Mechanical arm flexible assembly equipment and control method

Abstract

The invention provides mechanical arm flexible assembly equipment and a control method. The mechanical arm flexible assembly equipment comprises an assembly station unit and a visual positioning unit. The assembly station unit comprises a workbench, a clamping device, an overturning plate, an overturning driving mechanism, a first pressure sensor array, a second pressure sensor array, a visual positioning unit and a control unit. The visual positioning unit comprises an image acquisition device. The pressure sensor arrays are used for replacing tail end force sensors, a force sensor does not need to be installed at the tail end of a mechanical arm, only a multi-point force sensor needs to be installed below a PCB clamping plate, hybrid control over the force and the position of the mechanical arm is achieved through pressure feedback, and the assembly flexibility is improved; a camera is less used; and through planar movement of the overturning mechanism and the camera, front and back surface assembly of a workpiece is realized, and the problems of low efficiency, high cost and difficult quality guarantee of manual assembly of special-shaped electronic components are solved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a flexible assembly device and a control method of a mechanical arm. Background technique [0002] With the development of modern technology, the update and iteration speed of electronic products is accelerating, and the printed circuit board (PCB) is the basis of electronic products. The quality of electronic products depends on the assembly accuracy of the circuit board assembly line. Low assembly accuracy will lead to poor contact, open circuit and other consequences, which will affect the experience of consumers of electronic products. [0003] In the existing technology, the surface mount technology SMT can only realize the assembly automation of conventional electronic components, while the special-shaped electronic components still require a lot of manual assembly. The disadvantages of manual assembly are low efficiency, high cost, and difficulty in quality ass...

AI Technical Summary

Problems solved by technology

[0008] In view of the above-mentioned technical problems, the present invention provides a flexible assembly equipment and control method for a manipulator, which uses a pressure sensor array instead of a force sensor at the end, and does not need to install a force sensor at the end of the manipulator, but only needs to be installed under the PCB clamping plate. Multi-point force sensor, through pressure feedback, realizes the hybrid control of the force and position of the robotic arm, increasing the flexibility of assembly; reduces the use of cameras, and realizes the front and back assembly of the workpiece through the plane movement of the flip mechanism and the camera, solving the problem of manual assembly of special-shaped electronics The problems of low efficiency, high cost and difficult quality assurance of components and parts

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