CN115139074B - Mechanical arm assembly system and method for flexible tab-plastic shell of mobile phone lithium battery - Google Patents
Mechanical arm assembly system and method for flexible tab-plastic shell of mobile phone lithium battery Download PDFInfo
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- CN115139074B CN115139074B CN202210793252.9A CN202210793252A CN115139074B CN 115139074 B CN115139074 B CN 115139074B CN 202210793252 A CN202210793252 A CN 202210793252A CN 115139074 B CN115139074 B CN 115139074B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 title claims abstract description 20
- 229910052744 lithium Inorganic materials 0.000 title claims abstract description 20
- 239000000463 material Substances 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 8
- 230000009977 dual effect Effects 0.000 claims abstract description 4
- 230000000007 visual effect Effects 0.000 claims abstract description 4
- 238000003780 insertion Methods 0.000 claims description 17
- 230000037431 insertion Effects 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 4
- 239000000126 substance Substances 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 6
- 208000003164 Diplopia Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 208000029444 double vision Diseases 0.000 description 3
- 238000002955 isolation Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
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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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- 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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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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
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Abstract
The invention discloses a mobile phone lithium battery flexible tab-plastic shell mechanical arm assembly system and a mobile phone lithium battery flexible tab-plastic shell mechanical arm assembly method, wherein the mobile phone lithium battery flexible tab-plastic shell mechanical arm assembly method comprises a clamp: is used for clamping the plastic shell and adjusting the pose thereof; and (3) a robot: the robot is a four-degree-of-freedom joint mechanical arm, and the tail end of the mechanical arm is connected with a clamp; battery clamp: for positioning and clamping the lithium battery; plastic shell placing material box: the device is used for placing and positioning the plastic shell; single-camera vertical dual vision system: the device comprises a single camera, a beam splitting prism and two light sources, wherein the single camera is used for obtaining images of a clamp clamping a plastic shell and images of an assembly process in a split manner, the two light sources are respectively arranged right in front of and above the beam splitting prism, and the two light sources are controlled to be opened and closed to finish switching camera visual angles; and (3) a computer: the device is used for controlling the robot and the clamp to carry out tab-plastic shell assembly operation. The invention realizes low-cost automatic assembly of the mobile phone lithium battery tab and the anti-creeping plastic shell, and fills the gap of automatic assembly research for the tasks at home and abroad.
Description
Technical Field
The invention relates to mechanical automation, in particular to a system and a method for assembling a flexible tab-plastic shell mechanical arm of a mobile phone lithium battery.
Background
With the rapid development of the mobile phone industry, the energy device-battery industry of the mobile phone is also rapidly developed. In today's cell phone battery production lines, most of the procedures have been replaced by automated means. In the production process of the battery, in order to prevent electric leakage, the battery is often embedded into an insulating plastic shell protective sleeve at the lug part after the production is completed. However, the plastic shell is undersized, the appearance is easy to deform, and the assembly process is flexible, so that the process is still the traditional manual operation. This method is time-consuming and labor-consuming and severely affects the production efficiency of the production line.
At present, most assembly schemes of production lines adopt a 4-axis SCARA robot to be matched with a single-degree-of-freedom clamp, and the SCARA robot only has 4 degrees of freedom and cannot realize such a plurality of pose corrections, so that the SCARA robot can only complete simple assembly tasks in a plane. In addition, due to the size error of the parts and the measurement error of the measuring equipment, errors of positions and postures are often caused among assembled objects, and particularly for the assembly of rectangular hole shafts such as lithium battery lugs and anti-creeping plastic shells, the position and posture errors are further amplified due to the large length-width ratio of the parts and the characteristic of easy deformation of the parts, so that the assembly task is difficult to control. Therefore, how to design a flexible tab-plastic case robot smart assembly system for lithium batteries becomes a key for further automation of the current mobile phone battery assembly industry.
The Chinese patent application CN201811018829.9 proposes an intelligent measuring method and equipment for hole shaft parts based on machine vision, which is characterized in that a vision guiding robot is adopted to measure the hole shaft parts. However, the vision system only performs guiding work, and the pneumatic system performs main measurement work of parts, so that the equipment cost is greatly increased; meanwhile, the problem of equipment redundancy makes the system difficult to upgrade the hole shaft assembly task. Chinese patent application CN202010258356.0 proposes a robot assembly workstation featuring a point-to-point simple hole axis assembly with robots. However, it is used only for teaching training and is not suitable for complex hole axis assembly tasks.
In summary, a complete flexible tab-plastic shell robot smart assembly system for the lithium battery of the mobile phone does not exist, so that the flexible tab-plastic shell robot smart assembly system for the lithium battery is designed, the automation degree of mobile phone assembly is improved, the labor cost is saved, and the working efficiency is high.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention aims to provide a system and a method for assembling a mechanical arm of a flexible tab-plastic shell of a mobile phone lithium battery.
According to the invention, the beam splitting prism is adopted to realize pose adjustment of two views of the plastic shell on the basis of one camera, and the rotatable two-degree-of-freedom electromagnetic driving passive flexible micro-clamp is adopted to increase the installation angle of the plastic shell assembly process on the premise of ensuring that parts are not damaged.
The aim of the invention is achieved by the following technical scheme:
a mechanical arm assembly system of a mobile phone lithium battery flexible tab-plastic shell comprises:
clamping pliers: is used for clamping the plastic shell and adjusting the pose thereof;
and (3) a robot: the robot is a four-degree-of-freedom joint mechanical arm, and the tail end of the mechanical arm is connected with a clamp;
battery clamp: for positioning and clamping the lithium battery;
plastic shell placing material box: the device is used for placing and positioning the plastic shell;
single-camera vertical dual vision system: the device comprises a single camera, a beam splitting prism and two light sources, wherein the single camera is used for obtaining images when a clamp clamps a plastic shell and images in an assembly process in a split manner, the two light sources are respectively arranged right in front of and above the beam splitting prism, and the two light sources are controlled to be opened and closed to finish switching camera visual angles;
and (3) a computer: the device is used for controlling the robot and the clamp to carry out tab-plastic shell assembly operation.
Further, the clamp is a rotatable two-degree-of-freedom electromagnetic drive compliant micro-clamp.
Further, the plastic shell placing material box comprises a plastic shell positioning piece, a clamping piece and a base, wherein the plastic shell is placed in the positioning piece, and the clamping piece vertically fixes the plastic shell on the base.
Further, battery anchor clamps include battery setting element and clamping piece, and battery setting element and clamping piece are connected through the hinge, circular magnet is all installed to battery setting element and clamping piece.
Further, the two light sources are both blue ring-shaped light sources.
A method based on the robotic arm assembly system, comprising:
the robot moves the clamp to the origin, and waits for the computer to send a clamping command;
after receiving the working instruction, the clamp jaw is moved to the position of the plastic shell, and at the moment, the upper computer sends a command to the two-degree-of-freedom electromagnetic drive compliant micro clamp to complete the clamping action;
the plastic shell is moved above the upper light source, the upper light source is turned on, and the lower light source is turned off, so that the pose adjustment is performed under the action of the beam splitting prism;
the plastic shell moves to the front of the lower light source, the lower light source is turned on, the upper light source is turned off, and at the moment, the lug-plastic shell assembly is carried out under the action of the beam splitting prism;
and releasing the plastic shell, finishing assembly, and returning the robot to the original point to wait for the next assembly command.
Further, the pose adjustment specifically includes: the single camera obtains the clamping plastic shell at x w o w y w The viewing angle in the plane is processed by the image and then is based on the long side and y of the plastic shell w The parallelism of the shafts is used for correcting the J3 shaft of the rotary robot, and the correction is used for eliminating position errors of plastic shell installation.
Further, the plastic shell moves to the front of the lower light source, the lower light source is turned on, the upper light source is turned off, and at the moment, under the action of the beam splitting prism, the single-phase machine obtains the plastic shell in x w o w z w And (3) selecting different assembly strategies for assembly according to different types of plastic shells from the view angle in the plane.
Further, according to different types of plastic shells, different assembly strategies are selected for assembly, specifically:
if the upper contour length of the plastic shell is smaller than or equal to the contour length, adopting the following state steps:
approaching state: the plastic shell moves to the left lower part of the lug, and at the moment, the clamp rotates clockwise around the rotation center point of the clamp, so that the plastic shell and the lug are not on the same horizontal line, and the plastic shell can be obliquely upwards arranged on the lug;
contact state: the plastic shell moves to a state of just coming into contact with the tab, P t Is the contact point between the plastic shell and the tab, and the tab is at P t The position of the point will produce an upward contactForce f z Indirectly controlling f by controlling the translation of the plastic shell in the z direction z And when f is the size of z When the size of the plastic shell reaches a certain threshold value, ensuring that the plastic shell reaches an optimal mounting position;
embedding state: at this time, the clamp needs to complete two actions, namely gesture adjustment and insertion, wherein the gesture adjustment aims at enabling the molded shell opening to be aligned with the tab, and the insertion aims at enabling part of the molded shell to be embedded into the tab;
insertion state: at the beginning of the insertion state, as part of the plastic shell is already embedded into the tab in the embedding stage, the plastic shell is inserted into the tab along the inclination angle of the tab.
Further, according to different types of plastic shells, different assembly strategies are selected for assembly, specifically:
if the upper contour length of the plastic shell is larger than the lower contour length, the assembly is carried out by adopting the following steps:
approaching state: the long side of the plastic shell is positioned above, and the plastic shell is close to the electrode lug from top to bottom;
contact state: the plastic shell moves to a state of just coming into contact with the tab, P t Is the contact point between the plastic shell and the tab, and the tab is at P t The position of the point will generate an upward contact force f z Indirectly controlling f by controlling the translation of the plastic shell in the z direction z And when f is the size of z When the size of the plastic shell reaches a certain threshold value, ensuring that the plastic shell reaches an optimal mounting position;
embedding state: at this time, the clamp needs to complete two actions, namely gesture adjustment and insertion, wherein the gesture adjustment aims at enabling the molded shell opening to be aligned with the tab, and the insertion aims at enabling part of the molded shell to be embedded into the tab;
insertion state: at the beginning of the insertion state, as part of the plastic shell is already embedded into the tab in the embedding stage, the plastic shell is inserted into the tab along the inclination angle of the tab.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) According to the invention, the single-camera vertical double-view system is adopted to monitor the gestures of the plastic shell and the lugs, so that the function of measuring two view fields by a single camera is realized, the system construction cost is reduced, and the stability of the assembly system is improved.
(2) The invention adopts a four-axis mechanical arm and two-degree-of-freedom clamp to replace the traditional six-axis mechanical arm operation mode, thereby greatly reducing the realization cost and the control difficulty.
Drawings
FIG. 1 is a schematic diagram of a robotic arm assembly system of the present invention;
FIG. 2 is a three-dimensional view of the mounting platform of the present invention;
FIG. 3 is a schematic view of a two-degree-of-freedom compliant micro-clamp of the present invention;
FIG. 4 is a schematic view of a plastic case placement material box structure of the invention;
FIG. 5 is a schematic view of the structure of the battery clamp of the present invention;
FIG. 6 is a schematic diagram of a single-camera vertical dual view system of the present invention;
FIGS. 7 (a) -7 (b) are schematic diagrams of two assembly strategies of the present invention;
Detailed Description
The present invention will be described in further detail with reference to examples, but embodiments of the present invention are not limited thereto.
As shown in fig. 1-6, a mechanical arm assembly system of a flexible tab-plastic shell of a lithium battery of a mobile phone includes: robot 1, equipment mounting platform 2, clamp 3, plastic case placing magazine 4, battery clamp 5, single-camera vertical double vision system 6, plastic case 7, utmost point ear 8 and computer. The computer is respectively connected with the four-axis robot and the camera. The robot comprises: the present example is a four-axis SCARA robot,
clamp 3: is used for clamping the plastic shell and adjusting the pose thereof.
Specifically, the clamp is a rotatable two-degree-of-freedom electromagnetic drive compliant micro-clamp, is arranged at the tail end of a robot and is provided with a clamp body at x w o w z w Rotational attitude adjustment capability in a plane (refer to fig. 1). The clamp comprises a clamp fixed end 301, a clamp rotating end 302, a linear driver 303, an electromagnet 304, a magnetic substance 305, three revolute pairs and a clamp opening 309; clamp rotating end 302 includes a half-bridge amplification mechanism 306 and two lever amplification mechanisms 307. Two ends of the linear driver 303 are respectively connected with the clamp rotating end 302 and the clamp fixing end 301 through two revolute pairs 308-1; the clamp rotating end 302 is connected with the clamp fixed end 301 through a revolute pair 308-2, so that the feeding motion of the linear driver 303 drives the clamp rotating end 302 to realize the rotation freedom degree of the jaw 309; the magnetic substance 305 is disposed within an effective adsorption distance of the electromagnet 304, and the electromagnet 304 can drive the jaw 309 to realize a clamping degree of freedom by adsorbing the magnetic substance 305 by the clamp rotating end 302. The specific structure is shown in fig. 3.
Robot 1: the robot is a four-degree-of-freedom joint mechanical arm, the model is HIWIN RS406, the robot is fixed on the left side of the equipment installation platform and is a main actuator of the assembly system, the robot is used for moving a plastic shell and forming corresponding pose adjustment and assembly tasks, and the tail end of the mechanical arm is connected with a clamp.
Battery clamp: for positioning and clamping the lithium battery.
Specifically, the battery clamp 5: the main body is composed of a positioning piece 501 and a clamping piece 502, the positioning piece 501 and the clamping piece 502 are connected through a hinge 503, two circular magnets 504 are respectively arranged on the positioning piece 501 and the clamping piece 502, when the hinge 503 is closed, the magnets 504 attract each other, and the clamping piece 502 compresses the lithium battery 505. The silicone pad 506 placed inside the clamping member 502 can effectively buffer the clamping force. The positioning piece 501 is placed on the bracket 507, and the bracket 507 is provided with two slotted holes, so that the positioning piece can be conveniently fixed on the vibration isolation platform 2. The battery holder 5 is provided in the upper left corner of the device mounting platform 2. The specific structure of the battery clamp is shown in fig. 5.
The plastic shell placing material box 4 is used for placing and positioning the plastic shell.
The method comprises the following steps: the plastic shell is provided with a material box 4: consists of a plastic shell positioning piece 401, a clamping piece 402 and a base 403. The plastic housing 7 is placed in the positioning member and then the clamping member 402 vertically fixes it to the base. The plastic shell placing material box 4 is used for placing and positioning batch plastic shells 7 according to the sequence and is arranged at the left lower corner of the equipment installation platform 2. The concrete structure of the plastic shell placing material box is shown in figure 4;
the single-camera vertical double-vision system 6 comprises a single camera 601, a lens 602, a bracket 603, a beam splitter prism 604 and a light source. The light sources are two 605-1 and 605-2, wherein the two light sources are respectively arranged in front of and above the beam splitter prism 604, and the function of switching the visual angle is completed by controlling the opening and closing of the two light sources.
The light source 605-1 located above the beam splitter prism 604 is referred to as an upper light source, and the light source 605-2 located in front of the beam splitter prism 604 is referred to as a lower light source. The axis of the lower light source is coincident with the optical axis of the lens, the rest of the lower light source is placed according to actual conditions, and the distance between the single-phase camera and the beam splitter prism is required to ensure that the camera shoots an assembly working view angle.
The single-camera vertical double-vision system 6 is used for obtaining pose images and process images for assembling the plastic shell when the clamp 3 clamps the plastic shell 7 on the premise of a single lens in a divided manner. The specific structure of the single-camera vertical double-view angle system is shown in fig. 6; the telecentric lens-mounted single-phase machine 601 and the beam splitter prism 604 combining two light sources are respectively fixed on the supporting structure 606, and transmitted to a computer through a cable and an image acquisition card, and illumination during working is respectively provided by the two blue ring-shaped light sources.
In this embodiment, the single camera 601 is a GigE industrial camera, the lens 602 used is a telecentric lens manufactured by COMPUTAR, and the light sources are two blue ring-shaped light sources manufactured by ompter.
The embodiment further comprises an equipment installation platform: the device mounting platform is used for placing the tab-plastic shell assembly system, and is formed by constructing an optical vibration isolation platform and an optical vibration isolation platform bracket.
The assembly process of the assembly system is as follows:
s1, the robot 1 moves the clamp 3 to the original point and starts waiting for a clamping command;
s2, after receiving a working instruction, the clamp jaw 309 is moved to the position of the plastic shell 7, at the moment, the computer sends a command to the electromagnet 304 to attract the opposite magnet, the clamp jaw 309 is closed, the plastic shell 7 is clamped, and the clamping action of the plastic shell 7 is completed;
s3, the plastic shell 7 is moved above the upper light source, the upper light source 605-1 is turned on, and the lower light source 605-2 is turned off, so that the single-phase camera is operated by the beam splitting prism 604601 will see the clamping of the plastic shell 7 at x w o w y w The viewing angle in the plane can be based on the long side and y of the plastic shell 7 after image processing w The parallelism of the shafts is used for correcting the J3 shaft of the rotary robot 1 to eliminate the position error of the installation of the plastic shell 7, so that an adjusted plastic shell position view is obtained;
s4, the plastic shell 7 is moved to the vicinity of the lug 8, when the contact is not started, the upper light source 605-1 is turned off, and the lower light source 605-2 is turned on, so that the single-phase machine 601 can see x under the action of the beam splitting prism 604 w o w z w Viewing angles in the plane to obtain an assembly drawing;
s5, according to different types of plastic shells 7, different assembly strategies are selected for assembly, and the assembly is shown in fig. 7. If the upper contour length of the plastic shell 7 is smaller than or equal to the lower contour length, adopting a strategy I; if the upper contour length of the plastic shell 7 is larger than the lower contour length, adopting a strategy II;
s6, releasing the plastic shell 7, finishing assembly, and returning the robot 1 to the original point to wait for the next assembly command.
The specific assembly strategy is as follows:
as shown in fig. 7 (a), policy one:
approaching state: the plastic shell moves to the left lower part of the lug, and at the moment, the clamp rotates clockwise around the clamp rotation center point by a certain angle, so that the plastic shell and the lug are not on the same horizontal line, and the plastic shell can be obliquely upwards arranged on the lug.
Contact state: the plastic shell moves to a state of just coming into contact with the tab, P t Is the contact point between the plastic shell and the tab, and the tab is at P t The position of the point will generate an upward contact force f z . By controlling the translation of the plastic shell in the z direction, the f can be indirectly controlled z And when f is the size of z When the size of the plastic shell reaches a certain threshold value, the plastic shell can be ensured to reach the optimal installation position.
Embedding state: at this time, the clamp needs to complete two actions, namely posture adjustment and insertion. The purpose of the gesture adjustment is to enable the plastic shell opening to be aligned with the electrode lug, and the insertion is to enable part of the plastic shell to be embedded into the electrode lug. This step is the most critical step because it is the precondition for the successful insertion of the molded case into the tab.
Insertion state: at the beginning of the insertion state, since part of the plastic shell is already embedded into the tab in the previous embedding stage, the plastic shell is obviously only required to be inserted into the tab along the inclination angle of the tab at the moment.
As shown in fig. 7 (b), the initial state of the second assembly strategy is that the long side of the plastic case is located above, and the plastic case is required to be close to the tab from top to bottom, and the rest assembly steps are the same as the first assembly strategy.
The embodiments described above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the embodiments described above, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the present invention should be made in the equivalent manner, and are included in the scope of the present invention.
Claims (10)
1. A mobile phone lithium battery flexible tab-plastic shell mechanical arm assembly system is characterized by comprising:
clamping pliers: is used for clamping the plastic shell and adjusting the pose thereof;
and (3) a robot: the robot is a four-degree-of-freedom joint mechanical arm, and the tail end of the mechanical arm is connected with a clamp;
battery clamp: for positioning and clamping the lithium battery;
plastic shell placing material box: the device is used for placing and positioning the plastic shell;
single-camera vertical dual vision system: the device comprises a single camera, a beam splitting prism and two light sources, wherein the single camera is used for obtaining images when a clamp clamps a plastic shell and images in an assembly process in a split manner, the two light sources are respectively arranged right in front of and above the beam splitting prism, and the two light sources are controlled to be opened and closed to finish switching the visual angle of the single camera;
and (3) a computer: the device is used for controlling the robot and the clamp to carry out tab-plastic shell assembly operation.
2. The mechanical arm assembly system of claim 1, wherein the clamp is a rotatable two-degree-of-freedom electromagnetically driven compliant micro-clamp comprising a clamp fixed end, a clamp rotating end, a linear driver, an electromagnet, a magnetically permeable substance, three revolute pairs and a clamp jaw; the clamp rotating end comprises a half-bridge type amplifying mechanism and two lever amplifying mechanisms; two ends of the linear driver are respectively connected with the clamp rotating end and the clamp fixing end through two revolute pairs; the clamp rotating end is connected with the clamp fixed end through a rotating pair, so that the feeding motion of the linear driver drives the clamp rotating end to realize the rotation freedom degree of the jaw; the magnetic conduction material is arranged in the effective adsorption distance of the electromagnet, and the electromagnet enables the clamp rotating end to drive the clamp jaw to achieve clamping freedom degree through the adsorption of the magnetic conduction material.
3. The mechanical arm assembly system of claim 1, wherein the plastic shell placement box comprises a plastic shell positioning piece, a clamping piece and a base, wherein the plastic shell is placed in the plastic shell positioning piece, and the clamping piece vertically fixes the plastic shell on the base.
4. The mechanical arm assembly system of claim 1, wherein the battery clamp comprises a battery positioning member and a clamping member, the battery positioning member and the clamping member are connected by a hinge, and the battery positioning member and the clamping member are both provided with a circular magnet.
5. The robotic arm assembly system according to claim 1, wherein the two light sources are each a blue ring light source.
6. A method based on the robotic arm assembly system of any of claims 1-5, comprising:
the robot moves the clamp to the origin, and waits for the computer to send a clamping command;
after receiving the working instruction, the clamp jaw is moved to the position of the plastic shell, and at the moment, the computer sends a command to the clamp to complete the clamping action;
the plastic shell is moved above the upper light source, the upper light source is turned on, and the lower light source is turned off, so that the pose adjustment is performed under the action of the beam splitting prism, wherein the light source above the beam splitting prism is the upper light source, and the light source in front of the beam splitting prism is the lower light source;
the plastic shell moves to the front of the lower light source, the lower light source is turned on, the upper light source is turned off, and at the moment, the lug-plastic shell assembly is carried out under the action of the beam splitting prism;
and releasing the plastic shell, finishing assembly, and returning the robot to the original point to wait for the next assembly command.
7. The method according to claim 6, wherein the pose adjustment is specifically: the single-phase machine acquires the clamp and takes the plastic shellx w o w y w The viewing angle in the plane is processed by the image and then is based on the long side and the long side of the plastic shelly w The parallelism of the shafts is used for correcting the J3 shaft of the rotary robot, and the correction is used for eliminating position errors of plastic shell installation.
8. The method of claim 6, wherein the molded case is moved in front of the lower light source, the lower light source is turned on, and the upper light source is turned off, and the molded case is obtained by a single camera under the action of the beam splitting prismx w o w z w And (3) selecting different assembly strategies for assembly according to different types of plastic shells from the view angle in the plane.
9. The method according to claim 8, wherein different assembly strategies are selected for assembly according to different types of plastic shells, specifically:
if the upper contour length of the plastic shell is smaller than or equal to the lower contour length, adopting the following state steps:
approaching state: the plastic shell moves to the left lower part of the lug, and at the moment, the clamp rotates clockwise around the rotation center point of the clamp, so that the plastic shell and the lug are not on the same horizontal line, and the plastic shell can be obliquely upwards arranged on the lug;
contact state: the plastic shell moves to a state of just coming into contact with the tab,P t is the contact point between the plastic shell and the tab, and is the contact point between the plastic shell and the tabP t The position of the point will generate an upward contact forcef z By controlling the plastic shellzTranslational movement in the direction, indirectly controllingf z The size of the plastic shell is ensured to reach the optimal installation position;
embedding state: at the moment, the clamp needs to complete two actions, namely gesture adjustment and embedding, wherein the gesture adjustment aims at enabling a molded shell opening to be aligned with a lug, and the embedding aims at enabling part of the lug to be embedded into a molded shell;
insertion state: at the beginning of the insertion state, as part of the tab is already embedded into the molded case in the embedding stage, the molded case is inserted along the inclination angle of the tab.
10. The method according to claim 8, wherein different assembly strategies are selected for assembly according to different types of plastic shells, specifically:
if the upper contour length of the plastic shell is larger than the lower contour length, the assembly is carried out by adopting the following steps:
approaching state: the long side of the plastic shell is positioned above, and the plastic shell is close to the electrode lug from top to bottom;
contact state: the plastic shell moves to a state of just coming into contact with the tab,P t is the contact point between the plastic shell and the tab, and is the contact point between the plastic shell and the tabP t The position of the point will generate a downward contact forcef z By controlling the plastic shellzTranslational movement in the direction, indirectly controllingf z The size of the plastic shell is ensured to reach the optimal installation position;
embedding state: at the moment, the clamp needs to complete two actions, namely gesture adjustment and embedding, wherein the gesture adjustment aims at enabling a molded shell opening to be aligned with a lug, and the embedding aims at enabling part of the lug to be embedded into a molded shell;
insertion state: at the beginning of the insertion state, as part of the tab is already embedded into the molded case in the embedding stage, the molded case is inserted along the inclination angle of the tab.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210793252.9A CN115139074B (en) | 2022-07-07 | 2022-07-07 | Mechanical arm assembly system and method for flexible tab-plastic shell of mobile phone lithium battery |
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| CN109773798A (en) * | 2019-03-28 | 2019-05-21 | 大连理工大学 | A kind of double mechanical arms cooperation control method based on binocular vision |
| CN110517323A (en) * | 2019-08-16 | 2019-11-29 | 中铁第一勘察设计院集团有限公司 | 3 D positioning system and method based on manipulator one camera multi-vision visual |
| CN113001142A (en) * | 2021-03-18 | 2021-06-22 | 北京空间机电研究所 | Automatic double-mechanical-arm assembling system for large-scale block optical assembly |
| CN113029009A (en) * | 2021-04-30 | 2021-06-25 | 高速铁路建造技术国家工程实验室 | Double-visual-angle vision displacement measurement system and method |
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| US10525524B2 (en) * | 2014-07-09 | 2020-01-07 | The Boeing Company | Dual-interface coupler |
| CN110523909B (en) * | 2019-07-10 | 2021-02-05 | 南京航空航天大学 | Automatic nail feeding system and method based on robot vision |
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| CN109773798A (en) * | 2019-03-28 | 2019-05-21 | 大连理工大学 | A kind of double mechanical arms cooperation control method based on binocular vision |
| CN110517323A (en) * | 2019-08-16 | 2019-11-29 | 中铁第一勘察设计院集团有限公司 | 3 D positioning system and method based on manipulator one camera multi-vision visual |
| CN113001142A (en) * | 2021-03-18 | 2021-06-22 | 北京空间机电研究所 | Automatic double-mechanical-arm assembling system for large-scale block optical assembly |
| CN113029009A (en) * | 2021-04-30 | 2021-06-25 | 高速铁路建造技术国家工程实验室 | Double-visual-angle vision displacement measurement system and method |
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