Gold needle assembly device and method
阅读说明:本技术 一种金针装配装置及装配方法 (Gold needle assembly device and method ) 是由 周承宏 于 2019-08-22 设计创作,主要内容包括:本发明公开了一种金针装配装置,包括四轴机器人和金针装配模组,金针装配模组连接在四轴机器人的工作端;金针装配模组包括旋转连接模组和连接在旋转连接模组上的视觉引导模组、位移检测模组和夹爪模组;夹爪模组包括三爪气缸和夹爪,夹爪连接在三爪气缸的输出端,三爪气缸工作带动夹爪抓取和安装金针,视觉引导模组用于观测金针安装孔的位置信息,并将位置信息传递至四轴机器人;位移检测模组用于探测金针安装孔的高度信息,并将高度信息传递至四轴机器人;本装置采用机器安装,相对于人工安装具有安装精度高、速度快的优点;本装置采用双夹爪的方式,节省了大量的安装时间,提高了安装效率。(The invention discloses a golden needle assembly device which comprises a four-axis robot and a golden needle assembly module, wherein the golden needle assembly module is connected to the working end of the four-axis robot; the golden needle assembly module comprises a rotary connection module, and a visual guide module, a displacement detection module and a clamping jaw module which are connected to the rotary connection module; the clamping jaw module comprises a three-jaw cylinder and a clamping jaw, the clamping jaw is connected to the output end of the three-jaw cylinder, the three-jaw cylinder works to drive the clamping jaw to grab and install a gold needle, and the visual guide module is used for observing the position information of a gold needle installation hole and transmitting the position information to the four-axis robot; the displacement detection module is used for detecting the height information of the golden needle mounting hole and transmitting the height information to the four-axis robot; the device is installed by a machine, and has the advantages of high installation precision and high speed compared with manual installation; this device adopts the mode of two clamping jaws, has saved a large amount of installation time, has improved the installation effectiveness.)
1. The golden needle assembly device is characterized by comprising a four-axis robot (1) and a golden needle assembly module (2), wherein the golden needle assembly module (2) is connected to the working end of the four-axis robot (1); the golden needle assembly module (2) comprises a rotary connection module (3), and a visual guide module (4), a displacement detection module (5) and a clamping jaw module (7) which are connected to the rotary connection module (3);
the clamping jaw module (7) comprises a three-jaw air cylinder (73) and a clamping jaw (74), the clamping jaw (74) is connected to the output end of the three-jaw air cylinder (73), the three-jaw air cylinder (73) works to drive the clamping jaw (74) to grab and install a gold needle, and the vision guide module (4) is used for observing the position information of a gold needle installation hole and transmitting the position information to the four-axis robot (1); the displacement detection module (5) is used for detecting height information of the golden needle mounting holes and transmitting the height information to the four-axis robot (1).
2. Gold needle assembly device according to claim 1, characterized in that said rotary connection module (3) comprises a robot connection block (31), a pressure sensor (32) and a connection plate device for connecting the vision guide module (4), the displacement detection module (5) and the gripper module (7), said pressure sensor (32) being fixed between said connection plate device and the robot connection block (31).
3. Gold needle assembly device according to claim 1, characterized in that said vision guide module (4) comprises a camera (41), the working direction of said camera (41) and the gripping direction of said gripping jaws (74) being the same.
4. A needle assembly device according to claim 3, characterized in that the vision guide module (4) further comprises a light source (44), the working direction of the light source (44) is the same as the working direction of the camera (41).
5. A needle assembling device according to claim 1, characterized in that the displacement detecting module (5) comprises a second cylinder (51) and a displacement sensor (52), the second cylinder (51) is fixed on the rotary connecting module (3), and the displacement sensor (52) is fixed at the output end of the second cylinder (51).
6. Gold needle assembly device according to claim 1, characterised in that there are at least two of said jaw modules (7).
7. A gold needle assembling method is characterized by comprising the following steps:
a clamping jaw (74) at the working end of the four-axis robot (1) grabs the golden needle;
the visual detection module (4) observes position information of the gold needle mounting hole and transmits the position information to the four-axis robot (1), and the four-axis robot (1) drives the clamping jaw (74) to move to the position of the gold needle mounting hole;
the displacement detection module (5) detects the height information of the detection gold needle mounting hole, and transmits the height information to the four-axis robot (1), and the four-axis robot (1) drives the clamping jaw (74) to descend to mount the gold needle.
8. The gold needle assembling method according to claim 7, wherein the detecting height information of the gold needle mounting holes comprises the steps of:
after the clamping jaw (74) is in place, the displacement sensor (52) detects the initial height information of the gold needle mounting hole;
the displacement sensor (52) descends to a designated height, and the displacement sensor (52) detects a second height position of the gold needle mounting hole;
the displacement sensor (52) descends to a designated height, and the displacement sensor (52) detects third height information of the gold needle mounting hole;
the displacement detection module (5) transmits the obtained initial height information, the obtained second height information and the obtained third height information to the four-axis robot (1), and the four-axis robot (1) obtains height information of the golden needle mounting holes.
Technical Field
The invention relates to the technical field of base station production, in particular to a gold needle assembling device and method.
Background
The base station includes a base transceiver station and a base station controller. A base station controller may control tens to tens of base transceiver stations. The base station may have a plurality of PCBs including an insulating substrate and conductive traces, wherein the insulating substrate may have a plurality of holes therein, wherein a portion of the holes may be adapted for receiving the pins. In the prior art, the gold needle is mounted in a manual mounting mode, and when the gold needle is manually mounted, the working time is long, neglected mounting is easy, and the gold needle is easy to be mounted in place.
Disclosure of Invention
The invention aims to provide a gold needle assembling device and method, and aims to solve the problems of long gold needle assembling time and low efficiency in the prior art.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
the invention provides a golden needle assembly device, which comprises a four-axis robot and a golden needle assembly module, wherein the golden needle assembly module is connected to the working end of the four-axis robot; the golden needle assembly module comprises a rotary connection module, and a visual guide module, a displacement detection module and a clamping jaw module which are connected to the rotary connection module; the clamping jaw module comprises a three-jaw air cylinder and a clamping jaw, the clamping jaw is connected to the output end of the three-jaw air cylinder, the three-jaw air cylinder works to drive the clamping jaw to grab and install a gold needle, and the visual guide module is used for observing the position information of a gold needle installation hole and transmitting the position information to the four-axis robot; the displacement detection module is used for detecting height information of the golden needle mounting hole and transmitting the height information to the four-axis robot.
Further, the swivelling joint module includes robot connecting block, pressure sensor and connecting plate device, the connecting plate device is used for connecting vision guide module, displacement detection module and clamping jaw module, pressure sensor fixes between connecting plate device and the robot connecting block.
Further, the vision guide module comprises a camera, and the working direction of the camera is the same as the gripping direction of the clamping jaw.
Further, the visual guidance module also comprises a light source, and the working direction of the light source is the same as the working direction of the camera.
Further, the displacement detection module comprises a second cylinder and a displacement sensor, the second cylinder is fixed on the rotary connection module, and the displacement sensor is fixed at the output end of the second cylinder.
Further, the clamping jaw modules are at least two.
The second aspect of the invention provides a gold needle assembling method, which comprises the following steps:
step one, a clamping jaw at the working end of the four-axis robot grabs the golden pin.
And step two, the visual detection module observes position information of the gold needle mounting hole and transmits the position information to the four-axis robot, and the four-axis robot drives the clamping jaw to move to the position of the gold needle mounting hole.
And step three, the displacement detection module detects the height information of the detection golden pin mounting hole and transmits the height information to the four-axis robot, and the four-axis robot drives the clamping jaw to descend to mount the golden pin.
Further, the height information of the detection gold needle mounting hole comprises the following steps:
step one, after the clamping jaw is in place, the displacement sensor detects the initial height information of the gold needle mounting hole.
And secondly, the displacement sensor descends by a specified height, and the displacement sensor detects the second height position of the gold needle mounting hole.
And step three, the displacement sensor descends to a specified height, and the displacement sensor detects third height information of the gold needle mounting hole.
And step four, the position detection module transmits the acquired initial height information, the acquired second height information and the acquired third height information to the four-axis robot, and the four-axis robot acquires height information of the golden needle mounting hole.
The invention has the advantages that:
1. the device is installed by a machine, and has the advantages of high installation precision and high speed compared with manual installation; the device adopts a double-clamping jaw mode, thereby saving a large amount of installation time and improving the installation efficiency;
2. when the device is designed, the visual guide module is adopted to perform plane positioning to obtain the position of the mounting hole, and the displacement detection module is used to perform height positioning to obtain the height information of the mounting hole, so that the mounting error during mounting is avoided, and the gold needle can be accurately mounted;
3. pressure sensors are arranged in the robot connecting block and the connecting plate device, whether the gold needle is installed in place or not is judged according to pressure changes of the pressure sensors, and the gold needle installation accuracy is improved.
Drawings
FIG. 1 is a schematic view showing the overall structure of a gold needle assembling apparatus according to an embodiment of the present invention;
fig. 2 is a schematic overall structure diagram of a gold needle assembling module according to an embodiment of the present invention;
FIG. 3 is a schematic view of the overall structure of the clamping jaw module according to the embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating an overall structure of a visual inspection module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an overall structure of a displacement detection module according to an embodiment of the present invention;
fig. 6 is a schematic view of an overall structure of a rotary connection module according to an embodiment of the present invention.
Wherein: 1. a four-axis robot; 2. assembling a gold needle module; 3. a rotary connection module; 4. a visual guidance module; 5. a displacement detection module; 7. a clamping jaw module; 31. a robot connecting block; 32. a pressure sensor; 33. a clamping jaw module connecting plate; 34. a second connecting plate; 35. a third connecting plate; 41. a camera; 42. a protective cover; 43. a lens; 44. a light source; 45. a camera fixing plate; 51. a second cylinder; 52. a displacement sensor; 53. a cylinder fixing plate; 54. a sensor fixing plate; 71. a cylinder fixing plate; 72. a first cylinder; 73. a three-jaw cylinder; 74. a clamping jaw; 75. the cylinder connecting plate.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
It should be noted that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. As used in the description of the present invention, the terms "front," "back," "left," "right," "up," "down" and "in" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
In actual production, most of golden pins are installed manually, the manual installation has the defects of low efficiency and low precision, and the golden pin assembling device is developed for improving the speed and the precision of golden pin installation. The gold needle assembling device is arranged on an existing four-
As shown in fig. 1 to 6, a gold pin assembling apparatus includes a four-
Specifically, a control device is arranged on the four-
In this embodiment, the
Specifically, as shown in fig. 6, a bolt connection hole is formed in the
As shown in fig. 4, the
As shown in fig. 5, the
As shown in fig. 3, the two
The golden needle assembling method specifically comprises the following steps:
When the height information is acquired, the accuracy of acquiring the height position information is ensured by measuring the height information of the gold needle mounting hole for three times. The installation accuracy of the device is improved. The
In the description of the present invention, it should be understood that the terms "first", "second", and the like are used for limiting the components, and are used only for the convenience of distinguishing the components, and the terms have no special meaning if not stated otherwise, and thus should not be construed as limiting the scope of the present invention.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
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