CN112440108A - Automatic assembling system and method for radio frequency line of smart phone - Google Patents

Automatic assembling system and method for radio frequency line of smart phone Download PDF

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Publication number
CN112440108A
CN112440108A CN202011326609.XA CN202011326609A CN112440108A CN 112440108 A CN112440108 A CN 112440108A CN 202011326609 A CN202011326609 A CN 202011326609A CN 112440108 A CN112440108 A CN 112440108A
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China
Prior art keywords
radio frequency
ipex
mobile phone
clamping
robot
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CN202011326609.XA
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Chinese (zh)
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CN112440108B (en
Inventor
吴海彬
陈威
周文博
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Fuzhou University
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Fuzhou University
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Priority to CN202011326609.XA priority Critical patent/CN112440108B/en
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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
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Telephone Set Structure (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)

Abstract

The invention provides an automatic assembly system and method for a radio frequency wire of a smart phone, wherein the assembly system comprises a control module and a radio frequency wire clamping jig with a camera device; the radio frequency wire clamping jig can adjust the posture of the camera equipment by inclining; when the camera equipment is in the best shooting posture, the control module shoots the radio frequency wire clamped by the clamping jig and the radio frequency wire installation position of the mobile phone through the camera equipment, and adjusts the position of the radio frequency wire clamping jig according to the obtained shooting image, so that the clamped radio frequency wire is positioned at the radio frequency wire installation position, and then the radio frequency wire installation is carried out; the invention provides a mobile phone radio frequency line automatic assembly system with reasonable design and high automation degree, which can adapt to the buckling requirements of antennas and antenna bases of different mobile phones by using an industrial robot as an executive body and combining a visual technology; the antenna is fixed in posture through the special paw and the radio frequency wire tool, so that the assembly process is bright in rhythm, high in automation degree and flexible.

Description

Automatic assembling system and method for radio frequency line of smart phone
Technical Field
The invention relates to the technical field of mobile phone manufacturing, in particular to an automatic assembly system and method for a radio frequency line of a smart phone.
Background
At present, the mobile phone industry in China is rapidly developed, smart phones become necessities for life, the output of the mobile phones is increased year by year, and the development of the mobile phones drives the progress of each link in the production and manufacturing process.
Most links in the production process of the mobile phone are automated at present, and flexible parts such as radio frequency wires in the assembly of the mobile phone are still manually assembled. The product quality and production efficiency are affected when mass production is performed. And at present, an automatic assembly scheme aiming at the antenna has no scheme available for the double-head antenna of the mobile phone.
Disclosure of Invention
The invention provides an automatic assembling system and method for a radio frequency line of a smart phone, which can automatically install the radio frequency line on the smart phone.
The invention adopts the following technical scheme.
The intelligent mobile phone radio frequency line automatic assembly system comprises a control module and a radio frequency line clamping jig with camera equipment; the radio frequency wire clamping jig can adjust the posture of the camera equipment by inclining; when the camera device is in the best shooting posture, the control module shoots the radio frequency wire clamped by the clamping jig and the radio frequency wire installation position of the mobile phone through the camera device, adjusts the position of the radio frequency wire clamping jig according to the obtained shooting image, enables the clamped radio frequency wire to be positioned at the radio frequency wire installation position, and then conducts radio frequency wire installation.
The assembly system further comprises a first robot (2) and a second robot (3); the clamping jig is arranged at the first robot (2); and the second robot is provided with a pressing mechanism (5) which can press the IPEX terminal of the radio frequency wire arranged at the radio frequency wire mounting position.
The radio frequency line is a double-end radio frequency line and comprises a line body (9) of the radio frequency line and IPEX terminals arranged at two ends of the line body; the IPEX terminal comprises a first IPEX terminal (10) and a second IPEX terminal (11); the radio frequency line installation position of the smart phone comprises an IPEX seat; the IPEX mount includes a first IPEX mount (40) for mounting a first IPEX terminal and also includes a second IPEX mount (41) for mounting a second IPEX terminal.
The assembling system also comprises a mobile phone clamping jig (6) for fixing the mobile phone; when the camera equipment is in the best shooting posture, the shooting direction of the camera equipment is vertical to a radio frequency line installation position in the mobile phone fixed by the mobile phone clamping jig;
when the radio frequency wire is assembled to the mobile phone, the radio frequency wire clamping jig clamps the wire body by an openable and closable electric paw arranged at a clamp holder at the lower part, and the radio frequency wire is taken from a radio frequency wire feeding jig (7);
when the radio frequency line clamped by the radio frequency line clamping jig is aligned to the radio frequency line installation position, the center of the first IPEX terminal of the radio frequency line is located on the center of the first IPEX seat, and the center of the second IPEX terminal is located on the center of the second IPEX seat, so that the radio frequency line is positioned.
The electric paw is moved to the IPEX base to clamp and fix the line body of the radio frequency line, then the radio frequency line is positioned, the position of the radio frequency line is adjusted to enable the IPEX terminal to be overlapped with the center of the IPEX base, and then the second robot presses the radio frequency line IPEX terminal on the IPEX base through the pressing mechanism to enable the IPEX terminal to be buckled and connected with the IPEX base.
The radio frequency wire feeding jig comprises a tool front plate (12) and a tool rear plate (13); the tool front plate is connected with the tool rear plate through a fastener; a vertical polygonal wiring groove (15) for placing radio frequency wires is formed in the surface of the rear plate of the tooling; the inlet of the polygonal wiring groove is communicated with a transition chute (14); the size specification of the polygonal wiring groove is matched with the IPEX terminal; when the radio frequency wire slides into the polygonal wiring groove through the transition sliding groove, the groove wall of the polygonal wiring groove limits the IPEX terminal to enable the IPEX terminal to face and be fixed, and the IPEX terminal at one end of the radio frequency wire is exposed out of an inlet of the polygonal wiring groove;
the mobile phone clamping jig comprises a mobile phone tooling bottom plate (19); a slidable plate (20) is arranged on the side surface of the mobile phone tooling bottom plate; a waist hole (21) is formed on the slidable plate; when the mobile phone clamping jig fixes the mobile phone, the mobile phone is clamped by moving the slidable plate, so that the upper end of the mobile phone clamping jig is adjacent to the first IPEX seat, and the slidable plate is locked by the fastener penetrating through the waist hole after the lower end of the mobile phone clamping jig is adjacent to the second IPEX seat.
The pressing mechanism is connected with the second robot through a first flange (16); the pressing mechanism comprises a pressing rod (17); the tail end of the pressing rod piece is fixed with a pressing head (18) through a fastener; the pressing head is formed by elastic materials so as to buffer the impact force of the pressing action on the mobile phone component;
the radio frequency wire clamping jig comprises a clamp holder (4) for clamping a radio frequency wire; the clamp is connected with the first robot through a second flange (22) and a third flange (23); the camera shooting equipment is a vision system arranged at the clamper; when the radio frequency wire is assembled to the mobile phone, the control module shoots the IPEX terminal clamped with the radio frequency wire and the IPEX seat of the mobile phone through the shooting equipment so as to detect and calculate the position deviation between the center of the IPEX terminal and the center of the IPEX seat and transmit the calculation result to the first robot, so that the first robot adjusts the position of the clamping jig to enable the center of the IPEX terminal and the center of the IPEX seat to be superposed in the overlooking direction;
the vision system is positioned beside the electric paw, and comprises a camera (26) arranged at a camera fixing frame (27) and a light source (28) fixed at a light source fixing frame (29); the light source fixing frame is fixed at the lower part of the camera fixing frame; the camera fixing frame is connected with the electric paw through a first fixing frame (24) and a second fixing frame (25); when the control module shoots through the shooting equipment, the clamp is firstly inclined so that the central axis of the camera lens is perpendicular to the plane of the shot target, and the recognition and the related deviation calculation of the shot target by the control module are optimized.
The electric paw comprises a first clamping finger (34) fixed at the first clamping hand fixing frame (32) and a second clamping finger (35) fixed at the second clamping hand fixing frame (33); the second clamping hand fixing frame (33) is fixed at a first sliding block (30) of the clamping device; the first clamping hand fixing frame (32) is fixed at a second sliding block (31) of the clamping device;
the holder is connected with the control module through a serial port; the control module can send modbus instructions to the clamper through the serial port to set the strokes of the first slider and the second slider, so that the opening and closing strokes of the electric paw are set;
a first arc claw (135) is arranged at the tail end of the first clamping finger; the middle part of the first arc claw is provided with an arc groove (36); a second arc claw (37) which can be inserted into the arc groove (36) is arranged in the middle of the tail end of the second clamping finger; when the first clamping finger and the second clamping finger of the electric paw are closed, the second arc claw is inserted into the arc groove of the first arc claw, so that the first arc claw and the second arc claw are combined into a cylindrical cavity capable of fixing a radio frequency wire body;
the electric clamping jaw is also provided with a positioning structure for mounting and positioning the clamping fingers; the positioning structure comprises a positioning lug (39) at the first clamping finger position and a positioning hole (38) at the second clamping finger position matched with the positioning lug; when the first clamping finger and the second clamping finger are installed, if the first clamping finger and the second clamping finger can enable the positioning lug to enter the positioning hole when being closed, the installation positions of the first clamping finger and the second clamping finger are correct.
The first robot (2), the second robot (3), the mobile phone clamping jig (6) and the radio frequency wire feeding jig (7) are arranged at the supporting platform (1); the assembly system further comprises a master controller (8) which can communicate with the first robot (2) and the second robot (3).
An automatic assembly method for a radio frequency line of a smart phone is characterized in that: the assembling method uses the intelligent mobile phone radio frequency line automatic assembling system and specifically comprises the following steps;
the method comprises the following steps that firstly, a first robot and a second robot are started and set to be in an automatic mode, a radio frequency wire is placed into a radio frequency wire feeding jig, an upper computer control program of a master controller (8) is started, and the two robots are connected;
moving the first robot from the initial position to a position above the radio frequency line in the radio frequency line feeding jig, adjusting the posture of a clamp of the first robot to enable the axis of the camera to be vertical to the IPEX terminal end face of the radio frequency line, clamping the radio frequency line by the clamp and taking the radio frequency line out of the jig;
step three, the first robot moves to the position near a first IPEX seat of the mobile phone fixed by the mobile phone clamping jig, and the second robot also moves to the position near the first IPEX seat;
fourthly, enabling the visual field of the camera at the holder to be perpendicular to the mobile phone, and calculating the position deviation of the center of the first IPEX terminal of the radio frequency line at the holder relative to the first IPEX seat of the mobile phone by the control module after the camera photographs the mobile phone;
step five, the first robot adjusts the position of the clamp holder to perform motion compensation according to the calculated position deviation, so that the center of the first IPEX terminal of the radio frequency line is superposed with the center of the first IPEX seat of the mobile phone;
step six, the second robot moves to the position above the first IPEX seat of the mobile phone, executes a pressing action, and buckles the first IPEX terminal of the radio frequency wire with the first IPEX seat of the mobile phone;
seventhly, the clamping force of the clamp is reduced but the radio frequency wire is not released, the clamping force of the clamp is increased again to clamp the radio frequency wire, then the clamp is moved to the position near a second IPEX seat of the mobile phone, and the second robot is also moved to the position near the second IPEX seat of the mobile phone;
step eight, finishing buckling the second IPEX terminal of the radio frequency wire with a second IPEX seat of the mobile phone according to the method in the step four to the step eight; the radio frequency wire is installed at a radio frequency wire installation position of the mobile phone;
and step nine, the first robot releases the radio frequency wire and returns to the initial position, and the second robot returns to the initial position.
Compared with the prior art, the invention provides the mobile phone radio frequency wire automatic assembly system with reasonable design and high automation degree aiming at the defects of the prior art, and the invention can adapt to the buckling requirements of antennas (radio frequency wires) and antenna bases of different mobile phones by using industrial robots as the execution bodies and combining the visual technology; the invention realizes the fixation of the posture of the antenna through the special paw and the radio frequency wire tool, so that the assembly process has bright rhythm, high automation degree and flexibility. The system replaces manpower, greatly reduces labor intensity and improves the quality of products produced in batches.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is a first schematic structural diagram of the present invention;
FIG. 2 is a second schematic structural diagram of the present invention;
FIG. 3 is a schematic diagram of an RF line structure;
FIG. 4 is a schematic structural diagram of a radio frequency wire feeding jig;
FIG. 5 is a schematic view of a pressing mechanism of a second robot;
FIG. 6 is a schematic view of a handset clamping fixture;
FIG. 7 is a schematic view of a gripper for gripping a radio frequency cable by a first robot;
FIG. 8 is a schematic view of the first robot in another orientation of the gripper that grips the RF line;
FIG. 9 is an enlarged schematic view of the distal end of the power gripper;
FIG. 10 is a schematic view of an assembly procedure for taking radio frequency wires;
FIG. 11 is a schematic view of the assembly steps in installing the RF cable at the handset;
FIG. 12 is a schematic view of the assembly steps during the process of installing a radio frequency cable at the handset and taking a picture with the camera;
in the figure: 1-a support platform; 2-a first robot; 3-a second robot; 4-a gripper; 5-a pressing mechanism; 6-a mobile phone clamping jig; 7-radio frequency wire feeding jig; 8-a master controller; 9-a wire body;
10-a first IPEX terminal; 11-a second IPEX terminal; 12-tooling front plate; 13-tooling a rear plate; 14-a transition chute; 15-polygonal wiring grooves; 16-a first flange; 17-pressing the lever; 18-pressing head; 19-a mobile phone tooling bottom plate;
20-a slidable plate; 21-waist hole; 22-a second flange; 23-a third flange; 24-a first mount; 25-a second mount; 26-a camera; 27-a camera mount; 28-a light source; 29-light source holder;
30-a first slide; 31-a second slider; 32-a first gripper fixation frame; 33-a second gripper fixation frame; 34-a first clamping finger; 35-a second clamping finger; 36-arc groove; 37-second circular arc claw; 38-locating holes; 39-positioning the projection;
40-a first IPEX mount; 41-a second IPEX mount;
135-first circular arc hook.
Detailed Description
As shown in the figure, the radio frequency line automatic assembly system of the smart phone comprises a control module and a radio frequency line clamping jig with a camera device; the radio frequency wire clamping jig can adjust the posture of the camera equipment by inclining; when the camera device is in the best shooting posture, the control module shoots the radio frequency wire clamped by the clamping jig and the radio frequency wire installation position of the mobile phone through the camera device, adjusts the position of the radio frequency wire clamping jig according to the obtained shooting image, enables the clamped radio frequency wire to be positioned at the radio frequency wire installation position, and then conducts radio frequency wire installation.
The assembly system further comprises a first robot 2 and a second robot 3; the clamping jig is arranged at the first robot 2; and a pressing mechanism 5 capable of pressing the IPEX terminal of the radio frequency wire arranged at the radio frequency wire mounting position is arranged at the second robot.
The radio frequency line is a double-end radio frequency line and comprises a line body 9 of the radio frequency line and IPEX terminals arranged at two ends of the line body; the IPEX terminals comprise a first IPEX terminal 10 and a second IPEX terminal 11; the radio frequency line installation position of the smart phone comprises an IPEX seat; the IPEX mount includes a first IPEX mount 40 for mounting a first IPEX terminal and a second IPEX mount 41 for mounting a second IPEX terminal.
The assembly system also comprises a mobile phone clamping jig 6 for fixing the mobile phone; when the camera equipment is in the best shooting posture, the shooting direction of the camera equipment is vertical to a radio frequency line installation position in the mobile phone fixed by the mobile phone clamping jig;
when the radio frequency wire is assembled to the mobile phone, the radio frequency wire clamping jig clamps the wire body by an openable and closable electric paw arranged at a clamp holder at the lower part, and the radio frequency wire is taken from a radio frequency wire feeding jig 7;
when the radio frequency line clamped by the radio frequency line clamping jig is aligned to the radio frequency line installation position, the center of the first IPEX terminal of the radio frequency line is located on the center of the first IPEX seat, and the center of the second IPEX terminal is located on the center of the second IPEX seat, so that the radio frequency line is positioned.
The electric paw is moved to the IPEX base to clamp and fix the line body of the radio frequency line, then the radio frequency line is positioned, the position of the radio frequency line is adjusted to enable the IPEX terminal to be overlapped with the center of the IPEX base, and then the second robot presses the radio frequency line IPEX terminal on the IPEX base through the pressing mechanism to enable the IPEX terminal to be buckled and connected with the IPEX base.
The radio frequency wire feeding jig comprises a tool front plate 12 and a tool rear plate 13; the tool front plate is connected with the tool rear plate through a fastener; a vertical polygonal wiring groove 15 for placing radio frequency wires is formed in the surface of the rear plate of the tooling; the inlet of the polygonal wiring groove is communicated with a transition chute 14; the size specification of the polygonal wiring groove is matched with the IPEX terminal; when the radio frequency wire slides into the polygonal wiring groove through the transition sliding groove, the groove wall of the polygonal wiring groove limits the IPEX terminal to enable the IPEX terminal to face and be fixed, and the IPEX terminal at one end of the radio frequency wire is exposed out of an inlet of the polygonal wiring groove;
the mobile phone clamping jig comprises a mobile phone tooling bottom plate 19; a slidable plate 20 is arranged on the side surface of the mobile phone tooling bottom plate; a waist hole 21 is formed on the slidable plate; when the mobile phone clamping jig fixes the mobile phone, the mobile phone is clamped by moving the slidable plate, so that the upper end of the mobile phone clamping jig is adjacent to the first IPEX seat, and the slidable plate is locked by the fastener penetrating through the waist hole after the lower end of the mobile phone clamping jig is adjacent to the second IPEX seat.
The pressing mechanism is connected with the second robot through a first flange 16; the pressing mechanism comprises a pressing rod 17; the tail end of the pressing rod piece is fixed with a pressing head 18 through a fastener; the pressing head is formed by elastic materials so as to buffer the impact force of the pressing action on the mobile phone component;
the radio frequency wire clamping jig comprises a clamp 4 for clamping a radio frequency wire; the clamp holder is connected with the first robot through a second flange 22 and a third flange 23; the camera shooting equipment is a vision system arranged at the clamper; when the radio frequency wire is assembled to the mobile phone, the control module shoots the IPEX terminal clamped with the radio frequency wire and the IPEX seat of the mobile phone through the shooting equipment so as to detect and calculate the position deviation between the center of the IPEX terminal and the center of the IPEX seat and transmit the calculation result to the first robot, so that the first robot adjusts the position of the clamping jig to enable the center of the IPEX terminal and the center of the IPEX seat to be superposed in the overlooking direction;
the vision system is positioned beside the electric paw, and comprises a camera 26 arranged at a camera fixing frame 27 and a light source 28 fixed at a light source fixing frame 29; the light source fixing frame is fixed at the lower part of the camera fixing frame; the camera fixing frame is connected with the electric paw through a first fixing frame 24 and a second fixing frame 25; when the control module shoots through the shooting equipment, the clamp is firstly inclined so that the central axis of the camera lens is perpendicular to the plane of the shot target, and the recognition and the related deviation calculation of the shot target by the control module are optimized.
The electric paw comprises a first clamping finger 34 fixed at the first clamping hand fixing frame 32 and a second clamping finger 35 fixed at the second clamping hand fixing frame 33; the second gripper fixing frame 33 is fixed at the first sliding block 30 of the gripper; the first gripper fixing frame 32 is fixed at the second sliding block 31 of the gripper;
the holder is connected with the control module through a serial port; the control module can send modbus instructions to the clamper through the serial port to set the strokes of the first slider and the second slider, so that the opening and closing strokes of the electric paw are set;
a first arc claw 135 is arranged at the tail end of the first clamping finger; the middle part of the first arc claw is provided with an arc groove 36; a second arc claw 37 capable of being inserted into the arc groove 36 is arranged in the middle of the tail end of the second clamping finger; when the first clamping finger and the second clamping finger of the electric paw are closed, the second arc claw is inserted into the arc groove of the first arc claw, so that the first arc claw and the second arc claw are combined into a cylindrical cavity capable of fixing a radio frequency wire body;
the electric clamping jaw is also provided with a positioning structure for mounting and positioning the clamping fingers; the positioning structure comprises a positioning lug 39 at the first clamping finger and a positioning hole 38 at the second clamping finger matched with the positioning lug; when the first clamping finger and the second clamping finger are installed, if the first clamping finger and the second clamping finger can enable the positioning lug to enter the positioning hole when being closed, the installation positions of the first clamping finger and the second clamping finger are correct.
The first robot 2, the second robot 3, the mobile phone clamping jig 6 and the radio frequency wire feeding jig 7 are arranged at the supporting platform 1; the assembly system further comprises a general controller 8 which can communicate with the first robot 2 and the second robot 3.
An automatic assembly method for a radio frequency line of a smart phone is characterized in that: the assembling method uses the intelligent mobile phone radio frequency line automatic assembling system and specifically comprises the following steps;
step one, starting a first robot and a second robot, setting the first robot and the second robot into an automatic mode, putting a radio frequency wire into a radio frequency wire feeding jig, opening an upper computer control program of a master controller 8, and connecting the two robots;
moving the first robot from the initial position to a position above the radio frequency line in the radio frequency line feeding jig, adjusting the posture of a clamp of the first robot to enable the axis of the camera to be vertical to the IPEX terminal end face of the radio frequency line, clamping the radio frequency line by the clamp and taking the radio frequency line out of the jig;
step three, the first robot moves to the position near a first IPEX seat of the mobile phone fixed by the mobile phone clamping jig, and the second robot also moves to the position near the first IPEX seat;
fourthly, enabling the visual field of the camera at the holder to be perpendicular to the mobile phone, and calculating the position deviation of the center of the first IPEX terminal of the radio frequency line at the holder relative to the first IPEX seat of the mobile phone by the control module after the camera photographs the mobile phone;
step five, the first robot adjusts the position of the clamp holder to perform motion compensation according to the calculated position deviation, so that the center of the first IPEX terminal of the radio frequency line is superposed with the center of the first IPEX seat of the mobile phone;
step six, the second robot moves to the position above the first IPEX seat of the mobile phone, executes a pressing action, and buckles the first IPEX terminal of the radio frequency wire with the first IPEX seat of the mobile phone;
seventhly, the clamping force of the clamp is reduced but the radio frequency wire is not released, the clamping force of the clamp is increased again to clamp the radio frequency wire, then the clamp is moved to the position near a second IPEX seat of the mobile phone, and the second robot is also moved to the position near the second IPEX seat of the mobile phone;
step eight, finishing buckling the second IPEX terminal of the radio frequency wire with a second IPEX seat of the mobile phone according to the method in the step four to the step eight; the radio frequency wire is installed at a radio frequency wire installation position of the mobile phone;
and step nine, the first robot releases the radio frequency wire and returns to the initial position, and the second robot returns to the initial position.
In this example, the camera of the vision system is illuminated by a light source when taking a picture.
In this example, the radio frequency wire feeding jig is a soft radio frequency wire workpiece feeding jig, and a polygonal wiring groove for placing a radio frequency wire is a rectangular groove in the vertical direction; when feeding, the IPEX terminal of the radio frequency wire can enter the square hole of the rectangular groove inlet through the transition sliding groove, and the orientation of the IPEX terminal is always fixed by using the constraint of the square hole; and the IPEX terminal at one side of the radio frequency wire is exposed outside the square hole of the feeding jig.
In this example, the assembly system further includes a control system for comprehensively controlling the robot, and the control system includes a first robot controller, a second robot controller, and an upper computer for comprehensively controlling the robot.
In this example, the IPEX terminals at both ends of the rf line have the same specification.

Claims (10)

1. Automatic equipment system of smart mobile phone radio frequency line, its characterized in that: the assembly system comprises a control module and a radio frequency wire clamping jig with camera equipment; the radio frequency wire clamping jig can adjust the posture of the camera equipment by inclining; when the camera device is in the best shooting posture, the control module shoots the radio frequency wire clamped by the clamping jig and the radio frequency wire installation position of the mobile phone through the camera device, adjusts the position of the radio frequency wire clamping jig according to the obtained shooting image, enables the clamped radio frequency wire to be positioned at the radio frequency wire installation position, and then conducts radio frequency wire installation.
2. The smart phone radio frequency line automated assembly system of claim 1, wherein: the assembly system further comprises a first robot (2) and a second robot (3); the clamping jig is arranged at the first robot (2); and the second robot is provided with a pressing mechanism (5) which can press the IPEX terminal of the radio frequency wire arranged at the radio frequency wire mounting position.
3. The smart phone radio frequency line automated assembly system of claim 2, wherein: the radio frequency line is a double-end radio frequency line and comprises a line body (9) of the radio frequency line and IPEX terminals arranged at two ends of the line body; the IPEX terminal comprises a first IPEX terminal (10) and a second IPEX terminal (11); the radio frequency line installation position of the smart phone comprises an IPEX seat; the IPEX mount includes a first IPEX mount (40) for mounting a first IPEX terminal and also includes a second IPEX mount (41) for mounting a second IPEX terminal.
4. The smart phone radio frequency line automated assembly system of claim 3, wherein: the assembling system also comprises a mobile phone clamping jig (6) for fixing the mobile phone; when the camera equipment is in the best shooting posture, the shooting direction of the camera equipment is vertical to a radio frequency line installation position in the mobile phone fixed by the mobile phone clamping jig;
when the radio frequency wire is assembled to the mobile phone, the radio frequency wire clamping jig clamps the wire body by an openable and closable electric paw arranged at a clamp holder at the lower part, and the radio frequency wire is taken from a radio frequency wire feeding jig (7);
when the radio frequency line clamped by the radio frequency line clamping jig is aligned to the radio frequency line installation position, the center of the first IPEX terminal of the radio frequency line is located on the center of the first IPEX seat, and the center of the second IPEX terminal is located on the center of the second IPEX seat, so that the radio frequency line is positioned.
5. The smart phone radio frequency line automated assembly system of claim 4, wherein: the electric paw is moved to the IPEX base to clamp and fix the line body of the radio frequency line, then the radio frequency line is positioned, the position of the radio frequency line is adjusted to enable the IPEX terminal to be overlapped with the center of the IPEX base, and then the second robot presses the radio frequency line IPEX terminal on the IPEX base through the pressing mechanism to enable the IPEX terminal to be buckled and connected with the IPEX base.
6. The smart phone radio frequency line automated assembly system of claim 4, wherein: the radio frequency wire feeding jig comprises a tool front plate (12) and a tool rear plate (13); the tool front plate is connected with the tool rear plate through a fastener; a vertical polygonal wiring groove (15) for placing radio frequency wires is formed in the surface of the rear plate of the tooling; the inlet of the polygonal wiring groove is communicated with a transition chute (14); the size specification of the polygonal wiring groove is matched with the IPEX terminal; when the radio frequency wire slides into the polygonal wiring groove through the transition sliding groove, the groove wall of the polygonal wiring groove limits the IPEX terminal to enable the IPEX terminal to face and be fixed, and the IPEX terminal at one end of the radio frequency wire is exposed out of an inlet of the polygonal wiring groove;
the mobile phone clamping jig comprises a mobile phone tooling bottom plate (19); a slidable plate (20) is arranged on the side surface of the mobile phone tooling bottom plate; a waist hole (21) is formed on the slidable plate; when the mobile phone clamping jig fixes the mobile phone, the mobile phone is clamped by moving the slidable plate, so that the upper end of the mobile phone clamping jig is adjacent to the first IPEX seat, and the slidable plate is locked by the fastener penetrating through the waist hole after the lower end of the mobile phone clamping jig is adjacent to the second IPEX seat.
7. The smart phone radio frequency line automated assembly system of claim 4, wherein: the pressing mechanism is connected with the second robot through a first flange (16); the pressing mechanism comprises a pressing rod (17); the tail end of the pressing rod piece is fixed with a pressing head (18) through a fastener; the pressing head is formed by elastic materials so as to buffer the impact force of the pressing action on the mobile phone component;
the radio frequency wire clamping jig comprises a clamp holder (4) for clamping a radio frequency wire; the clamp is connected with the first robot through a second flange (22) and a third flange (23); the camera shooting equipment is a vision system arranged at the clamper; when the radio frequency wire is assembled to the mobile phone, the control module shoots the IPEX terminal clamped with the radio frequency wire and the IPEX seat of the mobile phone through the shooting equipment so as to detect and calculate the position deviation between the center of the IPEX terminal and the center of the IPEX seat and transmit the calculation result to the first robot, so that the first robot adjusts the position of the clamping jig to enable the center of the IPEX terminal and the center of the IPEX seat to be superposed in the overlooking direction;
the vision system is positioned beside the electric paw, and comprises a camera (26) arranged at a camera fixing frame (27) and a light source (28) fixed at a light source fixing frame (29); the light source fixing frame is fixed at the lower part of the camera fixing frame; the camera fixing frame is connected with the electric paw through a first fixing frame (24) and a second fixing frame (25); when the control module shoots through the shooting equipment, the clamp is firstly inclined so that the central axis of the camera lens is perpendicular to the plane of the shot target, and the recognition and the related deviation calculation of the shot target by the control module are optimized.
8. The smart phone radio frequency line automated assembly system of claim 4, wherein: the electric paw comprises a first clamping finger (34) fixed at the first clamping hand fixing frame (32) and a second clamping finger (35) fixed at the second clamping hand fixing frame (33); the second clamping hand fixing frame (33) is fixed at a first sliding block (30) of the clamping device; the first clamping hand fixing frame (32) is fixed at a second sliding block (31) of the clamping device;
the holder is connected with the control module through a serial port; the control module can send modbus instructions to the clamper through the serial port to set the strokes of the first slider and the second slider, so that the opening and closing strokes of the electric paw are set;
a first arc claw (135) is arranged at the tail end of the first clamping finger; the middle part of the first arc claw is provided with an arc groove (36); a second arc claw (37) which can be inserted into the arc groove (36) is arranged in the middle of the tail end of the second clamping finger; when the first clamping finger and the second clamping finger of the electric paw are closed, the second arc claw is inserted into the arc groove of the first arc claw, so that the first arc claw and the second arc claw are combined into a cylindrical cavity capable of fixing a radio frequency wire body;
the electric clamping jaw is also provided with a positioning structure for mounting and positioning the clamping fingers; the positioning structure comprises a positioning lug (39) at the first clamping finger position and a positioning hole (38) at the second clamping finger position matched with the positioning lug; when the first clamping finger and the second clamping finger are installed, if the first clamping finger and the second clamping finger can enable the positioning lug to enter the positioning hole when being closed, the installation positions of the first clamping finger and the second clamping finger are correct.
9. The smart phone radio frequency line automated assembly system of claim 4, wherein: the first robot (2), the second robot (3), the mobile phone clamping jig (6) and the radio frequency wire feeding jig (7) are arranged at the supporting platform (1); the assembly system further comprises a master controller (8) which can communicate with the first robot (2) and the second robot (3).
10. An automatic assembly method for a radio frequency line of a smart phone is characterized in that: the assembly method uses the smart phone radio frequency line automatic assembly system in claim 5, and specifically comprises the following steps;
the method comprises the following steps that firstly, a first robot and a second robot are started and set to be in an automatic mode, a radio frequency wire is placed into a radio frequency wire feeding jig, an upper computer control program of a master controller (8) is started, and the two robots are connected;
moving the first robot from the initial position to a position above the radio frequency line in the radio frequency line feeding jig, adjusting the posture of a clamp of the first robot to enable the axis of the camera to be vertical to the IPEX terminal end face of the radio frequency line, clamping the radio frequency line by the clamp and taking the radio frequency line out of the jig;
step three, the first robot moves to the position near a first IPEX seat of the mobile phone fixed by the mobile phone clamping jig, and the second robot also moves to the position near the first IPEX seat;
fourthly, enabling the visual field of the camera at the holder to be perpendicular to the mobile phone, and calculating the position deviation of the center of the first IPEX terminal of the radio frequency line at the holder relative to the first IPEX seat of the mobile phone by the control module after the camera photographs the mobile phone;
step five, the first robot adjusts the position of the clamp holder to perform motion compensation according to the calculated position deviation, so that the center of the first IPEX terminal of the radio frequency line is superposed with the center of the first IPEX seat of the mobile phone;
step six, the second robot moves to the position above the first IPEX seat of the mobile phone, executes a pressing action, and buckles the first IPEX terminal of the radio frequency wire with the first IPEX seat of the mobile phone;
seventhly, the clamping force of the clamp is reduced but the radio frequency wire is not released, the clamping force of the clamp is increased again to clamp the radio frequency wire, then the clamp is moved to the position near a second IPEX seat of the mobile phone, and the second robot is also moved to the position near the second IPEX seat of the mobile phone;
step eight, finishing buckling the second IPEX terminal of the radio frequency wire with a second IPEX seat of the mobile phone according to the method in the step four to the step eight; the radio frequency wire is installed at a radio frequency wire installation position of the mobile phone;
and step nine, the first robot releases the radio frequency wire and returns to the initial position, and the second robot returns to the initial position.
CN202011326609.XA 2020-11-24 2020-11-24 Automatic assembling system and method for radio frequency line of smart phone Active CN112440108B (en)

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CN207447778U (en) * 2017-11-03 2018-06-05 深圳市策维科技有限公司 A kind of take-off assembly of camera and the robot device for including it
CN109676341A (en) * 2019-01-28 2019-04-26 合肥迪灿智能科技有限公司 A kind of electronic product casing lineation equipment
CN111618843A (en) * 2019-02-28 2020-09-04 精工爱普生株式会社 Robot system and control method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9144909B2 (en) * 2007-07-05 2015-09-29 Re2, Inc. Defense related robotic systems
CN102892557A (en) * 2010-05-19 2013-01-23 佳能株式会社 Robot cell apparatus and production system
CN207447778U (en) * 2017-11-03 2018-06-05 深圳市策维科技有限公司 A kind of take-off assembly of camera and the robot device for including it
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