Automatic wiring device and automatic wiring method for electronic equipment

Abstract

The present disclosure relates to an automatic wiring device and an automatic wiring method of an electronic device. The automatic wiring device includes a mechanical arm, a wiring executor provided at one end of the mechanical arm for installing a wiring in a wiring slot, and a processing unit for controlling the moving direction and distance of the mechanical arm and the wiring executor. The automatic wiring method of the electronic device includes setting the moving distance and direction of the mechanical arm based on a preset wiring position of the electronic device, sensing the contact pressure and direction of a profiling component to obtain three-dimensional force information of the profiling component in contact with the wiring, and further controlling the moving trajectory and posture of the end of the mechanical arm based on the three-dimensional force information of the profiling component.

Description

Technical Field

[0001] This disclosure relates to the field of automated production of electronic equipment, and more particularly to an automatic wiring device and an automatic wiring method for electronic equipment. Background Technology

[0002] With the advancement of science and the development of industrial technology, in order to further improve the information transmission capability of electronic devices, multiple circuit boards can be set in the electronic devices. These circuit boards can be connected by antennas to transmit information between them.

[0003] During the manufacturing process of the aforementioned electronic devices, antennas need to be installed into specified wiring ducts according to the design requirements of the devices. However, because antennas are relatively flexible, they are mostly assembled manually, which incurs high labor costs and low assembly efficiency. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this disclosure provides an automatic wiring device and an automatic wiring method for electronic equipment.

[0005] According to a first aspect of the present disclosure, an automatic wiring device is provided, comprising: a robotic arm; a wiring actuator disposed at one end of the robotic arm for installing wiring in a wiring trough; and a processing unit for controlling the moving direction and moving distance of the robotic arm and the wiring actuator.

[0006] In some embodiments, the wiring actuator includes: a clamping member disposed at the end of the wiring actuator for clamping the wiring; and a first actuating member for controlling the relative movement of the clamping member in a first direction, for controlling the clamping and releasing of the wiring.

[0007] In some embodiments, the wiring actuator further includes: a contouring component disposed at the end of the clamping component, the free end of the contouring component being used to press the wiring into the wiring groove; a second force sensor disposed at the upper end of the contouring component to detect the contact pressure of the contouring component; and a second actuation component to control the extension and retraction movement of the contouring component based on the contact pressure of the contouring component detected by the second force sensor.

[0008] In some embodiments, the wiring actuator further includes: a first force sensor, which senses the contact pressure and contact direction of the contouring component to provide three-dimensional force information of the contouring component to the processing unit, wherein the processing unit controls the movement path and attitude of one end of the robotic arm based on the three-dimensional force information of the contouring component.

[0009] In some embodiments, the clamping component includes a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw being relatively far away or relatively close to control clamping and loosening of the clamping component on the wiring; the first actuating component controls relative movement of the first clamping jaw and the second clamping jaw.

[0010] In some embodiments, the wiring executor further includes a limiting column, the limiting column being arranged on the clamping component to limit a movement space of the wiring, wherein one end of the limiting column is fixedly arranged on the first clamping jaw; the other end of the limiting column passes through the second clamping jaw, and the second clamping jaw is slidable relative to the limiting column.

[0011] In some embodiments, the wiring executor further includes a connecting block fixedly connected to the one end of the mechanical arm, and a quick mounting piece, the connecting block being arranged on one end of the quick mounting piece, wherein the wiring executor is quickly mounted or quickly dismounted through the quick mounting piece.

[0012] In some embodiments, the quick mounting piece quickly mounts or quickly dismounts the wiring executor through magnetic attraction.

[0013] In some embodiments, the wiring executor further includes a third actuating component connected with the clamping component and used to control the clamping component to rotate the wiring.

[0014] In some embodiments, the wiring is a coaxial line.

[0015] According to a second aspect of the embodiments of the present disclosure, an automatic wiring method of an electronic device is provided, including: based on a preset wiring position of an electronic device, setting a movement distance and a movement direction of a mechanical arm; sensing a contact pressure and a contact direction of a profiling component to obtain three-dimensional force information of the profiling component in contact with the wiring; and based on the three-dimensional force information of the profiling component, further controlling a movement trajectory and a posture of an end of the mechanical arm.

[0016] In some embodiments, the further controlling the movement trajectory and the posture of the end of the mechanical arm based on the three-dimensional force information of the profiling component includes: sensing a magnitude of the contact pressure and a pressure direction of the profiling component, and when the contact pressure of the profiling component is greater than a preset pressure threshold, controlling the movement trajectory and the posture of the end of the mechanical arm so that the contact pressure of the profiling component in the pressure direction is less than or equal to a preset threshold.

[0017] In some embodiments, the further controlling the movement trajectory and posture of the robot arm end based on the three-dimensional force information of the profiling component includes: sensing a pressure direction of the contact pressure of the profiling component, and when the pressure direction of the contact pressure of the profiling component is different from a preset pressure direction of the profiling component, controlling the movement trajectory and posture of the robot arm end so that the pressure direction of the contact pressure of the profiling component is the same as the preset pressure direction of the profiling component.

[0018] In some embodiments, the automatic wiring method of the electronic device further includes: further sensing the contact pressure of the profiling component, and controlling the expansion and contraction movement of the profiling component based on the contact pressure of the profiling component.

[0019] In some embodiments, the further sensing the contact pressure of the profiling component and controlling the expansion and contraction movement of the profiling component based on the contact pressure of the profiling component includes: when the contact pressure of the profiling component is greater than a preset pressure threshold, controlling the profiling component to move in a direction away from the wiring slot; and when the contact pressure of the profiling component is less than the preset pressure threshold, controlling the profiling component to move in a direction approaching the wiring slot.

[0020] In some embodiments, when the contact pressure of the profiling component is greater than the preset pressure threshold, the movement distance of the profiling component moving in the direction away from the wiring slot is proportional to the difference between the contact pressure and the preset pressure threshold; and when the contact pressure of the profiling component is less than the preset pressure threshold, the movement distance of the profiling component moving in the direction approaching the wiring slot is proportional to the difference between the contact pressure and the preset pressure threshold.

[0021] The technical solutions provided by the embodiments of the present disclosure can include the following beneficial effects: the automatic wiring device provided by the present disclosure can install coaxial wires and other wires into the specified wiring slot through the mechanical device according to the design requirements of the electronic device by the cooperation of the robot arm, the wiring executor and the processing unit. That is, through the automatic wiring device, the wires can be accurately and non-damagedly installed in the wiring slot without manual operation, which reduces the labor cost and improves the assembly efficiency.

[0022] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings incorporated in the specification and forming a part of it, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

[0024] Figure 1is a structural diagram of an automatic wiring device according to an exemplary embodiment.

[0025] Figure 2 is a structural diagram of a wiring executor according to an exemplary embodiment. DETAILED DESCRIPTION

[0026] The exemplary embodiments will be described in detail with reference to the accompanying drawings. In the following description, same drawing reference numerals are used to denote elements having the same or similar functions and / or structures in different drawings. The embodiments described in the following exemplary embodiments are not representative of all embodiments consistent with the present disclosure. Rather, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the scope of claims.

[0027] In the related art, in an electronic device such as a smartphone, a first circuit board (main board) and a second circuit board (small board) are provided. The first circuit board and the second circuit board are connected by a radio frequency antenna to transmit relevant information between the first circuit board and the second circuit board. According to the design requirements of the electronic device such as a smartphone, it is necessary to install the antenna in a specific wiring slot.

[0028] However, the radio frequency antenna is relatively soft, and when the radio frequency antenna is installed using a machine, the radio frequency antenna is easily damaged, so it is difficult to install the radio frequency antenna by the machine without damage. Therefore, in the related art, during the assembly of the radio frequency antenna, the radio frequency antenna needs to be manually straightened and installed in the preset wiring slot. The labor cost consumed thereby is high, and the assembly efficiency is low.

[0029] To overcome the problems in the related art, the present disclosure provides an automatic wiring device and an automatic wiring method of an electronic device.

[0030] According to a first aspect of an embodiment of the present disclosure, an automatic wiring device is provided, comprising: a mechanical arm 700; a wiring executor 600 provided at one end of the mechanical arm 700, for installing a wiring in a wiring slot; and a processing unit (not shown) for controlling the moving direction and moving distance of the mechanical arm 700 and the wiring executor 600.

[0031] Figure 1 is a structural diagram of an automatic wiring device according to an exemplary embodiment.

[0032] As Figure 1As shown, the mechanical arm 700 can be a six-axis mechanical arm, a first end of the mechanical arm 700 is configured as a base, the base can be kept stationary on the mounting platform, and the whole of the mechanical arm 700 moves along with the movement of the mounting platform. In addition, a second end of the mechanical arm 700 is movably connected with the wiring executor 600.

[0033] The mechanical arm 700 has a plurality of movable units, through the movement combination of the plurality of movable units, the second end of the mechanical arm 700 can be sent to any position in the movable space.

[0034] Specifically, the mechanical arm 700 can include a first connecting rod 710, a second connecting rod 720, and a third connecting rod 730; the plurality of movable units of the mechanical arm 700 can include a first movable unit 701, a second movable unit 702, and a third movable unit 703. The first movable unit 701 is close to the base.

[0035] The first movable unit 701 has a first movable joint 711 and a second movable joint 712, the first movable joint 711 is adapted to control the rotation of the mechanical arm 700 around the direction extending from the base axis, so as to adjust the position and direction of the second end of the mechanical arm 700. The second movable joint 712 can be adapted to control the rotation of the mechanical arm 700 in the direction parallel to the base axis, so as to adjust the distance between the second end of the mechanical arm 700 and the mounting plane.

[0036] The second movable unit 702 can include a third movable joint 723, a fourth movable joint 724, and a fifth movable joint 725. The third movable joint 723 is adapted to control the rotation of the mechanical arm 700 in the direction parallel to the extension direction of the first connecting rod 710, so as to adjust the distance between the second end of the mechanical arm 700 and the mounting plane.

[0037] The fourth movable joint 724 is adapted to control the rotation of the second end of the mechanical arm 700 in the direction parallel to the extension direction of the second connecting rod 720, so as to adjust the position and posture of the second end of the mechanical arm 700.

[0038] The fifth movable joint 725 is adapted to control the rotation of the second end of the mechanical arm 700 in the direction parallel to the extension direction of the third connecting rod 730, so as to adjust the distance between the second end of the mechanical arm 700 and the mounting plane.

[0039] The third movable unit 703 can have a sixth movable joint 736, the sixth movable joint 736 is adapted to control the rotation of the second end of the mechanical arm 700 in the direction parallel to the extension direction of the third connecting rod 730, so as to adjust the position and direction of the second end of the mechanical arm 700.

[0040] By adjusting the direction and distance of movement of the robotic arm 700, the position and orientation of the wiring actuator 600 located at the second end of the robotic arm 700 can be changed.

[0041] Since the wiring actuator 600 is movably connected to the second end of the robotic arm 700, when the wiring actuator 600 and the robotic arm 700 are connected, the second end of the robotic arm 700 can send the wiring actuator 600 to any position within the movable space.

[0042] Figure 2 This is a structural diagram of a wiring actuator according to an exemplary embodiment.

[0043] like Figure 2 As shown, in some embodiments, the wiring actuator 600 may include: a connecting block 400, which is fixedly connected to the second end (one end) of the robotic arm 700; and a quick-installation component 500, which is disposed at one end of the quick-installation component 500, wherein the wiring actuator 600 can be quickly installed or quickly removed by means of the quick-installation component 500.

[0044] Specifically, the connecting block 400 has a first connecting end connected to the second end of the robotic arm 700 and a second connecting end connected to the quick-installer 500. The first connecting end of the connecting block 400 is fixedly connected to the second end of the robotic arm 700 by bolts, and the second connecting end of the connecting block 400 is movably connected to the quick-installer 500, so that the connecting block 400 and the quick-installer 500 can be in an installed state and a disassembled state.

[0045] In some embodiments, the quick-installation component 500 can be magnetically installed or quickly removed from the wiring actuator 600. The quick-installation component 500 includes a first mounting component and a second mounting component, which are magnetically connected to each other. The first mounting component is fixedly disposed on the connecting block 400. The second mounting component is fixedly disposed on other components of the wiring actuator 600.

[0046] Therefore, when the first and second mounting parts of the quick-installation component 500 are magnetically connected, the connecting block 400 and the other components of the wiring actuator 600 are in the installed state; when the first and second mounting parts of the quick-installation component 500 are separated, the connecting block 400 and the other components of the wiring actuator 600 are in the disassembled state.

[0047] Specifically, in some embodiments, a dismounting wrench is arranged on the quick mounting member 500, and the first mounting member and the second mounting member are relatively moved by rotating the dismounting wrench manually, so that the magnetic attraction relationship between the first mounting member and the second mounting member is released. Thus, the connection block 400 fixedly connected with the first mounting member and other components of the wiring executor 600 fixedly connected with the second mounting member can be quickly switched from the mounted state to the dismounted state, so as to complete the quick replacement of the wiring executor 600.

[0048] It should be noted that the connection state of the connection block 400 and the quick mounting member 500 is not limited in the present disclosure, and can be magnetic attraction connection, or any other connection mode that can movably connect the connection block 400 and other components of the wiring executor 600.

[0049] In some embodiments, the wiring executor 600 can further include a clamping component 110 and a first actuating component 130. The clamping component 110 is arranged at the other end of the wiring executor 600 and is used for clamping the wiring. The first actuating component 130 is used for controlling the relative movement of the clamping component 110 in the first direction, i.e., the movement of the clamping component 110 in the left-right direction (the first direction). The first actuating component 130 is used for controlling the clamping and unclamping of the wiring, so as to realize the clamping state and the unclamping state of the clamping component 110.

[0050] As shown in FIG. 1, Figure 2 The clamping component 110 is arranged at the end of the wiring executor 600 away from the mechanical arm 700, and the clamping component 110 includes a plurality of clamping jaws.

[0051] Specifically, in an embodiment, the first actuating component 130 is adapted to control the left-right movement of the clamping jaws of the clamping component 110, so that the plurality of clamping jaws relatively move in the first direction, thereby realizing the closing or opening of the clamping jaws. The first actuating component 130 controls the plurality of clamping jaws to relatively move in the first direction. When the plurality of clamping jaws of the clamping component 110 move in the direction of approaching each other, the plurality of clamping jaws of the clamping component 110 are closed, the clamping component 110 is in the clamping state, and the wiring is clamped between the clamping jaws, i.e., the clamping component 110 clamps the wiring. When the plurality of clamping jaws of the clamping component 110 move in the direction of moving away from each other, the plurality of clamping jaws are opened, the clamping component 110 is in the unclamping state, and the wiring clamped between the clamping jaws is unclamped, i.e., the clamping component 110 unclamps the wiring.

[0052] In some embodiments, the moving direction of the clamping jaws and the clamping state can be controlled by the first actuating component 130, so that the wiring can be straightened according to the preset wiring slot.

[0053] In some embodiments, the clamping member 110 may include a first gripper 111 and a second gripper 112, the first gripper 111 and the second gripper 112 being relatively far apart or relatively close together, to realize the gripping state and the releasing state of the clamping member 110; the first actuating member 130 controls the relative movement of the first gripper 111 and the second gripper 112.

[0054] In some embodiments, both the first gripper 111 and the second gripper 112 are movable, and the first actuating member 130 controls the relative movement of the first gripper 111 and the second gripper 112 to achieve the effect of changing the gripping or releasing state of the grippers.

[0055] In another embodiment, the first gripper 111 can be fixed and not moved, while the second gripper 112 can move relative to the first gripper 111. The first actuating component 130 controls the second gripper 112 to move relative to the first gripper 111, thereby switching the gripping state and the releasing state of the clamping component 110.

[0056] It should be noted separately that this disclosure does not limit the control method of the first actuating component 130. The first actuating component 130 can control one gripper, multiple grippers, or any control method that can realize the gripping and releasing states of the clamping component 110. The first actuating component 130 can be an electric cylinder, which is a modular product that integrates a servo motor and a lead screw, converting the rotary motion of the servo motor into linear motion. However, this disclosure is not limited to this, and it can be any power device capable of controlling the relative movement of the grippers.

[0057] In some embodiments, the wiring actuator 600 may further include a limiting post 113 disposed on the clamping member 110 to limit the movement space of the wiring. That is, when the clamping member 110 clamps the wiring, the limiting post 113 can control the movement range of the wiring.

[0058] like Figure 2 As shown, the limiting post 113 can be disposed on the gripper of the clamping component 110. The limiting post 113 is used to limit the depth of the wiring entering the gripper during the wire-strapping process. This avoids damage to the wiring or malfunction of other components of the automatic wiring device due to excessive wiring entering the internal space of the gripper, thus achieving wiring protection during automated operation.

[0059] In some embodiments, one end of the limiting post 113 is fixedly disposed on the first gripper 111; the other end of the limiting post 113 passes through the second gripper 112, and the second gripper 112 is slidable relative to the limiting post 113.

[0060] Specifically, the limiting column 113 is configured as a component with the same cross section in the length direction, one end of the limiting column 113 is fixed on the first jaw 111, the other end of the limiting column 113 extends towards the direction of the second jaw 112, and a limiting hole suitable for the limiting column 113 to pass through is arranged in the projection area of the limiting column 113 in the length direction on the second jaw 112.

[0061] According to the relative movement of the second jaw 112 and the first jaw 111, the movement range of the other end of the limiting column 113 is controlled within the limiting hole of the second jaw 112, which ensures that the wire is always in the active area defined by the limiting column 113 in the clamping state.

[0062] In some embodiments, the wire executor 600 can further include a profiling component 210, a second force sensor 220, and a second actuating component 230. The profiling component 210 is arranged at the end of the clamping component 110, and the free end of the profiling component 210 is used to press the wire into the wire slot. The second force sensor 220 is arranged at the upper end of the profiling component 210 to detect the contact pressure of the profiling component 210. Based on the contact pressure of the profiling component 210 detected by the second force sensor 220, the second actuating component 230 controls the extension and retraction movement of the profiling component 210.

[0063] In some embodiments, the profiling component 210 has a free end and a fixed end. The fixed end of the profiling component 210 can be mounted on the jaw of the clamping component 110.

[0064] According to the position of the preset wire slot, after the jaw straightens the wire, the free end of the profiling component 210 presses the wire into the wire slot. The fixed end of the profiling component 210 is connected with the second force sensor 220, the second force sensor 220 detects the contact pressure of the free end of the profiling component 210, and transmits the mechanical information related to the contact pressure of the free end of the profiling component 210 to the processing unit.

[0065] The second actuating component 230 is arranged above the second force sensor 220, according to the mechanical information transmitted by the second force sensor 220 to the processing unit, the second actuating component 230 controls the extension and retraction movement of the profiling component 210, and further, the wire is pressed into the wire slot through the extension and retraction movement of the profiling component 210.

[0066] In some embodiments, the second actuating component 230 can be a micro motor, which can finely control the extension and retraction movement of the profiling component 210.

[0067] It should be noted that the second actuating component 230 is not limited to a micro motor, and can also be configured as a hydraulic cylinder, a pneumatic cylinder, or any other power device capable of controlling the extension and retraction of the profiling component 210.

[0068] In some embodiments, the wiring executor 600 can further include a first force sensor 120. As shown, the first force sensor 120 can be arranged at an end of the quick mount 500 away from the connecting block 400, and the first force sensor 120 can be arranged at the second mount of the quick mount 500. Figure 2

[0069] That is, the connecting block 400 is connected to the first mount of the quick mount 500, and the first force sensor 120 is connected to the second mount of the quick mount 500. Thus, when the first mount and the second mount are magnetically connected, the connecting block 400 and the first force sensor 120 of the wiring executor 600 are in a mounted state. When the first mount and the second mount are magnetically separated, the connecting block 400 and the first force sensor 120 of the wiring executor 600 are in a dismounted state. That is, in an embodiment, the connecting block 400 and the first force sensor 120 can be quickly mounted and dismounted by the quick mount 500.

[0070] The first force sensor 120 is used to sense the contact pressure and the contact direction of the profiling component 210, so as to provide three-dimensional force information of the profiling component 210 to the processing unit, wherein the processing unit controls the movement path and the posture of the end of the mechanical arm 700 based on the three-dimensional force information of the profiling component 210.

[0071] Specifically, if the contact pressure between the profiling component 210 and the wiring slot is too large or too small, the processing unit will adjust the distance between the end of the mechanical arm 700 and the wiring slot, so as to change the problem of the contact pressure between the free end of the profiling component 210 and the wiring being too large or too small, and avoid damage to the wiring due to improper contact pressure.

[0072] If the contact angle between the profiling component 210 and the wiring slot does not match the preset angle, the processing unit will adjust the position and posture of the end of the mechanical arm 700, so as to make the free end of the profiling component 210 form a preset contact angle with the wiring slot, and avoid damage to the wiring due to poor contact angle.

[0073] ​That is, the first force sensor 120 can be a three-dimensional force sensor, and can sense three-dimensional force information of the profiling member 210. That is, the first force sensor 120 can sense the contact pressure and the contact direction of the profiling member 210. When the sensed contact pressure and the contact direction of the profiling member 210 do not match the preset contact pressure and the contact direction, the contact pressure and the contact direction of the profiling member 210 can be adjusted to the preset release pressure and the contact direction by adjusting the position and the posture of the end of the robot arm 700.

[0074] The second force sensor 220 can sense the magnitude of the contact pressure of the profiling member 210, and when the sensed contact pressure of the profiling member 210 is greater or less than the preset pressure threshold, the second actuating member 230 can make the profiling member 210 perform a linear direction extension and contraction motion to change the contact pressure of the profiling member 210 to the preset pressure threshold.

[0075] In another embodiment, the wire executor 600 can further include a third actuating member (not shown) for controlling the rotation of the wire by the clamping member 110.

[0076] When the plurality of clamping jaws move in a direction of approaching each other, the plurality of clamping jaws of the clamping member 110 are closed, and the clamping member 110 is in a holding state in which the wire is clamped between the clamping jaws. At this time, based on the three-dimensional force information of the profiling member 210, the movement path and the posture of the end of the robot arm 700 are controlled to control the pressing direction of the profiling member 210 with respect to the wire slot. Further, the third actuating member can be used to rotate the wire by the clamping member 110 to further adjust the position and the direction of the clamping jaws, thereby more finely controlling the pressing direction of the profiling member 210 with respect to the wire slot, and thereby further finely controlling the direction and the position in which the wire is installed into the wire slot.

[0077] Specifically, when the robot arm 700 moves to a predetermined position according to a preset trajectory, and based on the three-dimensional force information of the profiling member 210, the preset posture of the robot arm 700 is maintained to ensure the pressing direction of the wire executor installed at the end of the robot arm 700 with respect to the wire slot, the pressing direction of the wire executor with respect to the wire slot is further adjusted by rotating the clamping member 110. That is, the first actuating member 130, the second actuating member 230, and the third actuating member are adjusted in cooperation with each other to more accurately install the wire into the corresponding position in the wire slot.

[0078] In some embodiments, the wiring is a coaxial line, which can be an antenna. Since the antenna is relatively soft, the free end of the profiling component 210 can be configured to match the shape of the antenna during mechanical setting, so as to avoid the free end of the profiling component 210 from being mismatched with the shape of the antenna, thereby damaging the antenna and affecting the normal use of the electronic device.

[0079] The electronic device involved in the present disclosure can also be referred to as a terminal device, a terminal, a user equipment (UE), a mobile station (MS), a mobile terminal (MT), etc., and is a device that provides voice and / or data connectivity for a user. For example, the electronic device can be a handheld device with wireless connection function, a vehicle-mounted device, etc. At present, examples of the electronic device can be a smart phone, a pocket personal computer (PPC), a palm computer, a personal digital assistant (PDA), a notebook computer, a tablet computer, a wearable device, or a vehicle-mounted device, etc. In addition, when it is a vehicle-to-everything (V2X) communication system, the electronic device can also be a vehicle-mounted device. It should be understood that the present embodiment of the present disclosure does not limit the specific technology and specific device form adopted by the electronic device. In the description of the present disclosure, a smart phone is taken as an example for description, but the present disclosure is not limited thereto.

[0080] In some embodiments, multiple circuit boards can be provided in the electronic device, i.e., a first circuit board and a second circuit board can be included, the first circuit board can be configured as a main board of the smart phone, and the second circuit board can be configured as a small board of the smart phone. The first circuit board and the second circuit board are connected by the antenna and transmit relevant information, thereby improving the information transmission capability of the electronic device and providing people with more convenient and efficient use experience.

[0081] According to a second aspect of the present embodiment, an automatic wiring method of an electronic device is provided, which includes: setting a movement distance and a movement direction of a mechanical arm 700 based on a preset wiring position of the electronic device; sensing a contact pressure and a contact direction of a profiling component 210 to obtain three-dimensional force information of the profiling component 210 in contact with the wiring; and further controlling a movement trajectory and a posture of a distal end of the mechanical arm 700 based on the three-dimensional force information of the profiling component 210.

[0082] In some embodiments, the electronic device to be assembled with the antenna has a preset wiring slot, and the position where the wiring is assembled with the wiring slot is configured as a preset wiring position. According to the preset wiring position, the movement trajectory of the mechanical arm 700 can be preset in advance, so that the wiring executor 600 can complete the preliminary route of the preset wiring position.

[0083] The movement distance and direction of the mechanical arm 700 are adjusted by the multi-joint combined movement of the six-axis mechanical arm 700, so that the wiring executor 600 at the end of the mechanical arm 700 can perform the preliminary route.

[0084] Further, the three-dimensional force information of the profiling component 210 is acquired by the first force sensor 120, and the contact pressure and contact direction of the profiling component 210 are sensed, and based on this, the trajectory and posture of the wiring executor 600 are further adjusted.

[0085] In some embodiments, the further control of the movement trajectory and posture of the end of the mechanical arm 700 based on the three-dimensional force information of the profiling component 210 includes sensing the magnitude and pressure direction of the contact pressure of the profiling component 210, and when the contact pressure of the profiling component 210 is greater than a preset pressure threshold, controlling the movement trajectory and posture of the end of the mechanical arm 700 so that the contact pressure of the profiling component 210 in the pressure direction is less than or equal to a preset threshold.

[0086] Specifically, the magnitude and pressure direction of the contact pressure of the profiling component 210 and the antenna are sensed by the first force sensor 120, and the distance between the end of the mechanical arm 700 and the wiring slot is adjusted according to the relationship between the contact pressure of the profiling component 210 and the antenna and the threshold.

[0087] When the contact pressure of the free end of the profiling component 210 and the antenna is too large, the processing unit receives the mechanical information and controls the end of the mechanical arm 700 to move away from the wiring slot, so that the contact pressure does not exceed the preset threshold.

[0088] When the contact pressure of the free end of the profiling component 210 and the antenna is too small, the processing unit receives the mechanical information and controls the end of the mechanical arm 700 to move close to the wiring slot, so that the contact pressure reaches a preset pressure suitable for pressing the antenna into the wiring slot.

[0089] In some embodiments, the further control of the movement trajectory and posture of the end of the mechanical arm 700 based on the three-dimensional force information of the profiling component 210 includes sensing the pressure direction of the contact pressure of the profiling component 210, and when the pressure direction of the contact pressure of the profiling component 210 is different from the preset pressure direction of the profiling component 210, controlling the movement trajectory and posture of the end of the mechanical arm 700 so that the pressure direction of the contact pressure of the profiling component 210 is the same as the preset pressure direction of the profiling component 210.

[0090] The pressure direction of the contact pressure between the profiling component 210 and the antenna is sensed by the first force sensor 120, and the pressure direction of the end of the mechanical arm 700 and the wiring slot is adjusted according to the relationship between the pressure direction of the profiling component 210 and the antenna and the preset pressure direction, so as to avoid damage to the antenna caused by the pressing angle of the profiling component 210.

[0091] In some embodiments, the preset pressure direction is perpendicular to the extension direction of the wiring slot.

[0092] The first force sensor 120 is adapted to sense the pressure direction of the contact pressure between the profiling component 210 and the antenna, and when the pressure direction of the profiling component 210 and the wiring slot deviates from the preset pressure direction, the mechanical arm 700 is adjusted by the processing unit to make the pressure direction of the profiling component 210 to the antenna perpendicular to the extension direction of the wiring slot.

[0093] In some embodiments, the automatic wiring method of the electronic device further comprises: further sensing the contact pressure of the profiling component 210, and controlling the extension and retraction movement of the profiling component 210 based on the contact pressure of the profiling component 210.

[0094] Specifically, the second force sensor 220 is adapted to sense the contact pressure between the profiling component 210 and the antenna, and then control the second actuating component 230 to move based on the collected mechanical information, so as to drive the profiling component 210 to extend and retract in the direction close to and away from the antenna through the second actuating component 230.

[0095] In this way, the distance between the free end of the profiling component 210 and the antenna is adjusted by the second actuating component 230 according to the contact pressure between the profiling component 210 and the antenna, so as to realize more efficient assembly.

[0096] In some embodiments, the further sensing of the contact pressure of the profiling component 210 and the control of the extension and retraction movement of the profiling component 210 based on the contact pressure of the profiling component 210 comprises: when the contact pressure of the profiling component 210 is greater than a preset pressure threshold, controlling the profiling component 210 to move away from the wiring slot; and when the contact pressure of the profiling component 210 is less than the preset pressure threshold, controlling the profiling component 210 to move towards the wiring slot.

[0097] Specifically, when the second force sensor 220 senses that the contact pressure between the profiling component 210 and the antenna is greater than a preset pressure threshold, the second actuating component 230 controls the profiling component 210 to move away from the wiring slot, so that the profiling component 210 and the antenna maintain a safe distance and a safe pressure that are not easy to cause damage to the antenna.

[0098] When the second force sensor 220 senses that the contact pressure between the profiling component 210 and the antenna is less than the preset pressure threshold, the second actuating component 230 controls the profiling component 210 to move toward the direction of approaching the wiring slot, so that the profiling component 210 and the antenna are kept at a safe distance and a safe pressure that do not easily damage the antenna.

[0099] In some embodiments, when the contact pressure of the profiling component 210 is greater than the preset pressure threshold, the moving distance of the profiling component 210 moving away from the wiring slot is proportional to the difference between the contact pressure and the preset pressure threshold; when the contact pressure of the profiling component 210 is less than the preset pressure threshold, the moving distance of the profiling component 210 moving toward the wiring slot is proportional to the difference between the contact pressure and the preset pressure threshold.

[0100] When the profiling component 210 moves away from the wiring slot, the moving distance is related to the difference between the contact pressure and the preset pressure threshold.

[0101] If the difference between the contact pressure and the preset pressure threshold is large, the moving distance of the profiling component 210 moving away from the wiring slot is long; if the difference between the contact pressure and the preset pressure threshold is small, the moving distance of the profiling component 210 moving away from the wiring slot is short.

[0102] It can be understood that, in order to achieve the above functions, the automatic wiring device and the automatic wiring method of the electronic equipment provided by the embodiments of the present disclosure include the hardware structure and / or software modules for executing the respective functions. In combination with the units and algorithm steps of the examples disclosed in the embodiments of the present disclosure, the embodiments of the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solutions of the embodiments of the present disclosure.

[0103] The specific way in which each module performs operations in the automatic wiring device and the automatic wiring method of the electronic equipment in the above embodiments has been described in detail in the embodiments related to the method, and will not be described in detail here.

[0104] It can be understood that, in the present disclosure, "multiple" refers to two or more, and other quantifiers are similar. The association relationship of "and / or" describing the associated objects means that there can be three relationships, for example, A and / or B can represent the three cases of A existing alone, A and B existing together, and B existing alone. The character " / " generally represents that the associated objects before and after it are in an "or" relationship. The singular forms "a", "said" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0105] It can be further understood that the terms "first", "second", and the like are used to describe various information, but these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other, and do not indicate a particular order or importance. In fact, the expressions of "first", "second", and the like can be completely interchangeable. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information without departing from the scope of the present disclosure.

[0106] It can be further understood that the terms "center", "longitudinal", "transverse", "front", "back", "up", "down", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation.

[0107] It can be further understood that, unless otherwise specified, "connection" includes direct connection between the two without other components, and also includes indirect connection between the two with other elements.

[0108] It can be further understood that, although the operations are described in a specific order in the embodiments of the present disclosure in the drawings, it should not be understood as requiring the operations to be performed in the specific order shown or in a serial order, or requiring all the operations to be performed to obtain the desired results. In a particular environment, multi-tasking and parallel processing can be advantageous.

[0109] Other embodiments of the present disclosure will be apparent to those skilled in the art upon consideration of the specification and practice of the application disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles thereof and include the general principles of the present disclosure and the known or customary practices in the art other than those disclosed in the present disclosure. The specification and examples are only considered as illustrative, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0110] It should be understood that the present disclosure is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present disclosure. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An automatic wiring device characterized by comprising: An automatic wiring device comprises: a mechanical arm; a wiring executor arranged at one end of the mechanical arm for installing a wiring in a wiring slot; and a processing unit for controlling the moving direction and distance of the mechanical arm and the wiring executor. The wiring executor comprises: a clamping component arranged at the end of the wiring executor for clamping the wiring; a first actuating component for controlling the relative movement of the clamping component in a first direction and for controlling the clamping and releasing of the wiring; the clamping component comprises a first clamping jaw and a second clamping jaw, which are relatively far away or relatively close to each other to control the clamping and releasing of the wiring by the clamping component; the first actuating component controls the relative movement of the first clamping jaw and the second clamping jaw; a profiling component arranged at the end of the clamping component, the free end of the profiling component being used to press the wiring into the wiring slot; a first force sensor for sensing the contact pressure and contact direction of the profiling component to provide three-dimensional force information of the profiling component to the processing unit, and the processing unit controls the moving path and posture of the one end of the mechanical arm based on the three-dimensional force information of the profiling component; The wiring executor further comprises: a limiting column arranged on the clamping component for limiting the moving space of the wiring, wherein one end of the limiting column is fixedly arranged on the first clamping jaw; the other end of the limiting column passes through the second clamping jaw, and the second clamping jaw can slide relative to the limiting column. The wiring executor further comprises:

2. The automatic wiring device according to claim 1, wherein a second force sensor arranged at the upper end of the profiling component for detecting the contact pressure of the profiling component; and a second actuating component for controlling the telescopic movement of the profiling component based on the contact pressure of the profiling component detected by the second force sensor. The wiring executor further comprises:

3. The automatic wiring device according to claim 1, wherein a connecting block fixedly connected to the one end of the mechanical arm; and a quick mounting piece, the connecting block being arranged at one end of the quick mounting piece, wherein the wiring executor is quickly mounted or quickly dismounted through the quick mounting piece.

4. The automatic wiring device according to claim 3, wherein the quick mounting piece quickly mounts or quickly dismounts the wiring executor through magnetic attraction. The wiring executor further comprises:

5. The automatic wiring device according to claim 4, wherein a third actuating component connected with the clamping component and used for controlling the clamping component to rotate with the wiring.

6. The automatic wiring device according to any one of claims 1 to 5, wherein the wiring is a coaxial line. based on the preset wiring position of the electronic device, the moving distance and direction of the mechanical arm are set; 7. An automatic wiring method of an electronic device, characterized by, the contact pressure and contact direction of the profiling component are sensed to obtain the three-dimensional force information of the profiling component in contact with the wiring; and based on the three-dimensional force information of the profiling component, the moving path and posture of the end of the mechanical arm are further controlled; the further control of the moving path and posture of the end of the mechanical arm based on the three-dimensional force information of the profiling component comprises: ​ ​ ​ Sensing the magnitude and direction of the contact pressure of the profiling member, and when the contact pressure of the profiling member is greater than a preset pressure threshold, controlling the movement trajectory and posture of the end of the mechanical arm so that the contact pressure of the profiling member in the pressure direction is less than or equal to the preset threshold; When the pressure direction of the contact pressure of the profiling member is different from the preset pressure direction of the profiling member, the movement trajectory and posture of the end of the mechanical arm are controlled so that the pressure direction of the contact pressure of the profiling member is the same as the preset pressure direction of the profiling member.

8. The automatic wiring method of an electronic device according to Claim 7, wherein Also comprising: Further sensing the contact pressure of the profiling member, and based on the contact pressure of the profiling member, controlling the extension and retraction movement of the profiling member. 9.The automatic wiring method of electronic equipment according to claim 8, wherein The further sensing the contact pressure of the profiling member, and based on the contact pressure of the profiling member, controlling the extension and retraction movement of the profiling member, comprises: When the contact pressure of the profiling member is greater than a preset pressure threshold, the profiling member is controlled to move in a direction away from the wiring slot; When the contact pressure of the profiling member is less than a preset pressure threshold, the profiling member is controlled to move in a direction approaching the wiring slot. 10.The automatic wiring method of electronic equipment according to claim 8, wherein When the contact pressure of the profiling member is greater than a preset pressure threshold, the movement distance of the profiling member moving in a direction away from the wiring slot is proportional to the difference between the contact pressure and the preset pressure threshold; When the contact pressure of the profiling member is less than a preset pressure threshold, the movement distance of the profiling member moving in a direction approaching the wiring slot is proportional to the difference between the contact pressure and the preset pressure threshold.

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