CN206510040U - The battery of mobile phone automatic assembly system of view-based access control model and impedance control - Google Patents
The battery of mobile phone automatic assembly system of view-based access control model and impedance control Download PDFInfo
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- CN206510040U CN206510040U CN201720003356.XU CN201720003356U CN206510040U CN 206510040 U CN206510040 U CN 206510040U CN 201720003356 U CN201720003356 U CN 201720003356U CN 206510040 U CN206510040 U CN 206510040U
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Abstract
The utility model is related to a kind of view-based access control model and the battery of mobile phone automatic assembly system of impedance control, and its technical characterstic is：Feel sensory perceptual system and execution system including system host, visually-perceptible system, power, execution system includes robot and robot controller, power feels that sensory perceptual system, visually-perceptible system are connected by data wire with system host, system host is connected by twisted-pair feeder with robot controller, robot controller is connected by fieldbus with robot, and system host control machine people captures battery and being moved into realizes battery of mobile phone automatic assembling function on workbench from feeding point.The utility model integrates industrial robot, visually-perceptible system and power feel sensory perceptual system, assembly environment is identified and perceived by various sensors, fittage is completed on one's own initiative, the compensation of rigging error and position error can independently be completed, the problem of manual assembly is inefficient is efficiently solved, operating efficiency is improved.
Description
Technical field
The utility model belongs to the mobile phone electricity of technical field of automatic control, especially a kind of view-based access control model and impedance control
Pond automatic assembly system.
Background technology
In 3C industries, the assembling of battery of mobile phone is an important link, and vision, the tactile of people etc. is felt to pass through brain
The guiding of wisdom, is given full play in assembling process.But show, in traditional industrial production, be engaged according to related data
The operating personnel of assembly work account for more than half of whole industrial production labours, and by the dress required for typical products
Found with processing time matrix, the time used in assembly process accounts for more than the 50% of TPT, spent on assembling line
Cost payout accounts for more than the 30% of total production cost.Therefore, the development of modern industry must solve the bottleneck of automatic assembly technique,
The spanning development of automatic assembly technique is realized, allows it to turn into the boost motor that modern industrial technology develops.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art that there is provided a kind of view-based access control model and impedance control
Battery of mobile phone automatic assembly system, solve manual assembly efficiency it is low the problem of
The utility model solves its technical problem and takes following technical scheme to realize：
The battery of mobile phone automatic assembly system of a kind of view-based access control model and impedance control, including system host, visually-perceptible
System, power feel sensory perceptual system and execution system, and the execution system includes robot and robot controller, the visually-perceptible
System is arranged on above workbench, and the power feels that sensory perceptual system is arranged on the end of robot, and the power feels sensory perceptual system, vision
Sensory perceptual system is connected by data wire with system host, and the system host is connected by twisted-pair feeder with robot controller
Connect, the robot controller is connected by fieldbus with robot, the robot is arranged on the side of workbench,
Conveyer belt is installed on workbench, system host by robot controller control machine people from feeding point capture battery and by its
It is moved on workbench and realizes the automatic assembling function of battery of mobile phone.
The robot uses six degree of freedom serial manipulator.
The visually-perceptible system is made up of light source and industrial camera.
The power feels that sensory perceptual system uses six-dimension force sensor.
Advantage of the present utility model and good effect are：
The utility model integrates industrial robot, visually-perceptible system and power feel sensory perceptual system, by various
Sensor is identified and perceived to assembly environment, and fittage is completed on one's own initiative, and by adding sensing technology, robot is pre-
Set the goal a little when there is error, can independently complete the compensation of rigging error and position error, efficiently solve people
The problem of frock matches somebody with somebody inefficient, improve operating efficiency.
Brief description of the drawings
Fig. 1 is system connection diagram of the present utility model；
Fig. 2 is system control planning schematic diagram of the present utility model；
Fig. 3 is equipment schematic view of the mounting position of the present utility model.
Embodiment
The utility model embodiment is further described below in conjunction with accompanying drawing：
A kind of battery of mobile phone automatic assembly system of view-based access control model and impedance control in vision technique and impedance control,
As shown in Figure 1 to Figure 3, including system host, visually-perceptible system, power feel sensory perceptual system and execution system.The execution system
Including robot and robot controller, the robot controller is arranged in switch board, and the robot is arranged on work
The side of platform, is provided with conveyer belt, conveyer belt and is placed with mobile phone on the table, and robot controller control machine people is from taking
Shots capture battery and are moved into the assembling function that battery of mobile phone is realized on workbench.The visually-perceptible system is arranged on
Above workbench, the power feels that sensory perceptual system is arranged on the end of robot, and the power feels that sensory perceptual system, visually-perceptible system are led to
Cross data wire with system host to be connected, system host is connected by twisted-pair feeder with controller, controller passes through fieldbus
It is connected with robot.
In the present embodiment, robot uses six degree of freedom serial manipulator, and maximum load-carrying capacity is 3KG, possesses submissive
The features such as high-precision, easy to operate, multi-functional required for operating system；The robot controller is and six degree of freedom cascade machine
The corresponding control device of device people, the robot controller is connected and the realization pair under the control of system host with system host
Robot control function.Above-mentioned robot and controller support the use and are commercially available prod.
The visually-perceptible system includes light source and industrial camera, in the present embodiment, using industrial camera conduct
Vision sensor, its CMOS or ccd sensor are converted images into sensor signal and output digit signals, industrial camera
It is equipped with image processing module and realizes the gray processing of image, the binaryzation of image, the extraction of image outline and central point generation
Etc. function, position data is obtained, system host is eventually transferred to.In this assembly system, the main task of visually-perceptible system
It is detection Work position information；According to the planning of assembling scheme, in the starting stage of assembling process, vision sensor is needed to work
Part carries out IMAQ, and the positional information of workpiece is then obtained by processing, then is conveyed to system host.
The power feels that sensory perceptual system uses the six-dimension force sensor installed in robot end as force sensor, and it will
The electrical signal collection that detects simultaneously sends system host to.The six-dimension force sensor information of the robot end is needed by sensing
Device coordinate system transformation is robot tool coordinate system, it is possible thereby to obtain filling in system host by the force information feedback of sensor
With the contact action force information between workpiece.The rule of force sensor network analysis contact force mainly passes through robot end
Six-dimension force sensor branch on each one-dimensional force snesor detection external signal, by the electric signal detected by amplifying device and
Data acquisition device is transferred to system host, then by system host the data signal that collects is carried out to calculate accordingly and
Reason, and then obtain the three dimensions power and moment information of robot end.
The system host is the control centre of whole system, coordinates the sequence of movement and information transmission of links.It is whole
In individual assembling process, system host perceives the confined state of vision sensor and force sensor feedback, and system host passes through place
Heat transfer agent is managed, motion control instruction is sent to execution system, corresponding action is completed by execution system, while sensory perceptual system meeting
Detection confined state, feeds back to integrated control system and makes appropriate adjustment in real time, the target location until being finally reached assembling.
It is emphasized that embodiment described in the utility model is illustrative, rather than it is limited, therefore this reality
It is every new according to this practicality by those skilled in the art with the new embodiment including being not limited to described in embodiment
The other embodiment that the technical scheme of type is drawn, also belongs to the scope of the utility model protection.
Claims (4)
1. the battery of mobile phone automatic assembly system of a kind of view-based access control model and impedance control, it is characterised in that：Including system host,
Visually-perceptible system, power feel sensory perceptual system and execution system, and the execution system includes robot and robot controller, described
Visually-perceptible system is arranged on above workbench, and the power feels that sensory perceptual system is arranged on the end of robot, and the power, which is felt, to be perceived
System, visually-perceptible system are connected by data wire with system host, and the system host passes through twisted-pair feeder and robot control
Device processed is connected, and the robot controller is connected by fieldbus with robot, and the robot is arranged on workbench
Side, conveyer belt is installed on the table, system host is captured by robot controller control machine people from feeding point
Battery is simultaneously moved into the automatic assembling function that battery of mobile phone is realized on workbench.
2. the battery of mobile phone automatic assembly system of view-based access control model according to claim 1 and impedance control, its feature exists
In：The robot uses six degree of freedom serial manipulator.
3. the battery of mobile phone automatic assembly system of view-based access control model according to claim 1 and impedance control, its feature exists
In：The visually-perceptible system is made up of light source and industrial camera.
4. the battery of mobile phone automatic assembly system of view-based access control model according to claim 1 and impedance control, its feature exists
In：The power feels that sensory perceptual system uses six-dimension force sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720003356.XU CN206510040U (en) | 2017-01-04 | 2017-01-04 | The battery of mobile phone automatic assembly system of view-based access control model and impedance control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720003356.XU CN206510040U (en) | 2017-01-04 | 2017-01-04 | The battery of mobile phone automatic assembly system of view-based access control model and impedance control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206510040U true CN206510040U (en) | 2017-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720003356.XU Expired - Fee Related CN206510040U (en) | 2017-01-04 | 2017-01-04 | The battery of mobile phone automatic assembly system of view-based access control model and impedance control |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106853639A (en) * | 2017-01-04 | 2017-06-16 | 河北工业大学 | A kind of battery of mobile phone automatic assembly system and its control method |
| CN108994835A (en) * | 2018-08-15 | 2018-12-14 | 深圳蓝胖子机器人有限公司 | Article laying method and system based on torque sensor |
| CN109591013A (en) * | 2018-12-12 | 2019-04-09 | 山东大学 | A kind of flexible assembly analogue system and its implementation |
| CN109814514A (en) * | 2019-03-25 | 2019-05-28 | 苏州小男孩智能科技有限公司 | Assembly automation pipeline system with view touching fusion function |
| CN110281069A (en) * | 2019-07-23 | 2019-09-27 | 琦星智能科技股份有限公司 | Irregular product process equipment and its visual spatial attention based on industrial robot vision |
-
2017
- 2017-01-04 CN CN201720003356.XU patent/CN206510040U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106853639A (en) * | 2017-01-04 | 2017-06-16 | 河北工业大学 | A kind of battery of mobile phone automatic assembly system and its control method |
| CN108994835A (en) * | 2018-08-15 | 2018-12-14 | 深圳蓝胖子机器人有限公司 | Article laying method and system based on torque sensor |
| CN109591013A (en) * | 2018-12-12 | 2019-04-09 | 山东大学 | A kind of flexible assembly analogue system and its implementation |
| CN109814514A (en) * | 2019-03-25 | 2019-05-28 | 苏州小男孩智能科技有限公司 | Assembly automation pipeline system with view touching fusion function |
| CN110281069A (en) * | 2019-07-23 | 2019-09-27 | 琦星智能科技股份有限公司 | Irregular product process equipment and its visual spatial attention based on industrial robot vision |
| CN110281069B (en) * | 2019-07-23 | 2024-05-03 | 琦星智能科技股份有限公司 | Irregular product processing equipment based on industrial robot vision and vision control thereof |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170922 Termination date: 20200104 |