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
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radio frequency
ipex
mobile phone
wire
robot
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CN202011326609.XA
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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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    • 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.智能手机射频线自动化组装系统，其特征在于：所述组装系统包括控制模块和带有摄像设备的射频线夹持治具；所述射频线夹持治具可通过倾斜以调整摄像设备的姿态；当摄像设备处于最佳拍摄姿态时，控制模块通过摄像设备对夹持治具夹持的射频线、手机的射频线安装位进行拍摄，并根据所得到的拍摄图像调整射频线夹持治具的位置，使被夹持的射频线在射频线安装位处定位，然后进行射频线安装。1. Smart phone radio frequency line automatic assembly system, characterized in that: the assembly system includes a control module and a radio frequency line clamping fixture with a camera device; the radio frequency line clamping fixture can be tilted to adjust the position of the camera device. Attitude; when the camera equipment is in the best shooting attitude, the control module uses the camera equipment to take pictures of the radio frequency wire clamped by the clamping fixture and the installation position of the radio frequency wire of the mobile phone, and adjust the radio frequency wire clamping mechanism according to the obtained captured image. Position the clamped radio frequency wire at the installation position of the radio frequency wire, and then install the radio frequency wire. 2.根据权利要求1所述的智能手机射频线自动化组装系统，其特征在于：所述组装系统还包括第一机器人（2）和第二机器人（3）；所述夹持治具设于第一机器人（2）处；所述第二机器人处设有可对置于射频线安装位处的射频线IPEX端子执行按压动作的按压机构（5）。2. The smart phone radio frequency line automated assembly system according to claim 1, characterized in that: the assembly system further comprises a first robot (2) and a second robot (3); A robot (2); the second robot is provided with a pressing mechanism (5) that can perform a pressing action on the IPEX terminal of the radio frequency wire placed at the installation position of the radio frequency wire. 3.根据权利要求2所述的智能手机射频线自动化组装系统，其特征在于：所述射频线为双头射频线，包括射频线的线体（9）和设于线体两端处的IPEX端子；所述IPEX端子包括第一IPEX端子（10）、第二IPEX端子（11）；所述智能手机的射频线安装位包括IPEX座子；所述IPEX座子包括用于安装第一IPEX端子的第一IPEX座子（40），还包括用于安装第二IPEX端子的第二IPEX座子（41）。3. The smart phone radio frequency line automated assembly system according to claim 2, wherein the radio frequency line is a double-ended radio frequency line, comprising a line body (9) of the radio frequency line and an IPEX set at both ends of the line body terminal; the IPEX terminal includes a first IPEX terminal (10) and a second IPEX terminal (11); the radio frequency line installation position of the smart phone includes an IPEX socket; the IPEX socket includes a first IPEX terminal for installing The first IPEX socket (40) further comprises a second IPEX socket (41) for installing the second IPEX terminal. 4.根据权利要求3所述的智能手机射频线自动化组装系统，其特征在于：所述组装系统还包括用于固定手机的手机夹持治具（6）；当摄像设备处于最佳拍摄姿态时，所述摄像设备的拍摄方向垂直于手机夹持治具所固定的手机内的射频线安装位；4. The smart phone radio frequency line automated assembly system according to claim 3, characterized in that: the assembly system further comprises a mobile phone clamping fixture (6) for fixing the mobile phone; when the camera device is in the best shooting posture , the shooting direction of the camera device is perpendicular to the installation position of the radio frequency line in the mobile phone fixed by the mobile phone clamping fixture; 当把射频线装配至手机时，所述射频线夹持治具以设于下部处的夹持器处的可开合电动手爪夹持线体，从射频线上料治具（7）处取用射频线；When the radio frequency wire is assembled to the mobile phone, the radio frequency wire clamping jig clamps the wire body with the openable and closable electric gripper at the lower part of the holder, and feeds the wire body from the radio frequency wire feeding jig (7). take the radio frequency line; 当射频线夹持治具夹持的射频线对准射频线安装位时，使所述射频线的第一IPEX端子的中心位于第一IPEX座子的中心上，第二IPEX端子的中心位于第二IPEX座子的中心上，以完成射频线定位。When the RF wire clamped by the RF wire clamping fixture is aligned with the installation position of the RF wire, the center of the first IPEX terminal of the RF wire is located on the center of the first IPEX seat, and the center of the second IPEX terminal is located on the first IPEX terminal. Two IPEX transposons on the center to complete the RF line positioning. 5.根据权利要求4所述的智能手机射频线自动化组装系统，其特征在于：所述电动手爪先移至IPEX座子处对射频线的线体进行夹紧固定，随后进行射频线定位，通过调整射频线位置，使IPEX端子与IPEX座子中心重合，然后第二机器人以按压机构按压IPEX座子上的射频线IPEX端子，使IPEX端子与IPEX座子扣合连接。5. The smart phone radio frequency line automated assembly system according to claim 4, wherein the electric gripper is moved to the IPEX seat first to clamp and fix the line body of the radio frequency line, and then the radio frequency line is positioned, through Adjust the position of the radio frequency line so that the IPEX terminal and the center of the IPEX socket are coincident, and then the second robot presses the IPEX terminal of the radio frequency line on the IPEX socket with the pressing mechanism, so that the IPEX terminal and the IPEX socket are snap-connected. 6.根据权利要求4所述的智能手机射频线自动化组装系统，其特征在于：所述射频线上料治具包括工装前板（12）和工装后板（13）；所述工装前板与工装后板经紧固件连接；所述工装后板表面处设有竖向的用于放置射频线的多边形走线槽（15）；所述多边形走线槽入口与过渡滑槽（14）相通；所述多边形走线槽的尺寸规格与IPEX端子匹配；当射频线经过渡滑槽滑入多边形走线槽内时，多边形走线槽的槽壁对IPEX端子限位使IPEX端子朝向固定，并使射频线一端的IPEX端子显露于多边形走线槽入口外；6. The smart phone radio frequency line automated assembly system according to claim 4, characterized in that: the radio frequency line feeding fixture comprises a tooling front plate (12) and a tooling rear plate (13); the tooling front plate and the The rear plate of the tooling is connected by fasteners; the surface of the rear plate of the tooling is provided with a vertical polygonal wire groove (15) for placing the radio frequency line; the entrance of the polygonal wire groove is communicated with the transition chute (14) ; The dimensions of the polygonal wiring trough match the IPEX terminal; when the RF wire slides into the polygonal wiring trough through the transition chute, the groove wall of the polygonal wiring trough limits the IPEX terminal so that the IPEX terminal is facing and fixed, and Expose the IPEX terminal at one end of the RF cable outside the entrance of the polygonal wireway; 所述手机夹持治具包括手机工装底板（19）；所述手机工装底板的侧面设有可滑动板（20）；所述可滑动板上开有腰孔（21）；当手机夹持治具固定手机时，通过移动可滑动板来夹紧手机，使手机夹持治具的上端与第一IPEX座子相邻，下端与第二IPEX座子相邻后，再以穿过腰孔的紧固件锁定可滑动板。The mobile phone clamping fixture includes a mobile phone tooling base plate (19); a side surface of the mobile phone tooling base plate is provided with a slidable plate (20); the slidable plate is provided with a waist hole (21); When the mobile phone is fixed with the tool, the mobile phone is clamped by moving the slidable plate, so that the upper end of the mobile phone clamping fixture is adjacent to the first IPEX seat, and the lower end is adjacent to the second IPEX seat, and then pass through the waist hole. Fasteners lock slidable panels. 7.根据权利要求4所述的智能手机射频线自动化组装系统，其特征在于：所述按压机构以第一法兰（16）与第二机器人相连；所述按压机构包括按压杆件（17）；所述按压杆件末端以紧固件固定按压头（18）；所述按压头以弹性材质成型以缓冲按压动作对手机元器件的冲击力；7. The smart phone radio frequency line automated assembly system according to claim 4, characterized in that: the pressing mechanism is connected with the second robot by a first flange (16); the pressing mechanism comprises a pressing rod (17) the pressing head (18) is fixed with a fastener at the end of the pressing rod; the pressing head is formed with an elastic material to buffer the impact force of the pressing action on the mobile phone components; 所述射频线夹持治具包括用于夹持射频线的夹持器（4）；所述夹持器经第二法兰（22）、第三法兰（23）与第一机器人相连；所述摄像设备为安装于夹持器处的视觉系统；当把射频线装配至手机时，控制模块通过摄像设备对被夹持射频线的IPEX端子、手机的IPEX座子拍照，以检测并计算IPEX端子中心与IPEX座子中心之间的位置偏差并把计算结果传输给第一机器人，使第一机器人调整夹持治具的位置使IPEX端子中心与IPEX座子中心在俯视向上重合；The radio frequency wire clamping fixture includes a holder (4) for clamping the radio frequency wire; the holder is connected to the first robot via a second flange (22) and a third flange (23); The camera equipment is a vision system installed at the holder; when the radio frequency line is assembled to the mobile phone, the control module takes pictures of the IPEX terminal of the clamped radio frequency line and the IPEX seat of the mobile phone through the camera equipment to detect and calculate. The position deviation between the center of the IPEX terminal and the center of the IPEX seat and the calculation result is transmitted to the first robot, so that the first robot adjusts the position of the clamping fixture so that the center of the IPEX terminal and the center of the IPEX seat coincide in the top view; 所述视觉系统位于电动手爪旁侧，包括设于相机固定架（27）处的相机（26），还包括固定于光源固定架（29）处的光源（28）；所述光源固定架固定于相机固定架下部；所述相机固定架通过第一固定架（24）、第二固定架（25）与电动手爪相连；当控制模块通过摄像设备拍照时，先使夹持器倾斜以使相机镜头的中轴线垂直于被拍摄目标的所在平面，以优化控制模块对被拍摄目标的识别与相关偏差计算。The vision system is located on the side of the electric gripper, and includes a camera (26) arranged at the camera fixing frame (27), and also includes a light source (28) fixed at the light source fixing frame (29); the light source fixing frame is fixed is located at the lower part of the camera fixing frame; the camera fixing frame is connected with the electric gripper through the first fixing frame (24) and the second fixing frame (25); when the control module takes pictures through the camera equipment, the holder is first inclined to make the The central axis of the camera lens is perpendicular to the plane of the photographed target, so as to optimize the recognition of the photographed target by the control module and the calculation of related deviations. 8.根据权利要求4所述的智能手机射频线自动化组装系统，其特征在于：所述电动手爪包括固定于第一夹手固定架（32）处的第一夹指（34）、固定于第二夹手固定架（33）处的第二夹指（35）；所述第二夹手固定架（33）固定于夹持器的第一滑块（30）处；所述第一夹手固定架（32）固定于夹持器的第二滑块（31）处；8. The smart phone radio frequency line automated assembly system according to claim 4, wherein the electric gripper comprises a first gripper finger (34) fixed at the first gripper fixing frame (32), The second gripper finger (35) at the second gripper fixing frame (33); the second gripper fixing frame (33) is fixed at the first slider (30) of the gripper; the first gripper The hand fixing frame (32) is fixed at the second sliding block (31) of the holder; 所述夹持器经串口与控制模块相连；所述控制模块可通过串口向夹持器发送modbus指令以设置第一滑块、第二滑块的行程，从而对电动手爪的开合行程进行设置；The gripper is connected with the control module through the serial port; the control module can send modbus commands to the gripper through the serial port to set the strokes of the first slider and the second slider, so as to adjust the opening and closing strokes of the electric gripper. set up; 所述第一夹指的末端处设有第一圆弧钩爪（135）；所述第一圆弧钩爪的中部设有圆弧槽（36）；所述第二夹指的末端中部设有可插入圆弧槽（36）的第二圆弧钩爪（37）；当电动手爪的第一夹指、第二夹指闭合时，所述第二圆弧钩爪插入第一圆弧钩爪的圆弧槽内，使第一圆弧钩爪、第二圆弧钩爪组合为可固定射频线线体的圆柱形腔；The end of the first clamping finger is provided with a first arc hook (135); the middle part of the first arc hook is provided with an arc groove (36); the middle part of the end of the second clamping finger is provided with There is a second arc hook (37) that can be inserted into the arc groove (36); when the first clamping finger and the second clamping finger of the electric gripper are closed, the second arc hook is inserted into the first arc In the arc groove of the hook, the first arc hook and the second arc hook are combined into a cylindrical cavity that can fix the radio frequency wire body; 所述电动夹爪处还设有用于夹指安装定位的定位结构；所述定位结构包括第一夹指处的定位凸块（39），还包括第二夹指处与定位凸块匹配的定位孔（38）；当安装第一夹指、第二夹指时，若第一夹指、第二夹指闭合时能使定位凸块进入定位孔，则说明第一夹指、第二夹指的安装位置正确。The electric gripper is also provided with a positioning structure for the mounting and positioning of the gripping fingers; the positioning structure includes a positioning protrusion (39) at the first gripping finger, and a positioning block matching the positioning protrusion at the second gripping finger. Hole (38); when installing the first clamping finger and the second clamping finger, if the first clamping finger and the second clamping finger are closed so that the positioning bump can enter the positioning hole, it means that the first clamping finger and the second clamping finger can enter the positioning hole. is installed in the correct position. 9.根据权利要求4所述的智能手机射频线自动化组装系统，其特征在于：所述第一机器人（2）、第二机器人（3）、手机夹持治具（6）、射频线上料治具（7）安装于支撑平台（1）处；所述组装系统还包括可与第一机器人（2）、第二机器人（3）进行通讯的总控制器（8）。9. The smart phone radio frequency line automated assembly system according to claim 4, characterized in that: the first robot (2), the second robot (3), the mobile phone clamping fixture (6), the radio frequency line material The fixture (7) is installed at the support platform (1); the assembly system further includes a general controller (8) that can communicate with the first robot (2) and the second robot (3). 10.智能手机射频线自动化组装方法，其特征在于：所述组装方法使用权利要求5中所述的智能手机射频线自动化组装系统，具体包括以下步骤；10. An automated assembly method for smart phone radio frequency lines, characterized in that: the assembly method uses the smart phone radio frequency line automated assembly system described in claim 5, and specifically comprises the following steps; 步骤一、启动第一机器人、第二机器人并设置为自动模式，将射频线放入射频线上料治具中，打开总控制器（8）的上位机控制程序，连接两机器人；Step 1. Start the first robot and the second robot and set them to automatic mode, put the RF wire into the RF wire feeding fixture, open the host computer control program of the master controller (8), and connect the two robots; 步骤二、第一机器人从初始位置移动至射频线上料治具内的射频线上方，调整第一机器人的夹持器姿态，使得相机轴线与射频线的IPEX端子端面垂直，夹持器夹住射频线并将射频线从治具中取出；Step 2. The first robot moves from the initial position to the top of the RF wire in the RF wire feeding fixture, and adjusts the gripper posture of the first robot so that the camera axis is perpendicular to the end face of the IPEX terminal of the RF wire, and the gripper clamps RF wire and take out the RF wire from the fixture; 步骤三、第一机器人移动至手机夹持治具固定的手机的第一IPEX座子附近，第二机器人也同时移动至第一IPEX座子附近附近；Step 3, the first robot moves to the vicinity of the first IPEX seat of the mobile phone fixed by the mobile phone holding fixture, and the second robot also moves to the vicinity of the first IPEX seat at the same time; 步骤四、使夹持器处的相机的视野垂直于手机，控制模块通过相机对手机拍照后计算出夹持器处的射频线第一IPEX端子中心相对于与手机第一IPEX座子的位置偏差；Step 4: Make the field of view of the camera at the holder perpendicular to the mobile phone, and the control module calculates 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 after taking pictures of the mobile phone through the camera. ; 步骤五、第一机器人根据计算出的位置偏差，调整夹持器位置进行移动补偿，使射频线第一IPEX端子中心与手机的第一IPEX座子中心重合；Step 5. The first robot adjusts the position of the gripper to perform movement compensation according to the calculated position deviation, so that the center of the first IPEX terminal of the radio frequency line coincides with the center of the first IPEX seat of the mobile phone; 步骤六、第二机器人移动至手机第一IPEX座子上方，执行按压动作，将射频线的第一IPEX端子与手机的第一IPEX座子扣合；Step 6, the second robot moves to the top of the first IPEX seat of the mobile phone, performs a pressing action, and fastens the first IPEX terminal of the radio frequency line with the first IPEX seat of the mobile phone; 步骤七、夹持器夹指减小夹持力量但不放开射频线，夹持器夹指移动至射频线另一端，重新加大夹持力量以夹紧射频线，随后移动至手机的第二IPEX座子附近，第二机器人也同时移动至手机的第二IPEX座子附近；Step 7. The gripper finger reduces the clamping force but does not let go of the RF wire. Move the gripper finger to the other end of the RF wire, increase the clamping force again to clamp the RF wire, and then move to the first position of the mobile phone. Near the second IPEX seat, the second robot also moves to the vicinity of the second IPEX seat of the mobile phone; 步骤八、按步骤四至步骤八中的方法，完成射频线第二IPEX端子与手机的第二IPEX座子扣合；使射频线安装于手机的射频线安装位处；Step 8. According to the method in Step 4 to Step 8, the second IPEX terminal of the radio frequency line and the second IPEX seat of the mobile phone are snapped together; the radio frequency line is installed at the installation position of the radio frequency line of the mobile phone; 步骤九、第一机器人松开射频线并回到初始位置，第二机器人回到初始位置。Step 9. The first robot releases the radio frequency wire and returns to the initial position, and the second robot returns to the initial position.
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