A flexible assembly device and control method for a robotic arm

Abstract

The invention provides a flexible assembly equipment and control method for a mechanical arm, including an assembly station unit and a visual positioning unit; the assembly station unit includes a workbench, a clamping device, a turning plate, a turning drive mechanism, a first pressure sensor array, a second Two pressure sensor arrays, a visual positioning unit and a control unit; the visual positioning unit includes an image acquisition device; the present invention replaces the end force sensor with a pressure sensor array, and does not need to install a force sensor at the end of the mechanical arm. The multi-point force sensor is installed under the board, through the pressure feedback, the mixed control of the force and position of the mechanical arm is realized, which increases the flexibility of the assembly; the use of the camera is reduced, and the front and back of the workpiece are assembled through the plane movement of the flipping mechanism and the camera, which solves the manual problem Assembling special-shaped electronic components is low in efficiency, high in cost, and difficult to guarantee quality.

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 plate and the camera, which solves 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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