CN113942809A

CN113942809A - Automatic feeding and discharging processing method for mobile phone middle frame with Z axis

Info

Publication number: CN113942809A
Application number: CN202111350172.8A
Authority: CN
Inventors: 彭正兴; 陈志雄
Original assignee: Shenzhen Leqiao Technology Co ltd
Current assignee: Shenzhen Leqiao Technology Co ltd
Priority date: 2021-11-15
Filing date: 2021-11-15
Publication date: 2022-01-18
Anticipated expiration: 2041-11-15
Also published as: CN113942809B

Abstract

The invention discloses an automatic feeding and discharging processing method for a mobile phone middle frame with a Z axis, which comprises the following 5 steps: the steps of placing the plate → taking the plate → positioning → processing → blanking are all full-automatic operation, manual participation is not needed, and the labor cost is effectively reduced. The plate placing mechanism can supply a large amount of materials, the feeding manipulator moves the mobile phone middle frame from the feeding station to the positioning station, and the positioning mechanism positions the mobile phone middle frame; the blanking manipulator loads the positioned mobile phone middle frame to a processing station and puts the processed mobile phone middle frame into a recovery mechanism; the automatic machine processes the mobile phone middle plate of the processing station. Because the automatic feeding is adopted and the feeding is positioned, the working efficiency and the working accuracy of the feeding and discharging machine are high. In addition, the blanking manipulator is of a Z-axis structure, so that an unprocessed mobile phone middle frame can be moved to a processing station, a processed mobile phone middle plate is moved to the blanking station, the two actions are synchronously performed, and the improvement of the working efficiency is facilitated.

Description

Automatic feeding and discharging processing method for mobile phone middle frame with Z axis

Technical Field

The invention relates to the technical field of automation, in particular to an automatic feeding and discharging processing method for a mobile phone middle frame with a Z axis.

Background

The mobile phone middle frame needs to be put into an automatic machine for processing during production. In the prior art, loading and unloading are generally carried out manually, that is, the mobile phone middle frames are manually placed on a processing station of an automatic machine one by one, and then the processed mobile phone middle frames are taken out.

The required number of the middle frames of the mobile phone is large, manual feeding is not only low in efficiency, but also prone to phenomena such as missing and misplacing, and the requirement of modern production is increasingly difficult to adapt.

Disclosure of Invention

In view of the above, the present invention is directed to the defects in the prior art, and the main object of the present invention is to provide an automatic loading and unloading processing method for a middle frame of a mobile phone with a Z axis, which can perform loading and unloading automatically with high efficiency and high precision.

In order to achieve the purpose, the invention adopts the following technical scheme:

a mobile phone middle frame automatic feeding and discharging processing method with a Z axis comprises the following steps

S1, placing the board; the mobile phone middle frames are stacked and divided into 6 groups, each group is provided with 50-100 mobile phone middle frames, each mobile phone middle frame is stacked from bottom to top, the periphery of each mobile phone middle frame is blocked and cannot scatter, each group of mobile phone middle frames are placed on a movable tray of a divider disc to form a circle, the divider disc and the movable trays arranged on the divider disc are driven to rotate discontinuously, and the rotation angle is 60 degrees each time; the rotation is triggered by the following conditions:

a lifting plate is arranged below the movable tray, so that the lifting plate is driven by a lifting motor to ascend step by step, the ascending lifting plate drives the movable tray to ascend and simultaneously drives the whole group of mobile phone middle frames to ascend, the lifting motor works intermittently when rotating forwards, and the ascending height of the movable tray can be equal to the thickness of one mobile phone middle frame when the lifting motor rotates forwards once; when the lifting plate touches an upper limit travel switch on the travel rod, the lifting motor is triggered to stop forward rotation, the mode is changed into a reverse rotation mode to be continuously electrified, the movable tray is driven to descend downwards, and when the movable tray descends to the bottom to trigger the lower limit travel switch, the lifting motor stops; at the moment, the disc of the aliquotter rotates by 60 degrees; rotating the disc of the aliquotter by 60 degrees each time the lower limit travel switch is touched, and repeating the steps;

s2, taking the plate; defining a plate taking station and a waiting station by the divider disc, wherein one group of mobile phone middle frames which can be driven by the lifting plate to rise is positioned on the plate taking station, and other groups of mobile phone middle frames are positioned on the waiting station; the feeding manipulator takes the mobile phone middle frame positioned at the topmost part of the plate taking station away and sends the mobile phone middle frame to the positioning station; the plate taking is carried out by matching with the lifting motor in the step S1, and when the feeding manipulator takes out one mobile phone middle frame, the lifting motor rotates forwards once, and the operation is repeated;

s3, positioning; the mobile phone middle frame is aligned and positioned at a positioning station;

s4, processing the middle frame of the mobile phone; the mobile phone middle frame is sent to a processing station through a blanking manipulator, and the mobile phone middle frame is processed by an automatic machine;

s5, blanking; the mobile phone middle frame is conveyed to a blanking station through a blanking manipulator, a blanking channel A and a blanking channel B are arranged at a lower station, the processed mobile phone middle frame flows to the blanking channel B from the blanking channel A, and counting is carried out at an outlet of the blanking channel B.

Compared with the prior art, the automatic feeding and discharging processing method for the mobile phone middle frame with the Z axis has obvious advantages and beneficial effects, and particularly, the automatic feeding and discharging processing method for the mobile phone middle frame with the Z axis has 5 steps: the steps of placing the plate → taking the plate → positioning → processing → blanking are all full-automatic operation, manual participation is not needed, and the labor cost is effectively reduced.

Firstly, 6 groups are designed in the board placing position, 50-100 mobile phone boards to be processed can be placed in each group, namely 600 mobile phone middle frames can be stored at each time, one mobile phone middle frame is processed every 20 seconds according to an automatic machine for calculation, 600 mobile phone work boards can be processed within 3.3 hours continuously, manual material placing is not needed within 3.3 hours, and manual work is greatly saved.

Secondly, the equant disc intermittently rotates, and when the whole group of mobile phone middle frames of the board taking station are all taken away, the mobile phone middle frames on the next group of waiting stations are transferred to the board taking station, so that the intelligent mobile phone is very intelligent. And get the board station and not motionless, its bottom has the lifting plate simulation staff the same, and every take away a cell-phone center at the top, the lifting plate will rise a height, and the height that rises equals the thickness of a cell-phone center, after all cell-phone centers have all been got, can touch upper limit travel switch, drives the reverse rotation of lift motor this moment again, makes the lifting plate get back to the normal position. When the lifting plate returns to the original position, the lifting plate can touch a lower limit travel switch, and then the halving device disc is triggered to rotate by 60 degrees, and the mobile phone middle frame on the waiting station is rotated to the plate taking station. The control mode has good continuity, automatic operation and high efficiency.

And thirdly: before the mobile phone middle frame is automatically processed, a positioning step is added, so that the left, right, front, back and levelness of the mobile phone middle frame meet requirements, and the mobile phone middle frame is prevented from moving and being flat and incapable of being processed in an automatic machine at high precision.

Fourthly, the method comprises the following steps: the automatic machine is adopted to automatically process the mobile phone middle frame, manual operation is not needed in the whole process, the labor cost is saved, and the processing precision is high.

Fifthly, after the mobile phone middle frame is positioned, the blanking manipulator has the function of conveying the positioned mobile phone middle frame to the processing station, and meanwhile, the machined mobile phone middle frame is conveyed to the blanking station from the processing station, so that the mobile phone middle frame and the blanking manipulator are not interfered with each other, the mutual conveying of two products can be smoothly completed, and the inventor's intelligence is expressed. After blanking, turning type output of the middle frame of the mobile phone is achieved through the A downward blanking channel and the B downward blanking channel.

To more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Drawings

FIG. 1 is a front view of the overall structure of an embodiment of the present invention.

Fig. 2 is a front view of a loading and unloading mechanism according to an embodiment of the present invention.

Fig. 3 is a perspective view of a loading and unloading mechanism according to an embodiment of the present invention.

Fig. 4 is a perspective view of a plate placing mechanism according to an embodiment of the present invention.

Fig. 5 is a partial schematic view of a feeding robot and a discharging robot according to an embodiment of the present invention.

FIG. 6 is a schematic view of an adjustment mechanism of an embodiment of the present invention.

Fig. 7 is a schematic diagram of the mobile phone according to the embodiment of the present invention, in which four corners of the frame are not located on the same horizontal plane.

FIG. 8 is a schematic view of a blanking channel according to an embodiment of the present invention.

Fig. 9 is a schematic diagram of the mobile phone middle frame being divided into a heavy part and a light part during the automatic machine deduplication in accordance with the embodiment of the present invention.

FIG. 10 is a schematic diagram of the processing of the vibration signal into a sinusoidal signal during the de-weighting according to the embodiment of the present invention.

FIG. 11 is a diagram illustrating amplitude reduction after deduplication correction according to an embodiment of the present invention.

The attached drawings indicate the following:

100. mobile phone middle frame 10 and plate placing mechanism

11. Equant divider disc 12, movable tray

13. Limiting rod 14 and lifting plate

15. Divider 17 and lifting motor

18. Upper limit travel switch

20. Feeding manipulator 21 and horizontal motor

22. Lifting cylinder 23 and suction head

30. Positioning mechanism 31 and floating platform plate

311. Through-hole 312 and horizontal substrate

32. Positioning jig 321 and first leaning edge

322. Second leaning edge 323 and first positioning cylinder

324. Second positioning air cylinder 325 and first pushing block

326. Second pushing block 33 and adjusting mechanism

331. Adjusting motor 332 and motor output shaft

333. Adjusting lever 334, spring

335. Nut 40 and blanking manipulator

41. First suction cup 42 and second suction cup

43. Z-axis motor 44 and connecting seat

45. Electric control box 46 and air valve

47. Barometer 50, automaton

51. Rotating shaft 60 and recovery mechanism

61. First product inductor 62, second product inductor

63. A-direction blanking channel 64 and B-direction blanking channel

65. A-direction blanking shifting block 66 and B-direction blanking shifting block

67. A first push plate cylinder 68, a second push plate cylinder.

Detailed Description

The invention discloses an automatic feeding and discharging processing method for a mobile phone middle frame with a Z axis, which comprises the following steps

S1, placing the board; stacking the mobile phone middle frames 100 into 6 groups, wherein each group comprises 50-100 mobile phone middle frames 100, each mobile phone middle frame 100 is stacked from bottom to top, the periphery of each group of mobile phone middle frames 100 is blocked and cannot scatter, each group of mobile phone middle frames 100 is placed on the movable tray 12 of one divider disc 11 to form a circle, the divider disc 11 and the movable tray 12 arranged on the divider disc 11 are driven to rotate intermittently, and the rotation angle is 60 degrees each time; the rotation is triggered by the following conditions:

a lifting plate 14 is arranged below the movable tray 12, so that the lifting plate 14 is driven by a lifting motor 17 to ascend step by step, the ascending lifting plate 14 drives the movable tray 12 to ascend and simultaneously drives the whole group of mobile phone middle frames 100 to ascend, the lifting motor 17 works intermittently when rotating forwards, and the lifting height of the movable tray 12 can be equal to the thickness of one mobile phone middle frame 100 when the lifting motor 17 rotates forwards once; when the lifting plate 14 touches the upper limit travel switch 18 on the travel rod, the lifting motor 17 is triggered to stop forward rotation, the mode is changed into a reverse rotation mode to be continuously electrified, the movable tray 12 is driven to descend downwards, and when the movable tray 12 descends to the bottom to trigger the lower limit travel switch, the lifting motor 17 stops; at this time, the equant disc 11 rotates by 60 degrees; rotating the equant divider disc 11 by 60 degrees each time the lower limit travel switch is touched, and repeating the steps;

s2, taking the plate; defining the divider disc 11 into a plate taking station 101 and a waiting station 102, wherein one group of mobile phone middle frames 100 which can be lifted by the lifting plate 14 is on the plate taking station, and the other groups of mobile phone middle frames 100 are on the waiting station; the feeding manipulator 20 takes the mobile phone middle frame 100 positioned at the topmost part of the plate taking station away and sends the mobile phone middle frame to the positioning station; the plate taking is performed by matching with the lifting motor 17 in the step S1, and when the feeding manipulator 20 takes out one mobile phone middle frame 100, the lifting motor 17 rotates forward once, and the steps are repeated;

s3, positioning; the mobile phone middle frame 100 is aligned and positioned at a positioning station 103;

s4, processing the middle frame 100 of the mobile phone; the mobile phone middle frame 100 is sent to a processing station 104 through a blanking manipulator 40, and the mobile phone middle frame 100 is processed by an automatic machine 50;

s5, blanking; the mobile phone middle frame 100 is sent to a blanking station 105 through a blanking manipulator 40, the lower station comprises an A downward blanking channel 63 and a B downward blanking channel 64, the processed mobile phone middle frame 100 flows from the A downward blanking channel 63 to the B downward blanking channel 64, and counting is carried out at the outlet of the B downward blanking channel 64.

The following is a specific structure of a preferred embodiment of the automatic feeding and discharging processing method for a mobile phone middle frame with a Z axis of the present invention. Referring to fig. 1 to 3, the plate feeding device includes a plate placing mechanism 10, a feeding manipulator 20, a positioning mechanism 30, a discharging manipulator 40, an automatic machine 50, and a recovery mechanism 60.

More specifically, as shown in fig. 4, the plate placing mechanism 10 includes an aliquotter disc 11, a movable tray 12, a stopper rod 13, a lifting plate 14, and a divider 15. The divider 15 is mounted below the aliquotter disc 11 for driving the aliquotter disc 11 to rotate, and the aliquotter disc 11 is driven by the divider 15 to rotate only 60 degrees at a time due to production needs.

A plurality of groups of limiting rods 13 are arranged on the divider disc 11, and the limiting rods 13 surround to form a material cavity. The limiting rod 13 is vertically upward, and the shape of a material cavity formed by the limiting rod 13 in a surrounding mode is matched with that of the middle frame 100 of the mobile phone. The purpose is to enable each material cavity to contain 50-100 mobile phone middle frames 100 at one time and prevent the mobile phone middle frames from scattering. In this embodiment, 6 material chambers are designed, so that the partition according to 360/6 determines that the rotation of the aliquotter disc 11 is 60 degrees each time.

The movable tray 12 is separated from the lifting plate 14, and only the movable tray 12 of the material cavity corresponding to the plate taking station is contacted with the lifting plate 14. The lifting plate 14 is matched with a lifting motor 17, the lifting motor 17 is connected with the lifting plate 14 to drive the lifting plate 14 to move up and down, the lifting plate 14 acts on a movable tray 12 corresponding to the plate taking station, and the mobile phone middle frame 100 on the material cavity of the plate taking station is synchronously lifted by pushing the movable tray 12 to lift.

An upper limit travel switch 18 and a lower limit travel switch are arranged on the mounting rack of the lifting motor 17. Wherein the upper limit travel switch 18 is used to trigger the lifting motor 17 to stop forward rotation so that the lifting plate 14 does not rise any more. This means that the cell phone middle frame 100 of the material chamber corresponding to the plate taking station has been completely taken out. The lower limit travel switch is used for triggering the lifting motor 17 to rotate reversely and stop, and simultaneously, the divider 15 is driven to enable the divider disc 11 to rotate 60 degrees, so that a group of mobile phone middle frames 100 on the partition waiting station enter the plate taking station. The plate placing mechanism 10 has a large number of prepared materials and can continuously supply materials.

The following steps are provided: the plate taking method in the step S2 is that a feeding manipulator 20 is adopted, the feeding manipulator 20 is driven to translate on the X axis by the cooperation of a horizontal motor 21 and a lead screw, and the plate taking device is connected to a material suction head 23 of the feeding manipulator 20 through a lifting cylinder 22, so that the feeding manipulator 20 can move up and down on the Y axis; and vacuum adsorption is realized by connecting a vacuum air pipe to the suction head 23.

As shown in fig. 3, the feeding manipulator 20 includes a horizontal motor 21 and a motor output shaft 332, a lifting cylinder 22, and a suction head 23. The horizontal motor 21 is connected with a motor output shaft 332, the lifting cylinder 22 is connected with the motor output shaft 332, and the material suction head 23 is connected with the lifting cylinder 22. Therefore, when the horizontal motor 21 drives the motor output shaft 332, the connecting seat 44 of the lifting cylinder 22 can be horizontally moved along the X axis. The lifting cylinder 22 is used for driving the suction head 23 to move up and down along the Y axis. In this embodiment, the material suction head 23 is a vacuum suction head, and vacuum suction is realized by connecting a vacuum air pipe to the material suction head 23, so that the mobile phone middle frame 100 is conveyed from the plate taking station to the positioning station.

And: the method for positioning the middle frame 100 of the mobile phone in the step S3 is as follows: the positioning station is provided with a floating platform plate 31, a positioning cavity for placing the mobile phone middle frame 100 is arranged on the floating platform plate 31, and when the feeding manipulator 20 sends a piece of mobile phone middle frame 100 to the positioning cavity, the pressing cylinder drives the pressing block to push the mobile phone middle frame 100 to one side to abut against the stop block.

The method is matched with a CCD positioning method, a positioning camera above a positioning station shoots a mobile phone middle frame 100, four corner points D1, D2, D3 and D4 of the mobile phone middle frame 100 are grabbed, distances LD1, LD2, LD3 and LD4 between the four corner points and a bottom horizontal base plate 312 are calculated respectively, when the four distances are different, the highest value is selected as a reference point, and upward heights of other three corners are adjusted, so that the four corner points D1, D2, D3 and D4 are all located on the same horizontal plane, and adjustment of the levelness is achieved.

As shown in fig. 3, the middle frame 100 of the mobile phone is first placed in the positioning mechanism 30, more specifically, in the positioning fixture 32 on the floating platform plate 31.

The positioning mechanism 30 includes a positioning jig 32 and an adjusting mechanism 33. The positioning fixture 32 has a first leaning edge 321, a second leaning edge 322, a first positioning cylinder 323, and a second positioning cylinder 324. Wherein, the first positioning cylinder 323 is connected with a first pushing block 325, and the first pushing block 325 is opposite to the first leaning edge 321; the second positioning cylinder 324 is connected to a second pushing block 326, and the second pushing block 326 is opposite to the second abutment edge 322. The first side 321, the second side 322, the first positioning cylinder 323 and the second positioning cylinder 324 are all installed on one floating platform plate 31, the first positioning cylinder 323 is on the front surface of the floating platform plate 31, and the second positioning cylinder 324 is on the bottom surface of the floating platform plate 31.

As shown in fig. 6, four through holes 311 are formed around the floating platen 31, a horizontal substrate 312 is disposed below the floating platen 31, and a space is formed between the horizontal substrate 312 and the floating platen 31. The periphery of the horizontal substrate 312 is connected with the four through holes 311 of the floating platform plate 31 through the adjusting mechanism 33. The adjustment mechanism 33 is used to adjust the levelness of the four corners of the floating platform plate 31 so that the center frame 100 of the cellular phone placed on the floating platform plate 31 is horizontal and not tilted.

As shown in fig. 6, the adjusting mechanism 33 includes an adjusting motor 331, a motor output shaft 332, and an adjusting lever 333. The adjusting motor 331 drives the motor output shaft 332 to rotate, and the adjusting rod 333 is clamped and fixed on the motor output shaft 332. The adjusting rod 333 pushes the corresponding adjusting area of the floating deck plate 31 to ascend and descend. The adjusting rod 333 passes through the through hole 311 and then mounts the spring 334 and the nut 335 at the top. So that the adjustment rod 333 is not fixedly connected but gap-connected to the through-hole 311 of the floating deck plate 31.

When the output of the adjustment motor 331 is raised, it pushes up the corresponding adjustment area of the floating platform plate 31, and when the output of the adjustment motor 331 is lowered, the corresponding area of the floating platform plate 31 is lowered by the pushing action of the spring 334.

More specifically, the leveling method of the floating platform plate 31 is as follows:

step S31: when the middle mobile phone frame 100 is fixed to the positioning fixture 32, the positioning camera at the top shoots the middle mobile phone frame 100, captures four corner points D1, D2, D3 and D4 of the middle mobile phone frame 100, and measures distances LD1, LD2, LD3 and LD4 between the four reference areas A, B, C and D and the bottom horizontal substrate 312 respectively.

Step S32: when LD4> LD1, LD2, and LD3, for example, are selected as the reference points, LD4 is used as the reference point, the adjustment motor 331 corresponding to the reference area D is not moved at this time, and only the positions of two of the other three adjustment areas A, B and C are adjusted, respectively, so that LD1, LD2, LD3, and LD4 are aligned with the reference distances. So that the four corner points D1, D2, D3 and D4 are all positioned on the same horizontal plane, and the adjustment of the levelness is realized.

The processing in step S4 is laser deduplication correction of the cell phone middle frame 100 weight. The automatic machine 50 (not shown in the specific structural diagram) implements the deduplication correction of the weight of the middle frame 100 of the mobile phone, and the deduplication correction method is as follows, see fig. 9 and 10:

s41, positioning the middle frame 100 on a rotating shaft 51, and driving the rotating shaft 51 to rotate so as to drive the middle frame 100 to rotate synchronously around the rotating shaft 51 of the rotating shaft 51;

s42, monitoring the middle frame 100 of the mobile phone in real time by the vibration sensor, and collecting vibration signals of the middle frame 100 of the mobile phone;

s43, the control system processes the vibration signal and converts the vibration signal into a sine wave signal corresponding to each rotation of the middle frame 100 of the mobile phone, the control system identifies a 0-passing point of a positive rotation wave signal, the first 0-passing point corresponds to the starting point of the middle frame 100 of the mobile phone, the second 0-passing point corresponds to the middle point of the middle frame 100 of the mobile phone, and the third 0-passing point returns to the starting point of the middle frame 100 of the mobile phone, so that the upper half cycle of the positive rotation wave is half of the weight of the middle frame 100 of the rotary mobile phone, and the lower half cycle of the positive rotation wave is half of the weight of the middle frame 100 of the rotary mobile phone;

s44, the laser is erected on the same phase angle radius of the vibration sensor, once the vibration sensor outputs the first 0-point signal, the laser system is automatically started to synchronously emit laser to the rotating mobile phone middle frame 100 in real time, thousands of continuous laser pulses ablate and remove the weight of the heavier half to complete the first ablation, when the vibration sensor outputs the second 0-point signal, the laser stops, and thus the lighter half of the rotating mobile phone middle frame 100 does not need ablation treatment;

and S45, repeating the steps S42 to S44, emitting laser again to perform ablation and de-duplication correction when the next half of the weight of the mobile phone middle frame 100 is rotated, and balancing the heavy half part and the light half part of the mobile phone middle frame 100 according to the same method until the maximum amplitude value of the sine wave signal meets the required value, wherein the de-duplication correction is stopped.

In step S44, the laser system is controlled by power phase lock, the amplitude of the vibration sensor is used to synchronously adjust the laser frequency, the number of pulses of laser emitted by the laser system is positively correlated with the amplitude of the sine wave signal, and in the first half cycle of the sine wave signal, the laser power increases in sequence from the first point of 0 crossing to the peak value, and then to the second point of 0 crossing, and then decreases again, with the peak position power being the largest and the most ablation.

The laser working frequency is more than 100K, more than tens of thousands of laser pulses are generated per second, the mobile phone middle frame 100 rotates for one circle, the laser pulse quantity irradiated by the heavy half part is 1/2 of the whole rotating mobile phone middle frame 100, thus each time thousands of pulses are completely removed in weight and corrected by the whole heavy half part, and the nicks are evenly distributed to be very shallow.

The invention realizes the real-time detection and the de-duplication correction of the laser dynamic de-duplication by 5 steps.

Firstly, the mobile phone middle frame 100 is positioned, the rotating machine is started, the mobile phone middle frame 100 is driven to rotate, then the machine does not need to be stopped until the time of removing the weight is finished, and the mobile phone middle frame 100 is continuously kept to rotate.

The vibration signals generated by the unbalance of the heavy half part and the light half part of the middle frame 100 of the mobile phone are collected by using the vibration sensor, so that the sensors required for detection are few, and the structure of the automatic machine 50 is simplified. And the operation parameters of the control system are less, the operation speed is high, the aim of transmitting the data to the laser system in real time is fulfilled, and data transmission delay does not exist.

In particular, the present invention converts the vibration signal into a sine wave and divides the rotating handset bezel 100 into a heavier half and a lighter half. Thus, we do not need to find the zero mark, the center of gravity is not needed, but in the simplest way, the rotating mobile phone middle frame 100 is regarded as a complete circle and then divided into two parts, when the mobile phone middle frame 100 is unbalanced, half of the mobile phone middle frame is heavier than the other half of the mobile phone middle frame, therefore, it is only necessary to correspond the upper half cycle of the normal rotation wave to the heavy half of the middle frame 100 of the mobile phone from the first O point of the normal rotation wave according to the vibration signal synchronization component, if the laser is erected and the vibration sensor is arranged on the same phase angle radius, only the zero point signal of the positive half cycle of the sine wave needs to be judged, a zero point begins, hundreds of thousands of continuous pulses are accumulated in the process for ablation, the laser output is stopped before the zero point of the last half cycle of the sine wave, and the overweight half part of the frame 100 in the mobile phone completes one ablation and weight removal in the process. The other half is a lighter part and the laser is stopped completely until the next heavier part is turned to, and the second, third, etc. ablation de-weighting correction for the heavier part is performed in the same manner. Fig. 11 is a schematic diagram of amplitude reduction after deduplication correction, and the amplitude is smaller when the vibration signal sensed by the vibration sensor is weaker.

In some current applications, the laser de-emphasis method is to find the center of gravity, and then equally divide the pulse, and perform the advance and retreat processing. The invention does not need to find the center, and only needs to identify the zero point of the sine wave signal output by the vibration sensor, namely, the laser emission is started. Therefore, the system design and operation are simpler, the operation is easy, and the efficiency is high.

The ending mechanism of the deduplication correction of the invention is as follows: and when the maximum amplitude of the vibration sensor is smaller than the required value, the deduplication correction is completed. After the re-repairing, the mobile phone middle frame 100 is subjected to a blanking action, that is, the automatic machine 50 sends the product to a blanking station, and the mobile phone middle frame 100 is taken away by the blanking manipulator 40.

The blanking manipulator 40 simultaneously sends the unprocessed mobile phone middle frame 100 to the processing station, and sends the processed mobile phone middle frame 100 on the processing station to the blanking station.

The blanking manipulator 40 is provided with a first sucker 41 and a second sucker 42, the first sucker 41 is positioned beside the second sucker 42, and the positioning station is positioned beside the blanking station; the distance between the first suction cup 41 and the second suction cup 42 is equal to the distance between the positioning station and the blanking station; when the first suction cup 41 of the blanking manipulator 40 is opposite to the blanking station, the second suction cup 42 is opposite to the positioning station; the blanking manipulator 40 moves downwards under the drive of the Z-axis motor 43 until the processed mobile phone middle frame 100 adsorbed on the first suction cup 41 contacts the blanking station and the second suction cup 42 contacts the mobile phone middle frame 100 on the positioning station; at the moment, the vacuum pump of the first suction cup 41 cuts off air supply and/or air blowing, the processed mobile phone middle frame 100 is placed on a blanking station, meanwhile, the vacuum pump of the second suction cup 42 starts air suction, and the mobile phone middle frame 100 which is fixed and ready to be processed is sucked up; then the blanking manipulator 40 moves upwards under the drive of the Z-axis motor 43; and the horizontal motor 21 and the screw rod are matched to drive the blanking manipulator 40 to send the mobile phone middle frame 100 to be processed to a processing station.

The blanking manipulator 40 needs to make avoidance when sending the mobile phone middle frame 100 to be processed to the processing station, and the avoidance method is as follows: after the mobile phone middle frame 100 is processed, the mobile phone middle frame 100 is automatically placed on a processing station, when the blanking manipulator 40 moves above the processing station, the first suction cup 41 is aligned with the processing station, the first suction cup 41 is driven by the Z-axis motor 43 to descend, meanwhile, the vacuum pump of the first suction cup 41 is started to suck the processed mobile phone middle frame 100, then the blanking manipulator 40 is driven by the Z-axis motor 43 to ascend, then the Z-axis motor 43 continues to drive the blanking manipulator 40, the second suction cup 42 is aligned with the processing station, the second suction cup 42 descends, the gas path or gas blowing of the second suction cup 42 is cut off, the mobile phone middle frame 100 to be processed is placed on the processing station, and then the blanking manipulator 40 is driven to ascend; the horizontal motor 21 and the screw rod are matched to drive the first suction cup 41 and the second suction cup 42 of the blanking manipulator 40 to return to the positioning station and the blanking station.

As shown in fig. 5, the blanking manipulator 40 includes a suction cup holder, a first suction cup 41, a second suction cup 42, and a Z-axis motor 43. The first suction cup 41 and the second suction cup 42 are disposed on the suction cup support, and the Z-axis motor 43 is connected to the suction cup support and can drive the suction cup support to move up and down.

The center formed by the first suction cups 41 in the same group is opposite to the blanking station, and the center formed by the second suction cups 42 in the same group is opposite to the positioning jig 32. Here means that: the center formed by the first sucker 41 is opposite to the center of the blanking station, and the center formed by the second sucker 42 is opposite to the positioning station at the center of the positioning jig 32, so that when the first sucker 41 and the second sucker 42 move downwards, the first sucker 41 blanks, and the second sucker 42 can suck the middle frame 100 of the mobile phone in the positioning jig 32, and the production efficiency is improved.

The Z-axis motor 43 is a connecting base 44 fixed to the elevating cylinder 22. The lifting cylinder 22 of the loading manipulator 20 and the Z-axis motor 43 of the unloading manipulator 40 share the connecting base 44 of the lifting cylinder 22. The horizontal motor 21 and the screw rod matching structure drive the connecting seat 44 of the lifting cylinder 22 to horizontally move along the X axis along the connecting seat 44. That is, the loading robot 20 and the unloading robot 40 are both mounted on a lead screw, and are driven by the horizontal motor 21 in synchronization with the lead screw to move in the X-axis direction.

An electric cabinet 45, an air valve 46 and an air pressure gauge 47 are further mounted on the connecting seat 44 of the lifting air cylinder 22, and the electric cabinet 45 is used for driving the Z-axis motor 43. The air valves 46 and the air pressure gauge 47 have three groups, which are respectively used for connecting and controlling the first suction cup 41, the second suction cup 42 and the suction head 23.

The blanking station is provided with a first product sensor 61, and when the first product sensor 61 detects that the mobile phone middle frame 100 is placed on the blanking station, an A blanking cylinder located beside the A blanking channel 63 drives an A blanking shifting block 65 to push the processed mobile phone middle frame 100 to a B blanking channel 64; the second product sensor 62 is disposed at the starting end of the B downward feeding channel 64, and when the second product sensor 62 detects that the mobile phone middle frame 100 arrives, the B downward feeding cylinder located beside the side of the B downward feeding channel 64 drives the B downward feeding shifting block 66 to push the processed mobile phone middle frame 100 to the end of the B downward feeding channel 64. The a-down channel 63 and the B-down channel 64 are perpendicular to each other, and the B-down channel 64 is located behind the structure of the horizontal motor 21 cooperating with the screw rod.

More specifically, the blanking station is disposed at the head end of the recycling mechanism 60. The recovery mechanism 60 comprises an A downward feeding channel 63, a B downward feeding channel 64, and the A downward feeding channel 63 and the B downward feeding channel 64 are communicated. The a-down channel 63 and the B-down channel 64 are perpendicular to each other, preferably in an L-shaped arrangement. And the B-down channel 64 is located behind the horizontal motor 21 and screw rod mating structure. The a-down channel 63 and the B-down channel 64 contribute to space saving. Further, an A-direction feeding shifting block 65 is movably arranged in the A-direction feeding channel 63, and a B-direction feeding shifting block 66 is movably arranged in the B-direction feeding channel 64. The A downward feeding shifting block 65 is driven by the first push plate air cylinder 67, so that the mobile phone middle frame 100 in the A downward feeding channel 63 is pushed to the B downward feeding channel 64. The B downward feeding shifting block 66 is driven by the second push plate air cylinder 68 so as to push the mobile phone middle frame 100 to a final recovery position. It can be seen that the recovery mechanism 60 can accomplish the automatic collection of the product.

In summary, the design of the present invention is focused on that the plate placing mechanism 10 can supply material, and the positioning mechanism 30 can position the middle frame 100 of the mobile phone; the feeding manipulator 2030 and the discharging manipulator 40 load the positioned mobile phone middle frame 100 to the processing station of the automatic machine 50, and place the processed mobile phone middle frame 100 into the recovery mechanism 60 for recovery, so that automatic feeding and discharging are completed, and the efficiency and the accuracy are high.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.

Claims

1. The automatic feeding and discharging processing method for the mobile phone middle frame with the Z axis is characterized by comprising the following steps of: comprises the following steps

2. The automatic feeding and discharging processing method for the middle frame of the mobile phone with the Z axis as claimed in claim 1, wherein the method comprises the following steps: the plate taking method in the step S2 is characterized in that a feeding manipulator is adopted, the feeding manipulator is driven to translate on an X axis through the matching of a horizontal motor and a screw rod, and the feeding manipulator is connected to a material suction head of the feeding manipulator through a lifting cylinder, so that the feeding manipulator moves up and down on a Y axis; and vacuum air pipes are connected to the material suction heads to realize vacuum adsorption.

3. The automatic feeding and discharging processing method for the middle frame of the mobile phone with the Z axis as claimed in claim 1, wherein the method comprises the following steps: the method for positioning the middle frame of the mobile phone in the step S3 comprises the following steps: the positioning station is provided with a floating platform plate, a positioning cavity for placing the mobile phone middle frame is formed in the floating platform plate, when a feeding manipulator sends a piece of mobile phone middle frame to the positioning cavity, a first pressing cylinder drives a first pressing block to push the mobile phone middle frame to a stop block on one side close to one side of the positioning cavity, and a second pressing cylinder drives a second pressing block to push the mobile phone middle frame to a stop block on one side close to the other side of the positioning cavity.

4. The automatic feeding and discharging processing method for the middle frame of the mobile phone with the Z axis as claimed in claim 3, wherein the method comprises the following steps: the method is matched with a CCD positioning method, a positioning camera above a positioning station shoots a mobile phone middle frame, four corner points D1, D2, D3 and D4 of the mobile phone middle frame are captured, the distances LD1, LD2, LD3 and LD4 between the four corner points and a bottom horizontal substrate are respectively calculated, when the four distances are different, the highest value is selected as a reference point, and the four corner points D1, D2, D3 and D4 are all located on the same horizontal plane by adjusting the upward heights of other three corners, so that the adjustment of the levelness is realized.

5. The automatic feeding and discharging processing method for the middle frame of the mobile phone with the Z axis as claimed in claim 1, wherein the method comprises the following steps: the processing in step S4 is to perform laser deduplication correction on the weight of the middle frame of the mobile phone, and the deduplication correction method is as follows:

s41, positioning the middle frame of the mobile phone, and starting the weight balance detector;

s42, collecting vibration signals generated by unbalance of the middle frame of the mobile phone;

s43, converting the vibration signal into sine wave and dividing a heavier half part and a lighter half part on the middle frame of the rotary mobile phone;

s44, emitting laser to ablate and remove the weight of the heavy half part in real time;

s45, repeating the steps S42 to S44 until the weight balance standard is reached.

6. The automatic feeding and discharging processing method for the middle frame of the mobile phone with the Z axis as claimed in claim 1, wherein the method comprises the following steps: and the blanking manipulator simultaneously conveys the unprocessed mobile phone middle frame to the processing station and conveys the processed mobile phone middle frame on the processing station to the blanking station.

7. The automatic feeding and discharging processing method for the middle frame of the mobile phone with the Z axis as claimed in claim 6, wherein: the blanking manipulator is provided with a first sucker and a second sucker, the first sucker is positioned beside the second sucker, and the positioning station is positioned beside the blanking station; enabling the distance between the first sucker and the second sucker to be equal to the distance between the positioning station and the blanking station; when the first suction cup of the blanking manipulator is opposite to the blanking station, the second suction cup is opposite to the positioning station; the blanking manipulator moves downwards under the driving of the Z-axis motor until the processed mobile phone middle frame adsorbed on the first sucking disc contacts the blanking station and the second sucking disc contacts the mobile phone middle frame on the positioning station; at the moment, the vacuum pump of the first suction cup cuts off air supply and/or air blowing, the processed mobile phone middle frame is placed on a blanking station, meanwhile, the vacuum pump of the second suction cup starts air suction, and the mobile phone middle frame which is fixed and ready to be processed is sucked up; then the blanking manipulator moves upwards under the drive of the Z-axis motor; and then the horizontal motor and the screw rod are matched to drive the blanking manipulator to send the mobile phone middle frame to be processed to a processing station.

8. The automatic feeding and discharging processing method for the middle frame of the mobile phone with the Z axis as claimed in claim 7, wherein: the blanking manipulator needs to make avoidance when sending the mobile phone middle frame to be processed to the processing station, and the avoidance method comprises the following steps: after the mobile phone middle frame is machined, the automatic machine can automatically place the mobile phone middle frame on a machining station, when a blanking manipulator moves above the machining station, a first sucker is aligned with the machining station, the first sucker is driven by a Z-axis motor to descend, meanwhile, a vacuum pump of the first sucker is started to suck the machined mobile phone middle frame, then the blanking manipulator is driven by the Z-axis motor to ascend, a horizontal motor continues to drive the blanking manipulator to horizontally move forward, so that a second sucker is aligned with the machining station, the Z-axis motor drives the second sucker to descend after alignment, an air channel or air blowing of the second sucker is simultaneously cut off, the mobile phone middle frame to be machined is placed on the machining station, and then the blanking manipulator is driven to ascend; and finally, the horizontal motor is matched with the screw rod to drive the first sucker and the second sucker of the blanking manipulator to return to the positioning station and the blanking station.

9. The automatic feeding and discharging processing method for the middle frame of the mobile phone with the Z axis as claimed in claim 1, wherein the method comprises the following steps: the blanking station is provided with a first product sensor, and when the first product sensor detects that the mobile phone middle frame is placed on the blanking station, an A blanking cylinder located beside the A blanking channel drives an A blanking shifting block to push the processed mobile phone middle frame to a B blanking channel; and a second product sensor is arranged at the starting end of the B downward discharging channel, and when the second product sensor detects that the mobile phone middle frame arrives, the B downward discharging cylinder positioned beside the B downward discharging channel drives the B downward discharging shifting block to push the processed mobile phone middle frame to the tail end of the B downward discharging channel.

10. The automatic feeding and discharging processing method for the middle frame of the mobile phone with the Z axis as claimed in claim 1, wherein the method comprises the following steps: the A downward feeding channel and the B downward feeding channel are perpendicular to each other, and the B downward feeding channel is located behind the matching structure of the horizontal motor and the screw rod.