A high-precision mobile phone coaxial line automatic assembly and control method

Abstract

This invention relates to the field of communication electrical component manufacturing technology, and in particular to a high-precision mobile phone coaxial cable automatic assembly and cable management system and control method. The system includes: a frame; a feeding module for storing and clamping coaxial cables; a coaxial cable gripping and photographing module for gripping the incoming coaxial cables on the production line; a cable gripping, straightening, and conveying module for clamping the coaxial cables, straightening them, and exposing the terminals at both ends of the coaxial cables; a twisting module for twisting the coaxial cable terminals; an alignment photographing module for photographing and recording the coordinate values ​​of the coaxial cable terminals; a double-arm cable assembly module for pressing the coaxial cable terminals into the plate; a turntable module for cable clamping and cable management into the slot; and a discharge module for photographing and re-inspecting the mobile phones. This invention can improve the production quality and efficiency of mobile phone coaxial cables.

Description

Technical Field

[0001] This invention relates to the field of communication electrical component manufacturing technology, and in particular to a high-precision mobile phone coaxial cable automatic assembly and cable management system and control method. Background Technology

[0002] With the rapid development of the smartphone industry, the production efficiency and quality requirements for mobile phone components are increasing daily. As a key component for signal transmission within a mobile phone, the assembly and cable management of mobile phone coaxial cables currently rely heavily on manual labor. This is not only inefficient and costly, but also makes product quality highly susceptible to human factors, making it difficult to guarantee consistency. Therefore, improving the production quality and efficiency of mobile phone coaxial cables is a technical problem that urgently needs to be solved by those skilled in the art.

[0003] Chinese Patent Publication No. CN116979330A discloses a high-precision automatic fastening assembly machine for mobile phone signal coaxial cables and its assembly process. The machine includes a horizontally positioned frame, a feeding mechanism, a loading arm, a cable management mechanism, a fastening assembly mechanism, and a conveying and carrying mechanism. The frame is horizontally placed, with a carrying platform formed on its upper part. The feeding mechanism is located on one side of the carrying platform. The cable management mechanisms are spaced apart on one side of the feeding mechanism. The loading arm is positioned between the feeding mechanism and the cable management mechanism. The cable management mechanism includes a carrying component, a pressing component, a shaping and rotating component, and a clamping component. The conveying and carrying mechanism is located on the other side of the carrying platform. The fastening and assembly mechanism is positioned between the cable management mechanism and the conveying and carrying mechanism, and includes two sets of fastening and assembly mechanisms. It is evident that the above technical solution has the following problems: it cannot dynamically adjust the assembly and cable management processes according to the actual processing state of the coaxial cable, resulting in unstable coaxial cable production quality. Summary of the Invention

[0004] To address this issue, the present invention provides a high-precision mobile phone coaxial cable automatic assembly and cable management system and control method, which overcomes the problem in the prior art that the assembly and cable management processes cannot be dynamically adjusted according to the actual processing status of the coaxial cable, resulting in unstable coaxial cable production quality.

[0005] To achieve the above objectives, the present invention provides a high-precision mobile phone coaxial cable automatic assembly and cable management system, comprising:

[0006] frame;

[0007] A feeding module, located inside the frame, is used to store and clamp coaxial cables;

[0008] The coaxial cable grasping and photographing module is located directly above the feeding module and is used to grasp the incoming posture of the coaxial cable on the production line.

[0009] The wire gripping and straightening transport module is located on one side of the feeding module and is used to clamp the coaxial cable, straighten the coaxial cable, and expose the terminals at both ends of the coaxial cable.

[0010] A twisting module, which is connected to the wire gripping, straightening, and transporting module, is used to twist the coaxial cable terminals;

[0011] The alignment and imaging module is connected to the twisting module and is used to take pictures of the coaxial cable terminals and record their coordinate values.

[0012] The dual-arm wire assembly module is connected to the twisting module and the alignment and imaging module respectively, and is used to press the coaxial cable terminals into the plate;

[0013] The turntable module is connected to the double-arm cable assembly module and is used for cable fastening and cable management into the slot.

[0014] The discharge module, which is connected to the turntable module, is used to take photos of the mobile phone for re-inspection.

[0015] Furthermore, the dual-arm assembly module includes:

[0016] support;

[0017] The camera, mounted on the top of the bracket, is used to capture the coordinates of the coaxial cable terminals;

[0018] The wire gripper is located on one side of the bracket and is used to grip the coaxial terminal.

[0019] The wire clamping head is located below the wire gripper claw and is used to fix the coaxial cable terminal.

[0020] A pressure sensor, located above the wire gripper jaws, is used to detect the pressure head pressure.

[0021] Furthermore, the turntable module includes:

[0022] A rotary workstation is used to provide a workstation operation platform;

[0023] A cam divider is installed below the turntable station to drive the turntable station to rotate;

[0024] The divider mounting base plate is located below the cam divider and is used to drive the rotary table station to rotate.

[0025] A fixture is installed on the edge of the turntable station to assist in pressing the coaxial cable into the groove of the mobile phone frame.

[0026] A rotary pneumatic-electric slip ring, located at the center of the turntable station, is used to drive the movement of the clamp.

[0027] An integrated terminal block, located on the side of the rotating pneumatic slip ring, is used to control signal distribution to the clamp.

[0028] This invention also provides a method for automatic assembly and cable management control of high-precision mobile phone coaxial cables, comprising:

[0029] The processing status is determined based on the position error coefficient and the terminal abnormality. The control method is determined based on the processing status. The control method is either wire management analysis and adjustment or assembly analysis and adjustment.

[0030] In the line management analysis and adjustment, the adjustment method is determined based on the attitude deviation index and the grasping instability threshold. The adjustment method is to determine the line straightening optimization method based on the abnormal coordination degree, or to adjust the torsional speed based on the iterative instability threshold. The line straightening optimization method is to adjust the number of grasping points based on the coordination difference or to dynamically adjust the line straightening force.

[0031] During assembly analysis and adjustment, the optimization method is determined based on the gripping coordination degree. The optimization method is to determine the alignment compensation method based on the alignment coordination coefficient, or to adjust the pressure head pressure based on the gripping coordination degree. The alignment compensation method is to adjust the alignment distance based on the coordination bias threshold or feedback accuracy deviation.

[0032] Furthermore, if the processing state is that the pose error coefficient is greater than or equal to the preset pose error coefficient and the terminal anomaly degree is less than the preset terminal anomaly degree, then the control method is assembly analysis and adjustment.

[0033] Furthermore, if the processing status is that the pose error coefficient is less than the preset pose error coefficient or the terminal abnormality is greater than or equal to the preset terminal abnormality, then the control method is wire management analysis and adjustment.

[0034] Furthermore, if the attitude deviation index is greater than or equal to the preset attitude deviation index or the grasping instability threshold is less than the preset grasping instability threshold, the adjustment method is to determine the line straightening optimization method based on the abnormal coordination degree.

[0035] If the abnormal coordination degree is greater than or equal to the preset abnormal coordination degree, the optimization method is to increase the number of capture points based on the coordination difference.

[0036] If the abnormal coordination degree is less than the preset abnormal coordination degree, the straightening optimization method is to dynamically adjust the straightening force.

[0037] Furthermore, if the attitude deviation index is less than the preset attitude deviation index and the grasping instability threshold is greater than or equal to the preset grasping instability threshold, the adjustment method is to increase the torsional speed according to the iterative instability threshold.

[0038] The increase in the torsional velocity is positively correlated with the iterative instability threshold.

[0039] Furthermore, if the capture coordination degree is less than the preset capture coordination degree, the optimization method is to determine the alignment compensation method based on the alignment coordination coefficient;

[0040] If the alignment coordination coefficient is less than the preset alignment coordination coefficient, the alignment compensation method is to increase the alignment distance according to the coordination bias threshold.

[0041] If the alignment coordination coefficient is greater than or equal to the preset alignment coordination coefficient, the alignment compensation method is to increase the alignment distance based on the feedback accuracy deviation.

[0042] Furthermore, if the gripping coordination degree is greater than or equal to the preset gripping coordination degree, the optimization method is to increase the pressure of the pressure head according to the gripping coordination degree;

[0043] The increase in pressure of the pressure head is positively correlated with the gripping coordination degree.

[0044] Compared with the prior art, the beneficial effects of the present invention are that, in the technical solution of the present invention, the processing state is determined according to the pose error coefficient and the terminal anomaly degree. The pose error coefficient and the terminal anomaly degree effectively reflect the core deviation source in the mobile phone coaxial cable assembly process. Then, different control methods are selected according to the adaptability of the processing state, so that the selection of control methods is more in line with the actual application scenario, and the processing state is accurately characterized. This is conducive to achieving the high-precision assembly requirements of the coaxial cable, thereby improving production efficiency and product reliability.

[0045] Furthermore, in this invention, the attitude deviation index and the grasping instability threshold effectively reflect the degree of deviation of the incoming material attitude of the coaxial cable and the instability of the grasping and handling module in grasping the coaxial cable. Then, based on the attitude deviation index and the grasping instability threshold, different adjustment methods are adaptively selected so that the selected adjustment method can adapt to different working conditions, which is conducive to shortening the adjustment time and improving the overall processing efficiency.

[0046] Furthermore, this invention effectively reflects the stability of tension fluctuations in the coaxial cable during the straightening process through abnormal coordination. Based on this abnormal coordination, different winding optimization methods are adaptively selected. Adjusting the gripping point can quickly improve winding efficiency. By dynamically adjusting the winding tension and the applied force, the insulation layer of the coaxial cable is prevented from cracking or the conductor damaged due to excessive stretching. Real-time compensation for minor deviations avoids unnecessary intervention, thereby improving production efficiency and quality.

[0047] Furthermore, this invention effectively reflects the coordinated stability of the gripping jaws' actions during the assembly process of the dual-arm wire assembly module by using gripping coordination. Different optimization methods are then adaptively selected based on the gripping coordination, making the selection of optimization methods more in line with actual application scenarios. This reduces the problems of poor clamping control accuracy and poor gripping coordination that lead to poor processing accuracy of the turntable module when clipping and aligning wires into the slot, thereby improving the processing quality and yield of coaxial cables. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the high-precision mobile phone coaxial cable automatic assembly and cable management system of the present invention;

[0049] Figure 2 This is a top view of the high-precision mobile phone coaxial cable automatic assembly and cable management system of the present invention;

[0050] Figure 3 This is a schematic diagram of the dual-arm cable assembly module of the high-precision mobile phone coaxial cable automatic assembly and cable management system of the present invention;

[0051] Figure 4 This is a schematic diagram of the turntable module of the high-precision mobile phone coaxial cable automatic assembly and cable management system of the present invention;

[0052] Figure 5 This is a schematic diagram of the automatic assembly and cable management control method for high-precision mobile phone coaxial cables according to the present invention;

[0053] Figure 6 This is a flowchart illustrating how the control method is determined based on the processing status according to the present invention.

[0054] Figure 7 This is a flowchart illustrating how the alignment compensation method is determined based on the alignment coordination coefficient in this invention.

[0055] In the diagram: 1. Frame; 2. Feeding module; 3. Coaxial cable gripping and photographing module; 4. Wire gripping, straightening and transporting module; 5. Twisting module; 6. Alignment and photographing module; 7. Double-arm wire assembly module; 8. Turntable module; 9. Discharge module; 10. Support; 11. Upper camera; 12. Wire gripping claw; 13. Wire clamping head; 14. Pressure sensor; 15. Turntable station; 16. Cam divider; 17. Divider mounting base plate; 18. Fixture; 19. Rotary pneumatic and electric slip ring; 20. Integrated terminal block. Detailed Implementation

[0056] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0057] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0058] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0059] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] Please see Figures 1 to 4 As shown, the present invention provides a high-precision mobile phone coaxial cable automatic assembly and cable management system, comprising:

[0061] Rack 1;

[0062] The feeding module 2 is located inside the frame 1 and is used to store and clamp the coaxial cable;

[0063] The coaxial cable grasping and photographing module 3 is located directly above the feeding module 2 and is used to grasp the incoming posture of the coaxial cable on the production line.

[0064] The wire grabbing and straightening transport module 4 is located on one side of the feeding module 2 and is used to clamp the coaxial cable, straighten the coaxial cable, and expose the terminals at both ends of the coaxial cable.

[0065] The twisting module 5 is connected to the wire gripping and straightening transport module 4 and is used to twist the coaxial cable terminals;

[0066] The alignment and imaging module 6 is connected to the twisting module 5 and is used to take pictures of the coaxial cable terminals and record their coordinate values.

[0067] The double-arm wire assembly module 7 is connected to the twisting module 5 and the alignment and imaging module 6 respectively, and is used to press the coaxial cable terminals into the plate;

[0068] The turntable module 8 is connected to the double-arm wire assembly module 7 and is used for wire fastening and wire management into the groove.

[0069] The discharge module 9 is connected to the turntable module 8 and is used to take photos of the mobile phone for re-inspection.

[0070] Specifically, the dual-arm assembly module 7 includes:

[0071] 10 brackets;

[0072] The upper camera 11 is mounted on the top of the bracket 10 and is used to capture the coordinates of the coaxial cable terminal.

[0073] The wire gripper 12 is located on one side of the bracket 10 and is used to grip the coaxial terminal.

[0074] The wire clamping head 13 is located below the wire gripping claw 12 and is used to fix the coaxial cable terminal.

[0075] Pressure sensor 14 is located above the wire gripper 12 and is used to detect the pressure head pressure.

[0076] Specifically, the turntable module 8 includes:

[0077] Turntable station 15 is used to provide a station operation platform;

[0078] A cam divider 16 is installed below the turntable station 15 to drive the turntable station 15 to rotate;

[0079] The divider mounting base plate 17 is located below the cam divider 16 and is used to drive the turntable station 15 to rotate.

[0080] The fixture 18 is installed on the edge of the turntable station 15 to assist the coaxial cable in pressing into the mobile phone frame groove;

[0081] A rotating pneumatic slip ring 19 is located at the center of the turntable station 15 and is used to drive the movement of the clamp 18.

[0082] An integrated terminal block 20, located on one side of the rotating pneumatic slip ring 19, is used to control signal distribution to the clamp 18.

[0083] The working process of the high-precision mobile phone coaxial cable automatic assembly and cable management system of the present invention includes: after the user puts the coaxial cable into the feeding module 2, the feeding module 2 lifts the coaxial cable and picks it up, then conveys it to the area below the coaxial cable grasping and photographing module 3. The coaxial cable grasping and photographing module 3 captures the incoming posture and wire end coordinates of the coaxial cable on the assembly line and sends them to the wire grasping, straightening and transporting module 4. The wire grasping, straightening and transporting module 4 performs the wire grasping and straightening actions and sends the coaxial cable to the twisting module 5. At the same time, the alignment and photographing module 6 can take pictures of the coaxial cable terminals and send them to the twisting module 5. The twisting module 5 twists the coaxial cable terminals and ensures that the planes of the two ends of the terminals are horizontal before handing them over to the double-arm assembly module 7. The upper camera 11 is used to capture the coordinates of the coaxial cable terminals so that the wire clamping head 13 and the wire gripper 12 in the double-arm assembly module 7 work together to perform position calibration. After the position is calibrated, the wire clamping head 13, under the control of the pressure sensor 14, will... The coaxial cable terminal is pressed into the plate, and at the same time, the cam divider 16 in the turntable module 8 drives the turntable station 15 to perform intermittent motion. The four quadrants of the turntable station 15 are evenly distributed with four sets of identical clamps 18. The first station is the feeding station. The mobile phone is pushed into the clamp 18 through the first station and the mobile phone is pressed and fixed. The second station is the automatic wire fastening and wire sorting station. The turntable drives the clamp 18 into the second station. The alignment and photography module 6 simultaneously takes pictures of the position coordinates of the coaxial cable terminal on the mobile phone and sends the data to the motion control system. The motion control system makes adjustments and compensations to make it accurately aligned. After alignment, the male terminal of the coaxial cable is pressed into the corresponding female terminal on the mobile phone. At the same time, the coaxial cable is clamped in the gap. The turntable station 15 drives the clamp 18 into the third station and pauses. The coaxial cable clamped in the gap of the previous station is pressed into the wire groove of the mobile phone frame and then the mobile phone is released to the discharge module 9 for photographing and re-inspection of the mobile phone.

[0084] Please see Figures 5 to 7 As shown, the present invention also provides a method for automatic assembly and cable management control of high-precision mobile phone coaxial cables, comprising:

[0085] The processing status is determined based on the position error coefficient and the terminal abnormality. The control method is determined based on the processing status. The control method is either wire management analysis and adjustment or assembly analysis and adjustment.

[0086] In the line management analysis and adjustment, the adjustment method is determined based on the attitude deviation index and the grasping instability threshold. The adjustment method is to determine the line straightening optimization method based on the abnormal coordination degree, or to adjust the torsional speed based on the iterative instability threshold. The line straightening optimization method is to adjust the number of grasping points based on the coordination difference or to dynamically adjust the line straightening force.

[0087] During assembly analysis and adjustment, the optimization method is determined based on the gripping coordination degree. The optimization method is to determine the alignment compensation method based on the alignment coordination coefficient, or to adjust the pressure head pressure based on the gripping coordination degree. The alignment compensation method is to adjust the alignment distance based on the coordination bias threshold or feedback accuracy deviation.

[0088] This invention includes several historical records, each recording at least one instance of the automatic coaxial cable assembly and routing control process for mobile phones, including anomaly coefficients, pose error coefficients, terminal anomalies, attitude deviation indices, grasping instability thresholds, and anomaly coordination. Each historical record also has a corresponding pass / fail marker, indicating whether the automatic coaxial cable assembly and routing control meets user requirements. These markers can be manually recorded. It is understood that users can determine whether the automatic coaxial cable assembly and routing control process meets their needs based on self-defined indicators. These self-defined indicators can be, but are not limited to, the anomaly rate, which will not be elaborated upon here. The anomaly rate is calculated as: (Number of mobile phones whose cables are not properly aligned with the slots) / (Total number of mobile phones undergoing automatic coaxial cable assembly and routing).

[0089] Specifically, if the processing state is that the pose error coefficient is greater than or equal to the preset pose error coefficient and the terminal anomaly degree is less than the preset terminal anomaly degree, then the control method is assembly analysis and adjustment.

[0090] The processing state includes a first processing state and a second processing state. The first processing state is when the pose error coefficient is greater than or equal to the preset pose error coefficient and the terminal abnormality is less than the preset terminal abnormality. The second processing state is when the pose error coefficient is less than the preset pose error coefficient or the terminal abnormality is greater than or equal to the preset terminal abnormality.

[0091] The coaxial cable corresponding to the mobile phone whose assembly and wiring have been completed is recorded as the reference coaxial cable, and the coaxial cable currently being buried is recorded as the target coaxial cable.

[0092] The pose error coefficient is the average of the sub-pose error coefficients corresponding to each reference mobile phone coaxial cable, and the terminal anomaly degree is the average of the sub-terminal anomaly degrees corresponding to each reference mobile phone coaxial cable.

[0093] The method for confirming the sub-terminal anomaly is as follows: for a single reference mobile phone coaxial line, detect the image captured by the reference mobile phone coaxial line in the alignment and shooting module. The edge of the terminal can be captured by edge detection technology. The center of the outer circle of the terminal edge is recorded as the centroid of the terminal. The sub-terminal anomaly is the standard deviation of the distance threshold corresponding to each edge point. The edge point is each pixel point located on the edge of the terminal. The distance threshold corresponding to a single edge point is the shortest distance from the edge point to the centroid of the terminal.

[0094] The sub-pose error coefficient is the area of ​​the circle that can contain the centroid of the terminals corresponding to the coaxial lines of each reference mobile phone after placing them in the same image.

[0095] The user can determine the values ​​of the preset pose error coefficient and the preset terminal anomaly degree according to the actual application scenario. The smaller the value of the preset pose error coefficient and the larger the value of the preset terminal anomaly degree, the greater the user's need for assembly analysis and adjustment. The system provides a preset pose error coefficient and preset terminal anomaly degree value, detects the user's assembly analysis and adjustment history, and records the average pose error coefficient corresponding to the history that meets the user's needs as the preset pose error coefficient, and records the average terminal anomaly degree corresponding to the history that meets the user's needs as the preset terminal anomaly degree.

[0096] Specifically, if the processing status is that the pose error coefficient is less than the preset pose error coefficient or the terminal abnormality is greater than or equal to the preset terminal abnormality, the control method is wire management analysis and adjustment.

[0097] It is understandable that the pose error coefficient and terminal anomaly degree effectively reflect the core deviation sources (pose consistency and terminal regularity) in the mobile phone coaxial cable assembly process. When the processing state is that the pose error coefficient is greater than or equal to the preset pose error coefficient and the terminal anomaly degree is less than the preset terminal anomaly degree, it indicates that the coaxial cable terminal itself has good regularity (no obvious edge irregularity problems), but the pose consistency of the reference coaxial cable is poor (the terminal centroid distribution is scattered). The deviation mainly stems from insufficient alignment and pressing accuracy in the assembly process, so the control method is assembly analysis and adjustment. When the processing state is that the pose error coefficient is less than the preset pose error coefficient or the terminal anomaly degree is greater than or equal to the preset terminal anomaly degree, it indicates that the pose consistency of the reference coaxial cable is good (the terminal centroid distribution is concentrated), or the terminal itself has poor regularity (edge ​​irregularity, centroid offset). The deviation mainly stems from poor straightening and twisting effects in the cable management process, so the control method is cable management analysis and adjustment.

[0098] Specifically, if the attitude deviation index is greater than or equal to the preset attitude deviation index or the grasping instability threshold is less than the preset grasping instability threshold, the adjustment method is to determine the line straightening optimization method based on the abnormal coordination degree.

[0099] If the abnormal coordination degree is greater than or equal to the preset abnormal coordination degree, the optimization method is to increase the number of capture points based on the coordination difference.

[0100] If the abnormal coordination degree is less than the preset abnormal coordination degree, the straightening optimization method is to dynamically adjust the straightening force.

[0101] Wherein, the attitude deviation index = |attitude reference value corresponding to the target mobile phone coaxial line - average of the attitude reference values ​​corresponding to each reference mobile phone coaxial line|. The attitude reference value is determined as follows: for a single mobile phone coaxial line, the mobile phone coaxial line is recorded as the target coaxial line. The incoming material attitude image of the target coaxial line captured by the coaxial line capture and photography module is obtained. The target coaxial line in the incoming material attitude image is divided into n equal parts. The larger the length of the target coaxial line, the larger the value of n. One value of n is provided, n is 30. Any endpoint of the target coaxial line and each division point are recorded as analysis points. The other endpoint not recorded as an analysis point is recorded as a control point. The direction from the endpoint recorded as the reference point through each division point to the control point is recorded as the reference direction. The vector angle corresponding to each analysis point is detected. The method for determining the vector angle corresponding to a single analysis point is as follows: for an analysis point, the analysis point is recorded as the target analysis point. The vector angle corresponding to the analysis point adjacent to the target analysis point and located after the reference direction of the target analysis point is determined. Vector corresponding to the target analysis point The angle between Let it be denoted as the vector angle. The vector corresponding to each analysis point is tangent to the coaxial line of the target and the direction of the vector is the same as the reference direction. The attitude reference value = standard deviation of the vector angle corresponding to each analysis point / preset standard deviation × first weighting coefficient + average of the shortest distance from each equally divided point to the reference line segment / preset average value × second weighting coefficient. The first weighting coefficient and the second weighting coefficient are both 0.5. The reference line segment is the line connecting the two endpoints of the coaxial line of the target.

[0102] Users can determine the preset standard deviation and preset average value according to the actual application scenario. The greater the user's precision requirement for improving the stability of coaxial cable production quality, the smaller the preset standard deviation and preset average value will be. One preset standard deviation and preset average value is provided: preset standard deviation is 5° and preset average value is 0.4mm.

[0103] The instability threshold is the average of the instability reference values ​​corresponding to each reference mobile phone coaxial line. Each coaxial line has two gripping points. The instability reference value = the length of the line connecting the two gripping points / the length threshold, where the length threshold is 5mm.

[0104] The user can determine the values ​​of the preset attitude deviation index and the preset grasping instability threshold according to the actual application scenario. The smaller the value of the preset attitude deviation index and the larger the value of the preset grasping instability threshold, the greater the user's need to determine the line straightening optimization method based on the abnormal coordination degree. The system provides a preset attitude deviation index and preset grasping instability threshold values, detects the historical records of the user's determination of the line straightening optimization method based on the abnormal coordination degree, and records the average of the attitude deviation index corresponding to the historical records that meet the user's needs as the preset attitude deviation index, and records the average of the grasping instability threshold corresponding to the historical records that meet the user's needs as the preset grasping instability threshold.

[0105] The abnormal coordination degree is the standard deviation of the coaxial cable tension at each time point during the process of the cable gripping and straightening transport module clamping and straightening the coaxial cable. Starting from the beginning time point of the time period corresponding to the coaxial cable clamping and straightening process, an interval point is set every 30 seconds until the coaxial cable is straightened. Each interval point and the beginning time point are recorded as time points, and the coaxial cable tension corresponding to each time point is... Where E is the elastic modulus of the coaxial line, A is the cross-sectional area of ​​the coaxial line at that time point, L0 is the length of the coaxial line when the wire gripping and straightening transport module clamps the coaxial line at a single time point, and L is the length of the coaxial line when the wire gripping and straightening transport module does not clamp the coaxial line.

[0106] The user can determine the preset abnormal coordination degree value according to the actual application scenario. The smaller the preset abnormal coordination degree value, the greater the user's need to adjust the grab point. A preset abnormal coordination degree value is provided, and the user's historical adjustment history of grab point is detected. The average value of the abnormal coordination degree corresponding to the historical history that can meet the user's needs is recorded as the preset abnormal coordination degree.

[0107] Coordination difference = |abnormal coordination degree corresponding to the target mobile phone coaxial cable - average abnormal coordination degree corresponding to each reference mobile phone coaxial cable|;

[0108] The number of gripping points is increased based on the coordination difference. The increase in the number of gripping points = coordination difference / average of abnormal coordination degree corresponding to each reference mobile phone coaxial line × n. If the number of gripping points after the increase is m, the coaxial line is divided into (m-1) equal parts. The gripping point positions of each division point are the two endpoints of the coaxial line and each division point. Adjacent gripping point pairs are clamped in sequence from one end to the other to straighten the line. Adjacent gripping point pairs are two adjacent gripping points.

[0109] In the dynamic adjustment of the straightening force, during the process of the wire gripping and straightening transport module clamping the coaxial cable and straightening it, the straightening force is reduced according to the coaxial cable tension at each time point. The reduction value of the straightening force for a single time point is equal to the coaxial cable tension at that time point / the preset coaxial cable tension × the straightening force threshold, which is 0.5N.

[0110] A single time point segment is the time segment between that time point and its corresponding adjacent time points. For a single time point, the time points adjacent to that time point and located after that time point in the time sequence from early to late are recorded as adjacent time points. It should be noted that during the process of clamping and straightening the coaxial line, at any time point, the force applied to the straightening of the line by the two clamps is the same.

[0111] The user can determine the preset coaxial cable tension value according to the actual application scenario. The greater the user's requirement for the precision of coaxial cable tautness control, the greater the preset coaxial cable tension value. One preset coaxial cable tension value is provided: 0.9N.

[0112] The force applied during the straightening process is the force applied by the clamping and straightening module at a single point in time during the process of clamping and straightening the coaxial cable.

[0113] It is understandable that the abnormal coordination degree effectively reflects the stability of tension fluctuations in the coaxial cable during the straightening process. When the abnormal coordination degree is greater than or equal to the preset abnormal coordination degree, it indicates that the tension fluctuations are large and the straightening process is unstable. Adjusting the applied force alone is not enough to improve the situation. It is necessary to improve the overall control accuracy by starting with the layout of the gripping points. Therefore, the optimization method for straightening the cable is to increase the number of gripping points based on the coordination difference. When the abnormal coordination degree is less than the preset abnormal coordination degree, it indicates that the tension fluctuations are small and the straightening process is basically stable. However, there may be local over-tensioning or under-tensioning phenomena. Fine control can be achieved by fine-tuning the applied force. Therefore, the optimization method for straightening the cable is to dynamically adjust the applied force.

[0114] Specifically, if the attitude deviation index is less than the preset attitude deviation index and the grasping instability threshold is greater than or equal to the preset grasping instability threshold, the adjustment method is to increase the torsional speed according to the iterative instability threshold.

[0115] The increase in the torsional velocity is positively correlated with the iterative instability threshold.

[0116] Wherein, the iterative instability threshold = the captured instability threshold / the preset captured instability threshold instability × instability weight coefficient + the linear influence coefficient / the preset linear influence coefficient × influence weight coefficient, the instability weight coefficient is 0.4, the influence weight coefficient is 0.6, and the linear influence coefficient is the standard deviation of the diameter corresponding to each analysis point of the target mobile phone coaxial line;

[0117] The value of the preset linear influence coefficient can be determined by the user according to the actual application scenario. The greater the user's precision requirement for improving the stability of coaxial cable production quality, the smaller the value of the preset linear influence coefficient should be. A method for determining the value of the preset linear influence coefficient is provided, which is the average value of the linear influence coefficients corresponding to the historical records that can meet the user's needs.

[0118] The twisting speed is the speed at which the twisting module twists the coaxial cable terminal.

[0119] The increase in torsional speed = iterative instability threshold / preset iterative instability threshold × torsional speed threshold, where the torsional speed threshold is 60° / s;

[0120] The user can determine the value of the preset iterative instability threshold according to the actual application scenario. The greater the user's precision requirement for improving the stability of coaxial cable production quality, the smaller the value of the preset iterative instability threshold should be. One preset iterative instability threshold value is provided, which is 0.64.

[0121] Understandably, the attitude deviation index and the grasping instability threshold effectively reflect the attitude consistency and grasping stability during the coaxial cable straightening process. When the attitude deviation index is greater than or equal to the preset attitude deviation index or the grasping instability threshold is less than the preset grasping instability threshold, it indicates that the attitude of the target coaxial cable deviates significantly from the reference attitude (such as excessive bending or twisting), or the stability of the grasping point is insufficient (abnormal length of the line connecting the two grasping points, which easily leads to cable swaying). The basic attitude and grasping effect of the cable straightening process are poor. Therefore, the adjustment method is to determine the cable straightening optimization method based on the abnormal coordination (improving the straightening effect by increasing the grasping points or dynamically adjusting the applied force).

[0122] When the attitude deviation index is less than the preset attitude deviation index and the grasping instability threshold is greater than or equal to the preset grasping instability threshold, it indicates that the attitude of the target coaxial cable is consistent with the reference attitude and the grasping stability meets the standard (the basic cable management effect is qualified). However, there may be a potential risk of insufficient terminal torsion accuracy (which needs to be judged in conjunction with the cable diameter consistency). Therefore, the adjustment method is to increase the torsion speed according to the iterative instability threshold (by increasing the torsion speed, the terminal plane is ensured to be horizontal to meet the subsequent assembly requirements).

[0123] Specifically, if the capture coordination degree is less than the preset capture coordination degree, the optimization method is to determine the alignment compensation method based on the alignment coordination coefficient.

[0124] If the alignment coordination coefficient is less than the preset alignment coordination coefficient, the alignment compensation method is to increase the alignment distance according to the coordination bias threshold.

[0125] If the alignment coordination coefficient is greater than or equal to the preset alignment coordination coefficient, the alignment compensation method is to increase the alignment distance based on the feedback accuracy deviation.

[0126] Wherein, the gripping coordination degree = |average of the alignment coordination coefficients corresponding to each normal coaxial line -average of the alignment coordination coefficients corresponding to each abnormal coaxial line|, the alignment coordination coefficient = 1 - [1 / (standard deviation of the axial reference values ​​corresponding to each axis of the gripping jaws of the dual-arm cable assembly module + 1)], the axes of the gripping jaws of the dual-arm cable assembly module include three linear axes X, Y, and Z and a rotational axis θ; the axial reference value corresponding to a single axis = the standard deviation of the movement speed of the axis at each second time point / the average of the movement speed of the axis at each second time point; for a single coaxial line that has completed automatic assembly and cable management, the starting time of the coaxial line in the time period corresponding to the process of pressing the coaxial line terminal into the plate in the dual-arm cable assembly module is taken as the starting point, and an interval point is set every 30 seconds until the coaxial line terminal is pressed into the plate. The time points where each interval point and the starting time are located are recorded as the second time point;

[0127] Cooperative bias threshold = Feedback accuracy deviation / Preset feedback accuracy deviation × Feedback weight coefficient + (1 - Alignment coordination coefficient / Preset alignment coordination coefficient) × Alignment weight coefficient, where both feedback weight coefficient and alignment weight coefficient are 0.5. Feedback accuracy deviation = |Average value of sub-pose error coefficients corresponding to each normal coaxial line - Average value of sub-pose error coefficients corresponding to each abnormal coaxial line| × (Sub-pose error coefficients corresponding to the target mobile phone coaxial line / Average value of sub-pose error coefficients corresponding to each reference mobile phone coaxial line).

[0128] The reference coaxial cable category is determined based on the loss coefficient. Reference mobile phone coaxial cables with a loss coefficient greater than or equal to a preset loss coefficient are classified as abnormal coaxial cables, while those with a loss coefficient less than the preset loss coefficient are classified as normal coaxial cables. The loss coefficient is calculated as insertion loss / return loss. Insertion loss is the ratio of output power to input power after the signal passes through the coaxial cable, and return loss is the ratio of incident signal power to reflected signal power. Insertion loss and return loss can be measured using a vector network analyzer, a common technique used by those skilled in the art, and will not be elaborated upon here. The value of the preset loss coefficient can be determined by the user based on the actual application scenario. The greater the user's need for improved assembly cable management accuracy, the larger the preset loss coefficient. One preset loss coefficient value is provided: 0.12.

[0129] The alignment distance is increased based on the collaborative bias threshold, where the increase in alignment distance = collaborative bias threshold / preset collaborative bias threshold × alignment distance threshold, and the alignment distance threshold is 0.1mm;

[0130] The alignment distance is increased based on the feedback accuracy deviation, where the increase in alignment distance = feedback accuracy deviation / preset feedback accuracy deviation × alignment distance threshold;

[0131] The values ​​of the preset collaborative bias threshold and the preset feedback accuracy deviation can be determined by the user according to the actual application scenario. The greater the user's precision requirement for improving the stability of coaxial cable production quality, the smaller the values ​​of the preset collaborative bias threshold and the preset feedback accuracy deviation should be. A preset collaborative bias threshold and preset feedback accuracy deviation are provided, and the average value of the collaborative bias threshold and the average value of the feedback accuracy deviation corresponding to the historical records that can meet the user's needs are respectively denoted as the preset collaborative bias threshold and the preset feedback accuracy deviation.

[0132] The alignment distance is the distance that the turntable module moves the male connector of the coaxial cable. The alignment distance is determined by obtaining the position coordinates of the coaxial cable terminal through the alignment imaging module and sending the data to the motion control system. This is something that is easy for those skilled in the art to understand, and will not be elaborated on in detail.

[0133] The preset values ​​for grasp coordination degree and preset alignment coordination coefficient can be determined by the user based on the actual application scenario. The larger the value of the preset grasp coordination degree, the greater the user's need to determine the alignment compensation method based on the alignment coordination coefficient. The system detects historical records of users determining the alignment compensation method based on the alignment coordination coefficient, and records the average value of the grasp coordination degree corresponding to the historical records that meet the user's needs as the preset grasp coordination degree. The larger the value of the preset alignment coordination coefficient, the greater the user's need to increase the alignment distance based on the coordination bias threshold. The system provides a preset alignment coordination coefficient value, detects historical records of increasing the alignment distance based on the coordination bias threshold, and records the average value of the alignment coordination coefficient corresponding to the historical records that meet the user's needs as the preset alignment coordination coefficient.

[0134] Understandably, the alignment coordination coefficient effectively reflects the stability and accuracy of the movement of each axis of the gripper (indirectly reflecting the basic state of alignment accuracy). When the alignment coordination coefficient is less than the preset alignment coordination coefficient, it indicates that the stability of the movement speed of each axis of the gripper is poor, and the offset error during the alignment process is significant. Therefore, the alignment compensation method is to increase the alignment distance based on the coordination offset threshold. When the alignment coordination coefficient is greater than or equal to the preset alignment coordination coefficient, it indicates that the stability of the movement of each axis of the gripper meets the standard, but the actual alignment accuracy still has a deviation (mainly due to the accuracy error of the feedback detection). Therefore, the alignment compensation method is to increase the alignment distance based on the feedback accuracy deviation.

[0135] Specifically, if the gripping coordination degree is greater than or equal to the preset gripping coordination degree, the optimization method is to increase the pressure of the pressure head according to the gripping coordination degree.

[0136] The increase in pressure of the pressure head is positively correlated with the gripping coordination degree.

[0137] The pressure head pressure is the pressure applied by the dual-arm wiring module when pressing the coaxial terminal into the board.

[0138] The increase in pressure head = gripping coordination degree / preset gripping coordination degree × pressure head pressure threshold, where the pressure head pressure threshold is 7N.

[0139] Understandably, the gripping coordination degree effectively reflects the coordinated stability of the gripping jaws' movements during the assembly process of the dual-arm wiring module (i.e., the synchronization and consistency of the dual-arm movements). When the gripping coordination degree is less than the preset gripping coordination degree, it indicates poor coordination of the movements of each axis of the gripping jaws in the dual-arm wiring module, which is prone to alignment deviation. Therefore, the optimization method is to determine the alignment compensation method based on the alignment coordination coefficient. When the gripping coordination degree is greater than or equal to the preset gripping coordination degree, it indicates good coordination of the gripping jaws' movements (synchronous and stable movements of each axis) and excellent alignment foundation conditions. Therefore, the optimization method is to increase the pressure of the pressure head based on the gripping coordination degree (by increasing the pressure, the terminals are firmly pressed in, and good coordination is used to avoid overpressure damage).

[0140] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0141] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for an automatic assembly and cable management system for high-precision mobile phone coaxial cables, characterized in that, The high-precision mobile phone coaxial cable automatic assembly and cable management system includes: frame; A feeding module, located inside the frame, is used to store and clamp coaxial cables; The coaxial cable grasping and photographing module is located directly above the feeding module and is used to grasp the incoming posture of the coaxial cable on the production line. The wire gripping and straightening transport module is located on one side of the feeding module and is used to clamp the coaxial cable, straighten the coaxial cable, and expose the terminals at both ends of the coaxial cable. A twisting module, which is connected to the wire gripping, straightening, and transporting module, is used to twist the coaxial cable terminals; The alignment and imaging module is connected to the twisting module and is used to take pictures of the coaxial cable terminals and record their coordinate values. The dual-arm wire assembly module is connected to the twisting module and the alignment and imaging module respectively, and is used to press the coaxial cable terminals into the plate; The turntable module is connected to the double-arm cable assembly module and is used for cable fastening and cable management into the slot. The discharge module, which is connected to the turntable module, is used to take photos of the mobile phone for re-inspection. The control method for the high-precision mobile phone coaxial cable automatic assembly and cable management system is as follows: The processing status is determined based on the position error coefficient and the terminal abnormality. The control method is determined based on the processing status. The control method is either wire management analysis and adjustment or assembly analysis and adjustment. In the line management analysis and adjustment, the adjustment method is determined based on the attitude deviation index and the grasping instability threshold. The adjustment method is to determine the line straightening optimization method based on the abnormal coordination degree, or to adjust the torsional speed based on the iterative instability threshold. The line straightening optimization method is to adjust the number of grasping points based on the coordination difference or to dynamically adjust the line straightening force. During assembly analysis and adjustment, the optimization method is determined based on the gripping coordination degree. The optimization method is to determine the alignment compensation method based on the alignment coordination coefficient, or to adjust the pressure head pressure based on the gripping coordination degree. The alignment compensation method is to adjust the alignment distance based on the coordination bias threshold or feedback accuracy deviation.

2. The control method for the high-precision mobile phone coaxial cable automatic assembly and cable management system according to claim 1, characterized in that, If the processing status is that the pose error coefficient is greater than or equal to the preset pose error coefficient and the terminal anomaly degree is less than the preset terminal anomaly degree, then the control method is assembly analysis and adjustment.

3. The control method for the high-precision mobile phone coaxial cable automatic assembly and cable management system according to claim 2, characterized in that, If the processing status is that the pose error coefficient is less than the preset pose error coefficient or the terminal abnormality is greater than or equal to the preset terminal abnormality, then the control method is wire management analysis and adjustment.

4. The control method for the high-precision mobile phone coaxial cable automatic assembly and cable management system according to claim 3, characterized in that, If the attitude deviation index is greater than or equal to the preset attitude deviation index or the grasping instability threshold is less than the preset grasping instability threshold, the adjustment method is to determine the line straightening optimization method based on the abnormal coordination degree. If the abnormal coordination degree is greater than or equal to the preset abnormal coordination degree, the optimization method is to increase the number of capture points based on the coordination difference. If the abnormal coordination degree is less than the preset abnormal coordination degree, the straightening optimization method is to dynamically adjust the straightening force.

5. The control method for the high-precision mobile phone coaxial cable automatic assembly and cable management system according to claim 4, characterized in that, If the attitude deviation index is less than the preset attitude deviation index and the grasping instability threshold is greater than or equal to the preset grasping instability threshold, the adjustment method is to increase the torsional speed according to the iterative instability threshold. The increase in the torsional velocity is positively correlated with the iterative instability threshold.

6. The control method for the high-precision mobile phone coaxial cable automatic assembly and cable management system according to claim 2, characterized in that, If the capture coordination degree is less than the preset capture coordination degree, the optimization method is to determine the alignment compensation method based on the alignment coordination coefficient. If the alignment coordination coefficient is less than the preset alignment coordination coefficient, the alignment compensation method is to increase the alignment distance according to the coordination bias threshold. If the alignment coordination coefficient is greater than or equal to the preset alignment coordination coefficient, the alignment compensation method is to increase the alignment distance based on the feedback accuracy deviation.

7. The control method for the high-precision mobile phone coaxial cable automatic assembly and cable management system according to claim 6, characterized in that, If the gripping coordination degree is greater than or equal to the preset gripping coordination degree, the optimization method is to increase the pressure of the pressure head according to the gripping coordination degree; The increase in pressure of the pressure head is positively correlated with the gripping coordination degree.

8. The control method for the high-precision mobile phone coaxial cable automatic assembly and cable management system according to claim 1, characterized in that, The dual-arm wiring module includes: support; The camera, mounted on the top of the bracket, is used to capture the coordinates of the coaxial cable terminals; The wire gripper is located on one side of the bracket and is used to grip the coaxial terminal. The wire clamping head is located below the wire gripper claw and is used to fix the coaxial cable terminal. A pressure sensor, located above the wire gripper jaws, is used to detect the pressure head pressure.

9. The control method for the high-precision mobile phone coaxial cable automatic assembly and cable management system according to claim 8, characterized in that, The turntable module includes: A rotary workstation is used to provide a workstation operation platform; A cam divider is installed below the turntable station to drive the turntable station to rotate; The divider mounting base plate is located below the cam divider and is used to drive the rotary table station to rotate. A fixture is installed on the edge of the turntable station to assist in pressing the coaxial cable into the groove of the mobile phone frame. A rotary pneumatic-electric slip ring, located at the center of the turntable station, is used to drive the movement of the clamp. An integrated terminal block, located on the side of the rotating pneumatic slip ring, is used to control signal distribution to the clamp.

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