area 201 can turn the moving direction of the moving object by 90 ° during operation, and includes a turning mounting frame 201a, a transverse driving roller 201b and a longitudinal driving roller 201c fixed on the mounting frame 201a, and two driving members for driving the transverse driving roller 201b and the longitudinal driving roller 201c, respectively. The driving element can adopt a driving motor, and the axis of the transverse driving roller 201b is transverse and can drive the clamping unit 300 to move longitudinally; the axis of the longitudinal driving roller 201c is longitudinal, and can drive the clamping unit 300 to move transversely. Therefore, the clamping unit 300 transferred through the transfer unit 100 or the splicing tape 202 can be partially fed into the turning section 201, and continues to move and turn by the turning section 201. In the invention, the highest points of the tops of the transverse driving roller 201b and the longitudinal driving roller 201c are flush with each other, so that the transverse driving roller 201b and the longitudinal driving roller 201c can both play a role in conveying the clamping unit 300 positioned thereon. Therefore, based on the above, the transmitting unit 100 and the backhaul unit 200 may form a loop.
Further, the specific structure of the clamp station 301 and the clamping assembly 302 may be:
the clamping table 301 is made of a material with a relatively high density into a block structure, so that it can be stably placed on the conveying unit 100 or the returning unit 200. Due to the slow speed of the transport unit 100 or the pass-back unit 200, the large friction of the clamp table 301 by the contact surface can prevent the interference of accidental or systematic factors (e.g., the clamp table 301 and the upper rear cover can be kept substantially stationary when the adhesive is removed). A plurality of clamping assemblies 302 are distributed and fixed on the periphery of the clamp table 301, and since the plane outline of the periphery of the mobile phone rear cover is generally rectangular, two clamping assemblies 302 are respectively arranged in the direction of the length of the rectangle, and one clamping assembly 302 is respectively arranged in the direction of the width of the rectangle.
Clamping assembly 302 all adopts miniature linear drive mechanism, and each linear drive mechanism's flexible end is inside to install pressure sensor 303 at terminal head, pressure sensor 303 can extrude the edge of back lid, realizes the location, and transmits the pressure data who surveys to control unit 500.
The working strokes of the clamping assembly 302 and the pressure sensor 303 are controlled by the control unit 500, and the specific working process is as follows: when each clamping assembly 302 extends under the instruction of the control unit 500, each pressure sensor 303 can touch the outer edge of the rear cover of the mobile phone, and wirelessly transmit a pressure value to the control unit 500 through a wireless transmitting device mounted on the clamp table 301 in real time, and the control unit 500 controls whether the clamping assembly 302 continues to tighten according to the setting of the pressure value. Because the control unit 500 controls the clamping assembly 302 to realize self-tightening through the pressure sensor 303, the clamping device is suitable for rear covers of various smart phones.
Further, the clamping unit 300 is provided with a heating module 304, and the heating module 304 can increase the temperature difference between the upper surface and the lower surface of the back adhesive to accelerate the removal speed and efficiency of the back adhesive. The heating module 304 may employ an existing heating rod and heating sheet, which are preferably embedded inside the clamping unit 300.
Further, the three-dimensional motion assembly 601 in the present invention may adopt the following structure:
the three-dimensional motion assembly 601 includes a bracket 601a erected on both sides of the transfer unit 100, a longitudinal slide 601b fixed to the bracket 601a, a longitudinal slide 601c provided on the longitudinal slide 601b and capable of longitudinally sliding, a lateral slide 601d provided on the longitudinal slide 601c and capable of laterally sliding, and a vertical expansion piece 601e provided on the lateral slide 601d and capable of vertically moving. Wherein, the longitudinal slide rails 601b extend along the longitudinal direction and are symmetrically provided with a pair; the longitudinal sliding piece 601c comprises a transverse sliding rail and a driving motor capable of driving the transverse sliding rail to move longitudinally on the longitudinal sliding rail 601 b; the transverse sliding piece 601d comprises a sliding block connected to the transverse sliding rail and a driving motor capable of driving the sliding block to transversely move on the transverse sliding rail; vertical extensible member 601e can be for being fixed in the linear drive mechanism on the slider, and clearance subassembly 602 along vertical setting in the bottom of vertical extensible member 601e, can realize the regulation of vertical height under the drive of vertical extensible member 601 e.
The extension and retraction strokes of the respective driving motors and the vertical extensible member 601e in the three-dimensional motion assembly 601 of the present invention are controlled by the control unit 500 in a unified manner. Based on this, the three-dimensional motion assembly 601 can drive the cleaning assembly 602 to adjust any spatial position within the accessible three-dimensional space range.
The cleaning assembly 602 of the present invention may be brushed and stripped using a brush head 602a, or may be dry ice blasted using a dry ice blast head 602 b. If the brush head 602a is used for brushing and stripping, the hardness of the material of the brush head 602a can be adjusted according to the adhesion degree of the gum, and the brush head 602a can contact with the gum residue by rotating or reciprocating brushing to generate friction force to strip the gum residue from the rear cover. If the dry ice jet head 602b is used for jet dry ice peeling, the jet flow rate of dry ice can be adjusted according to the adhesion degree of the adhesive. When dry ice is sprayed into gaps of the residual glue, the volume is rapidly gasified and expanded, and a stripping effect is generated to strip the residual glue from the rear cover.
In summary, the embodiments of the present invention are applicable to various smart phone models, and the flexible path is tailored to each phone rear cover.
It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.
Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims (10)

1. A method for automatically replacing a back adhesive of a back cover of a flexible smart phone is characterized by comprising the following steps: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
positioning the rear cover;
identifying the position of the rear cover and the back glue path of the rear cover;
carrying out gum removal according to the gum path;
detecting the residual glue removing effect;
and pasting the gum according to the gum path.
2. The automatic back glue replacing method for the flexible smart phone back cover according to claim 1, characterized in that: the rear cover is positioned through a clamping unit (300), the clamping unit (300) is arranged on a conveying unit (100), and the clamping unit (300) and the rear cover fixed on the clamping unit are conveyed to stations corresponding to all the steps through the conveying unit (100).
3. The automatic back glue replacing method for the flexible smart phone back cover according to claim 2, characterized in that: the step of identifying the position of the rear cover and the gum path thereof is as follows: arranging clamp mark points on the clamping unit (300), and acquiring images of the clamping unit (300) and the rear cover; and determining the space positions of the clamping unit (300) and the rear cover through the clamp mark points, and extracting the characteristics of the image to obtain the gum path.
4. The automatic back glue replacing method for the flexible smart phone back cover according to any one of claims 1-3, characterized by comprising the following steps: the back adhesive removing step comprises the following steps: and removing the gum through a cleaning unit (600), wherein the cleaning unit (600) moves according to the gum path.
5. The automatic back glue replacing method for the flexible smart phone back cover according to claim 2 or 3, wherein the method comprises the following steps: the step of detecting the residual gum removing effect is as follows: collecting an image of the rear cover, and extracting the residual glue characteristic of the rear cover; if the adhesive meets the cleaning standard, entering the next step of gum pasting; if the cleaning standard is not met, the clamping unit (300) and the rear cover are returned to the process of identifying the position of the rear cover and the back gluing path of the rear cover through the return unit (200), and the process is repeated until the cleaning standard is met.
6. The automatic back glue replacing method for the flexible smart phone back cover according to claim 2 or 3, wherein the method comprises the following steps: the step of sticking the back adhesive is as follows: the method comprises the steps of collecting images of the clamping unit (300) and the rear cover, identifying the terminal position of the rear cover, and determining the current rubberizing path of the rear cover by taking the initial position of the rear cover and the rubberizing path as references.
7. The utility model provides a lid gum automatic change system behind flexible smart mobile phone which characterized in that: the method comprises the following steps:
the conveying unit (100) is longitudinally arranged on a production process path, and a positioning station (G-1), an image acquisition station (G-2), a cleaning station (G-3), a residual glue detection station (G-4) and a gluing station (G-5) are sequentially and correspondingly arranged on the production process path;
the back transmission unit (200) is arranged on one side of the transmission unit (100), the head end and the tail end of the back transmission unit respectively extend to the residual glue detection station (G-4) and the image acquisition station (G-2), and a back cover on the residual glue detection station (G-4) can be transmitted to the image acquisition station (G-2);
a clamping unit (300) disposed at the positioning station (G-1), and including a clamp table (301) and a clamping assembly (302) fixed to the clamp table (301), the clamping assembly (302) being capable of positioning a rear cover disposed on the clamp table (301);
the image acquisition unit (400) comprises an initial acquisition module (401) which is arranged at the upper part of the image acquisition station (G-2) and can acquire a back cover image, a residual glue detection module (402) which is arranged at the upper part of the residual glue detection station (G-4) and can acquire a residual glue image, and a terminal acquisition module (403) which is arranged at the upper part of the rubberizing station (G-5) and can acquire a back cover image;
the control unit (500) can receive the image from the initial acquisition module (401), and can identify the initial position of the rear cover and the gum applying path thereof or identify the initial position of the rear cover from the return unit (200) and the gum residue path thereof; the residual glue detection module can also receive a residual glue image from the residual glue detection module (402), and compares and judges the residual glue image with a preset threshold value after extracting the residual glue characteristic; the terminal cover positioning system can also receive images from the terminal acquisition module (403), and after the terminal position of the rear cover is identified, the images are compared with the initial position of the rear cover acquired by the initial acquisition module (401) to obtain a rubberizing path;
a cleaning unit (600) arranged on the cleaning station (G-3) and comprising a three-dimensional motion assembly (601) and a cleaning assembly (602) connected to the three-dimensional motion assembly (601); the three-dimensional motion assembly (601) drives the cleaning assembly (602) to clean the rear cover according to the gum-applying path or the gum residue path under the control of the control unit (500); and the number of the first and second groups,
and the gluing unit (700) is used for gluing the rear cover positioned on the gluing station (G-5) according to the gluing path under the control of the control unit (500).
8. The flexible smart phone back cover adhesive automatic replacement system of claim 7, wherein: the back conveying unit (200) is a groove-shaped path with an opening facing the conveying unit (100), and comprises four turning areas (201) which are distributed at four corners of a rectangle and connecting belts (202) which are arranged on the other three sides except one side of the conveying unit (100), wherein the two turning areas (201) are respectively arranged on the residual glue detection station (G-4) and the image acquisition station (G-2), and the conveying unit (100) is sunk through a roller at the positions corresponding to the two turning areas (201);
the turning area (201) comprises a turning mounting frame (201a), a transverse driving roller (201b) and a longitudinal driving roller (201c) which are fixed on the mounting frame (201a), and driving pieces which are respectively used for driving the transverse driving roller (201b) and the longitudinal driving roller (201 c); the highest points of the tops of the transverse driving roller wheel (201b) and the longitudinal driving roller wheel (201c) are flush.
9. The flexible smart phone back cover adhesive automatic replacing system according to claim 7 or 8, characterized in that: the three-dimensional motion assembly (601) comprises brackets (601a) erected at two sides of the conveying unit (100), a longitudinal slide rail (601b) fixed on the brackets (601a), a longitudinal slide member (601c) arranged on the longitudinal slide rail (601b) and capable of longitudinally sliding, a transverse slide member (601d) arranged on the longitudinal slide member (601c) and capable of transversely sliding, and a vertical telescopic member (601e) arranged on the transverse slide member (601d) and capable of vertically moving; the cleaning assembly (602) is arranged at the bottom end of the vertical telescopic piece (601 e).
10. The flexible smart phone back cover adhesive automatic replacement system of claim 9, wherein: the clamping assemblies (302) are distributed on the periphery of the clamp table (301) and adopt linear driving mechanisms, the telescopic ends of the linear driving mechanisms face inwards, pressure sensors (303) are fixed at the tail ends of the linear driving mechanisms, the pressure sensors (303) can extrude the edge of the rear cover to achieve positioning, and measured pressure data are transmitted to the control unit (500).
CN201911128867.4A 2019-11-18 2019-11-18 Automatic back glue replacing method and system for back cover of flexible smart phone Active CN110848220B (en)

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