CN113984348B - Automatic plugging mechanism and plugging method - Google Patents
Automatic plugging mechanism and plugging method Download PDFInfo
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- CN113984348B CN113984348B CN202111263651.6A CN202111263651A CN113984348B CN 113984348 B CN113984348 B CN 113984348B CN 202111263651 A CN202111263651 A CN 202111263651A CN 113984348 B CN113984348 B CN 113984348B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000008569 process Effects 0.000 claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 16
- 230000000694 effects Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 3
- 238000002788 crimping Methods 0.000 abstract description 2
- 239000000047 product Substances 0.000 description 7
- 230000000007 visual effect Effects 0.000 description 4
- 241000252254 Catostomidae Species 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000009533 lab test Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- 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
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- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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- General Physics & Mathematics (AREA)
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- Automatic Assembly (AREA)
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Abstract
The utility model discloses an automatic plugging mechanism which can be applied to automatic work of electric connection and crimping assembly; the automatic plugging mechanism comprises a manipulator, a camera and a plug assembly, wherein the manipulator is used for driving the display panel to move and plug in; the camera shoots the plugging process and the result so as to correct the position and judge the plugging result; the plug assembly comprises a clamping mechanism used for fixing and positioning the plug and a sensing unit, wherein the clamping mechanism is slidably installed in the plugging movement direction, and the sensing unit is used for sensing the stress or displacement of the clamping mechanism in the sliding process. The utility model also discloses an automatic plugging method for working by using the mechanism. The automatic plugging mechanism judges the plugging result under the condition that the display panel does not work, prevents the misleading of the quality problem of the product to the plugging result, and has simple structure and easy operation.
Description
Technical Field
The utility model belongs to the technical field of photoelectric detection, and particularly relates to an automatic plugging mechanism and a plugging method.
Background
In the existing display panel industry, there are many processes of conveying and operating products by using trays, and often in the operation process, equipment needs to detect various functions of the products, so that the display panel needs to be lightened in the transportation process, and therefore, the optical detection can be completed without separating the products from the trays in the transportation process of the products. To accomplish the above-mentioned function, generally, the video image signal generator needs to be arranged on the tray, and when the new product is fed into the feeding end of the device, an automatic plugging mechanism needs to be added at this time to plug in the plug on the tray and the socket on the display panel.
In the prior art, after the plugging is completed, the display panel is generally lightened by power-on to judge the plugging effect, so that the poor quality of the display panel or the plug is mistakenly considered as poor plugging, and the specific bad reason cannot be confirmed; the problem of poor contact caused by the fact that the plug-in inspection can be normally lightened when the plug-in inspection is away from the plug-in position and cannot be normally lightened, namely the plug-in inspection is not in place in practice is also likely to occur. In addition, there is a possibility of position error during feeding of the display panel, and position error also exists during material taking of the plug, and after error accumulation, the plugging risk is high.
Therefore, it is necessary to provide an automatic plugging mechanism and a plugging method with high automation degree.
Disclosure of Invention
In view of the above-described deficiencies of the prior art, the present utility model aims to: the automatic plugging mechanism and the plugging method can automatically judge the plugging result, ensure the plugging effect and improve the plugging efficiency.
In order to achieve the above part or all of the objects, the present utility model provides the following technical solutions:
an automatic plugging mechanism comprises a manipulator, a camera and a plug assembly, wherein the manipulator is used for driving a display panel to move and plug in; the camera shoots the plugging process and the result so as to correct the position and judge the plugging result; the plug assembly comprises a clamping mechanism and a sensing unit, wherein the clamping mechanism is used for fixing and positioning the plug, the clamping mechanism is installed in a sliding mode in the inserting movement direction, and the sensing unit is used for sensing the stress or displacement of the clamping mechanism in the sliding process; the manipulator, the clamping mechanism, the camera and the sensing unit are electrically connected with the controller.
When the plug moves to the plugging position, the controller reads the position information shot by the camera to control the movement of the manipulator, so that position correction is realized, the socket on the display is flush with the plug, the translation distance required by the manipulator for completing plugging is calculated according to the shooting information, the plugging distance is determined, after the plugging is completed, the controller confirms the position information after the plugging again, the position information of the markers on the socket and the plug is identical with the set information, the plugging in position is ensured on the relative position, the plugging effect is prevented from being judged in a mode of enabling the display panel to be electrified to display a picture, and the quality problems of the display panel, the plug and the socket are prevented from being misjudged as plugging problems. In the instant time of grafting completion, the manipulator still exerts grafting force to display panel under the control of controller, but has pegged graft at this moment and accomplished, and the plug atress transmits to fixture, because fixture slidable mounting in grafting direction of motion produces the displacement under the effect for the sensing unit receives certain displacement or pressure information, and the controller compares the information of receipt with setting up information, further judges the grafting effect.
The clamping mechanism is a finger cylinder, the sensing unit is a pressure sensor, and the finger cylinder body is provided with a pressing block opposite to the pressure sensor. The displacement information of the clamping mechanism is converted into pressure information, so that the measurement of the fine variation is facilitated, and the measurement accuracy is improved. When the pressure is too small, the socket is probably not inserted into the plug, and the socket and the plug have position difference in height and need to be aligned again; when the pressure is too high, the quality problem of the plug or the socket on the display panel is described, and the maintenance and confirmation of the staff are needed.
The clamping jaw of the clamping mechanism is provided with a profiling structure corresponding to the side surface of the plug, so that the positioning precision of the plug on the clamping jaw, especially the position precision in the plugging direction, is improved.
The plug assembly further comprises a plug jig, the plug jig is installed on the installation seat, a positioning column is arranged on the plug jig and used for positioning when the plug is placed, the plug is placed on the plug jig at the initial stage, the clamping mechanism is grabbed by the plug jig, levelness of the plug on the clamping jaw is guaranteed, and the plug is placed by the manual work or other clamping jaw structures.
The plug assembly further comprises a movement mechanism, wherein the movement mechanism is one or a combination of a plurality of X-direction movement mechanism, Y-direction movement mechanism and rotation movement mechanism and is used for moving the plug from the plug jig to the plugging position, and the purpose is to enable the initial placement position of the plug to be convenient to operate, avoid the plug jig from being positioned at the focus of a camera lens and prevent shooting.
The camera lens is installed in workstation bottom up, the workstation is equipped with the through-hole in corresponding position, because peg graft for the motion on the horizontal direction, the camera is upwards shot the grafting process by the bottom, is convenient for gather relative position information, reduces the controller calculated amount, improves work efficiency, can set up as required in practice. The light source is arranged on the workbench according to the requirement, is annular and is positioned on the outer circumference of the through hole, and light supplementing is carried out in the shooting process.
The tray for placing the display panel to be spliced is arranged on one side of the spliced position, a limiting block is arranged around the tray, and coarse positioning is primarily carried out on the placed position of the display panel, so that the position of the spliced interface can be stably moved into the visual field of the camera after the manipulator absorbs the display panel.
An automatic plugging method comprises the following steps:
s1, moving or placing a display panel and a plug to an inserting position, and controlling a manipulator to align and insert a socket on the display panel with the plug under the feedback of a camera by a controller;
s2, feeding back pressure or displacement information detected at the moment of completion of splicing to the controller by the sensing unit, and judging the splicing effect by the controller.
In step S1, after the socket is aligned with the plug, the controller calculates the plugging distance according to the relative position information of the display panel and the plug fed back by the camera, and controls the manipulator to move the distance for plugging, so as to ensure the controllability of plugging movement.
In step S2, when the sensing unit collects pressure information, the controller sets the pressure range to 4-12N.
After the plugging in step S1 is completed, the camera shoots, the controller confirms whether the relative position information of the mark on the display panel socket and the mark on the plug is the same as the set information according to shooting information, and when the relative position information is different from the set information, the step S1 is repeated, firstly, the plugging in effect is judged according to the mark information, and the plugging in position is ensured in terms of the position relation.
Compared with the prior art, the utility model has the beneficial effects that:
1. shooting the plugging process and the plugging result through a camera, calculating the relative position between the plug and the socket on the display panel by using the controller, and timely correcting the position in the plugging process, calculating the plugging movement amount, and improving the plugging success rate and stability; after the plugging is completed, the position information of the marker on the socket and the plug is compared with the set information, so that the plugging effect is judged, the quality problems of the display panel, the plug and the socket are prevented from being misjudged as plugging problems, and the judgment is convenient and timely.
2. Through the fixture slidable mounting with the plug, produce the displacement after the atress to displacement or atress are surveyed, further judge the grafting result, form dual affirmation, be favorable to in time screening the defective products, prevent to get into next process, improve work efficiency.
Drawings
In order to more clearly illustrate the technical solutions of specific embodiments of the present utility model, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a schematic view of an automatic plugging mechanism according to a first embodiment;
FIG. 2 is a schematic view of the table and plug assembly of FIG. 1;
FIG. 3 is a schematic view of the plug assembly of FIG. 1;
FIG. 4 is an enlarged view of FIG. 3 at A;
FIG. 5 is a right side view of the automatic plugging mechanism of FIG. 1;
fig. 6 is a record of monitoring results of the sensing unit in the first embodiment.
Reference numerals: 10-manipulator, 11-sucking disc, 12-stopper, 20-workstation, 21-camera, 22-light source, 30-plug subassembly, 31-mount pad, 32-plug tool, 321-reference column, 33-fixture, 330-profile modeling structure, 331-briquetting, 34-sensing unit, 35-linear slide rail, 351-slider, 352-baffle, 36-movement mechanism, 100-display screen, 200-plug, 300-camera vision scope.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully, and it is apparent that the embodiments described are only some, but not all, of the embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Embodiment one:
the automatic plugging mechanism shown in connection with fig. 1-3 includes a robot 10, a camera 21 and a plug assembly 30. The manipulator 10 is provided with the suckers 11, the number and arrangement of the suckers 11 ensure that the display panel 100 is stably grabbed, one sucker is respectively arranged at four corners in the embodiment, and the display panel 100 is sucked through the suckers 11 and is driven to move. The plug assembly 30 includes a mounting seat 31, a plug jig 32 mounted on the mounting seat 31, a clamping mechanism 33 and a moving mechanism 36, wherein the plug jig 32 is used for placing the plug 200, and the clamping mechanism 33 is used for clamping the plug 200 from the plug jig 32 and moving the plug 200 to the plugging position under the driving of the moving mechanism 36. In other embodiments, the plug 200 may be directly fixed to the plugging position by the clamping mechanism 33 without providing the moving mechanism 36. The camera 21 is arranged on the workbench 20, the plugging position is in the visual field of the camera 21, and the camera 21 is used for shooting the relative positions of the plug socket and the plug 200 on the display panel 100 during the plugging process and when the plugging is completed. The manipulator 10, the clamping mechanism 33, the movement mechanism 36, and the camera 21 are electrically connected to a controller.
As shown in fig. 1 and 2, a tray for placing the display panel 100 to be plugged is disposed on one side of the workbench 20, and a limiting block 12 for limiting the placement position is disposed around the tray, so that a rough positioning can be primarily performed on the placement position of the display panel 100, so as to ensure that the plugging port position can be stably moved into the visual field range of the camera 21 after the manipulator 10 sucks the plugging port.
In this embodiment, the camera 21 is disposed at the bottom of the workbench 20, the lens faces upward, and a ring-shaped light source 22 is further disposed at a corresponding position on the workbench 20 to supplement light to the shooting area, thereby improving shooting definition. In another embodiment, the camera 21 and the light source 22 may be provided on the side surface of the table 20, or a plurality of cameras may be provided to capture the relative positions of the socket and the plug 200 on the display panel 100.
As shown in fig. 3 and 4, the plug fixture 32 is provided with a positioning post 321 for positioning when the plug 200 is placed. When the plug 200 is placed manually or automatically, the positioning posts 321 are inserted into the corresponding holes on the plug 200, so that the placement position of the plug 200 is fixed, and the clamping mechanism 33 is convenient to clamp. The clamping jaw of the clamping mechanism 33 is provided with a profiling structure 330 corresponding to the side surface of the plug 200, so that the clamping is firm and the relative position of the plug 200 on the clamping jaw is fixed. In the present embodiment, the clamping mechanism 33 is a finger cylinder, and in other embodiments, other clamping jaw structures are also possible.
As shown in fig. 3, the clamping mechanism 33 is slidably mounted in the plugging movement direction, and slides under the action of force after plugging is completed; the plug assembly 30 further comprises a sensing unit 34 for acquiring the displacement of the clamping mechanism 33 or the plugging force applied thereto, in this embodiment measuring the applied pressure, and determining the plugging result by comparing the applied force with a preset force range for a certain time after the crimping is completed. In the present embodiment, the linear slide rail 35 is parallel to the upper surface of the mounting seat 31, one side is fixed on the moving mechanism 36, the clamping mechanism 33 is mounted on the sliding block 351 of the linear slide rail 35, the moving direction of the sliding block 351 is the same as the stress direction of the plug 200, when the plug is inserted in place, the clamping mechanism 33 is forced to move on the linear slide rail 35, and a baffle 352 is further arranged at one end of the linear slide rail 35; while the force magnitude of the clamping mechanism 33 is transferred to the sensing unit 34, wherein the sensing unit 34 may be a pressure sensor. In order to facilitate the installation of the sensing unit 34, a pressing block 331 is provided on the clamping mechanism 33, which is opposite to the pressure sensor. In another embodiment, two magnets with magnetic repulsion may be used to mount the clamping mechanism 33, one of which is connected to the clamping mechanism 33, and the other of which is mounted on the moving mechanism 36, so as to weaken the friction force of the movement of the clamping mechanism 33, realize the force-bearing movement, and facilitate the pressure feedback of the sensing unit 34. The sensing unit 34 may be a displacement sensor, which directly measures the displacement of the clamping mechanism 33, or converts the pressure change into a position change, and the displacement-pressure correlation change is widely used in the sensing test device, and will not be described herein.
In this embodiment, in order to facilitate the installation of the slider 351 and the clamping mechanism 33, a plurality of connection plates are added between the slider 351 and the clamping mechanism, so that the screws are installed from top to bottom during the installation.
In the present embodiment, the moving mechanism 36 is a lifting cylinder for driving the holding mechanism 33, the sensing unit 34, and the linear guide 35 to move in the Y-axis direction, and the linear guide 35 is mounted on the side of the lifting cylinder. The initial placement position of the plug jig 32, i.e., the plug 200, is below the plugging position, and the plug 200 moves upward from the initial position to the plugging position under the action of the lifting cylinder. In another possible embodiment, the movement mechanism 36 may also be a movement or a rotation movement in the X-axis direction, so that the initial placement position of the plug 200 is at a position where the manual or automatic clamping jaw is easy to place, while avoiding the influence of the plug fixture 32 on the shooting of the camera 21, and the movement mechanism is actually set as required, which is not limited in the present utility model.
Fig. 5 is a right side view of the automatic plugging mechanism of the present utility model when the display panel 100 and the plug 200 reach the plugging position, and the plug 200 and the socket on the display panel 100 are both within the camera visual range 300.
An automatic plugging method for plugging by using the automatic plugging mechanism comprises the following steps:
s1, moving or placing the display panel 100 and the plug 200 to a plugging position, and controlling the manipulator 10 to align and plug the socket on the display panel 100 with the plug 200 by the controller under the feedback of the camera 21. Specifically, the manipulator 10 sucks the display panel 100 from the tray to the plugging position; the plug 200 is placed on the plug jig 32 by a manual or other clamping jaw structure, and the clamping mechanism 33 clamps the plug 200 from the plug jig 32 and moves to a plugging position under the action of the moving mechanism 36; in the process, the camera 21 shoots the two, the controller controls the manipulator 10 to move according to the shooting result to correct the position, so that the plug 200 and the socket on the display panel 100 reach the designated position, and at the moment, the plug 200 and the socket are opposite, the manipulator 10 continues to move, and the plug 200 and the socket are spliced;
s2, feeding back pressure or displacement information detected at the moment of completion of splicing to the controller by the sensing unit, and judging the splicing effect by the controller. Specifically, after the plugging is completed, the controller reads the pressure of the clamping mechanism 33 fed back by the sensing unit 34 within 0.2s, compares the pressure with the set pressure range, and indicates that the plugging is in place within the set range. Too little pressure indicates that the socket may not be plugged into the plug 200, and that there is a difference in height between the two, requiring realignment; excessive pressure indicates that the plug 200 or the socket on the display panel 100 itself has a quality problem and requires maintenance confirmation by a worker. Wherein the time setting of 0.2s can be manually changed according to different plugging objects and precision requirements.
In step S1, after the socket is aligned with the plug 200, the controller calculates the plugging distance according to the relative position information of the display panel 100 and the plug 200 fed back by the camera 21, and controls the manipulator 10 to move the distance for plugging, so as to ensure the controllability of the plugging movement.
In this embodiment, the sensing unit 34 is a pressure sensor, so in step S2, the inventor has found through intensive studies that when the pressure range set by the controller is 4-12N, a relatively good plugging effect can be obtained, and the plugging test efficiency is significantly improved. When the same product is produced and tested next time in the production line, the set range value can be obtained in the historical production data and can be directly applied.
After the plugging in step S1 is completed, the camera 21 photographs, the controller confirms whether the relative position information of the mark on the socket of the display panel 100 and the mark on the plug 200 is the same as the setting information according to the photographing information, and if not, the step S1 is repeated.
In one embodiment, as shown in fig. 6, the pressure information fed back by the sensing unit 34 when the 43 display panels 100 are plugged into the plug 200 is actually obtained, wherein the abscissa indicates the serial numbers of the plugged display panels 100 and the plug 200, and the ordinate indicates the plugging force, and the unit is 0.01N. As can be seen from the figure, the normal range of the plugging force is 6-8N, and the plugging force of serial number 20 is less than 4N, which may be caused by quality problems or misalignment of the socket on the display panel 100 and the plug 200 during plugging, and need to be re-aligned for trial; the plugging force of serial numbers 38 and 39 is far greater than 8N and reaches about 15N, which indicates that the socket or plug 200 has quality problems.
After the plugging is completed, the clamping mechanism 33 releases the plug 200, and the manipulator 10 can transfer the display panel 100 with the plug 200 to a testing station for display detection.
It should be noted that, in the present embodiment, only the plugging of the socket of the display panel 100 with the plug 200 is taken as an example, and in practice, the present utility model may also be applied to other automatic plugging operations, whether batch operations of the production line or laboratory experiment operations.
The automatic plugging mechanism provided by the utility model is described in detail, and specific examples are applied to illustrate the structure and the working principle of the utility model, and the description of the above embodiments is only used for helping to understand the method and the core idea of the utility model. It should be noted that it will be apparent to those skilled in the art that various improvements and modifications can be made to the present utility model without departing from the principles of the utility model, and such improvements and modifications fall within the scope of the appended claims.
Claims (8)
1. An automatic plugging mechanism is characterized by comprising a manipulator (10), a camera (21) and a plug assembly (30), wherein the manipulator (10) is used for driving a display panel (100) to move and plug in; the camera (21) shoots the plugging process and the result so as to correct the position and judge the plugging result; the plug assembly (30) comprises a clamping mechanism (33) for fixing and positioning the plug (200) and a sensing unit (34), wherein the clamping mechanism (33) is slidably installed in the plugging movement direction, and the sensing unit (34) is used for sensing the stress or displacement of the clamping mechanism (33) in the sliding process; the plug assembly (30) further comprises a plug jig (32), the plug jig (32) is installed on the installation seat (31), and a positioning column (321) is arranged on the plug jig (32) and used for positioning when the plug (200) is placed; the manipulator (10), the clamping mechanism (33), the camera (21) and the sensing unit (34) are electrically connected with the controller; the camera (21) lens is upwards installed at the bottom of the workbench (20), and through holes are formed in the corresponding positions of the workbench (20).
2. The automatic plugging mechanism according to claim 1, wherein the clamping mechanism (33) is a finger cylinder, the sensing unit (34) is a pressure sensor, and a pressing block (331) opposite to the pressure sensor is arranged on the finger cylinder body.
3. The automatic plugging mechanism according to claim 1, wherein the clamping jaw of the clamping mechanism (33) is provided with a profiling structure (330) corresponding to the side shape of the plug (200).
4. The automatic plugging mechanism according to claim 1, wherein the plug assembly (30) further comprises a movement mechanism (36), the movement mechanism (36) being one or a combination of an X-direction movement mechanism, a Y-direction movement mechanism, a rotational movement mechanism for moving the plug (200) from the plug fixture (32) to the plugging position.
5. An automatic plugging method, characterized in that the automatic plugging mechanism according to any one of claims 1 to 4 is used for plugging, comprising the following steps: s1, moving or placing a display panel (100) and a plug (200) to an inserting position, and controlling a manipulator (10) by a controller under the feedback of a camera (21) to align and insert a socket on the display panel (100) with the plug (200); s2, feeding back pressure or displacement information detected at the moment of completion of plugging into a controller by a sensing unit (34), and judging a plugging effect by the controller; in the instant time when the plugging is completed, the manipulator (10) still applies a plugging force to the display panel (100) under the control of the controller, the plug (200) is stressed and transmitted to the clamping mechanism (33), the clamping mechanism generates displacement under the action of force, the sensing unit (34) receives displacement or pressure information, and the controller compares the received information with the setting information to further judge the plugging effect.
6. The automatic plugging method according to claim 5, wherein in step S1, after the socket is aligned with the plug (200), the controller calculates a plugging distance according to the relative position information of the display panel (100) and the plug (200) fed back by the camera (21), and controls the manipulator (10) to move the distance for plugging.
7. The automatic plugging method according to claim 5, wherein in step S2, the controller sets the pressure range to 4-12N when the sensing unit (34) collects pressure information.
8. The automatic plugging method according to any one of claims 5 to 7, wherein after the plugging of step S1 is completed, the camera (21) photographs, the controller confirms whether the relative position information of the mark on the socket of the display panel (100) and the mark on the plug (200) is the same as the setting information according to the photographed information, and when not, repeats step S1.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111263651.6A CN113984348B (en) | 2021-10-28 | 2021-10-28 | Automatic plugging mechanism and plugging method |
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| CN202111263651.6A CN113984348B (en) | 2021-10-28 | 2021-10-28 | Automatic plugging mechanism and plugging method |
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| CN113984348B true CN113984348B (en) | 2024-03-08 |
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| CN209400668U (en) * | 2018-12-27 | 2019-09-17 | 深圳市燕麦科技股份有限公司 | A kind of docking test device of flexible circuit board |
| CN210745159U (en) * | 2020-01-20 | 2020-06-12 | 武汉华信谊达科技有限公司 | Automatic plug device of optical module |
| CN212008679U (en) * | 2020-04-09 | 2020-11-24 | 深圳市宏毅泰科技有限公司 | Full-automatic butt joint clamp |
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