CN110039272A - A kind of equipment of automation dismantling flex cable - Google Patents
A kind of equipment of automation dismantling flex cable Download PDFInfo
- Publication number
- CN110039272A CN110039272A CN201910221496.8A CN201910221496A CN110039272A CN 110039272 A CN110039272 A CN 110039272A CN 201910221496 A CN201910221496 A CN 201910221496A CN 110039272 A CN110039272 A CN 110039272A
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- Prior art keywords
- gripper
- equipment
- flex cable
- dismantling
- sucker
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- 238000004445 quantitative analysis Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 14
- 238000000034 method Methods 0.000 description 11
- 238000013461 design Methods 0.000 description 7
- 210000003857 wrist joint Anatomy 0.000 description 7
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- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
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- 238000004458 analytical method Methods 0.000 description 4
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- 230000002708 enhancing effect Effects 0.000 description 2
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- 239000000696 magnetic material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
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- 229920002379 silicone rubber Polymers 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 241001347978 Major minor Species 0.000 description 1
- 229920000459 Nitrile rubber Polymers 0.000 description 1
- DWDGSKGGUZPXMQ-UHFFFAOYSA-N OPPO Chemical compound OPPO DWDGSKGGUZPXMQ-UHFFFAOYSA-N 0.000 description 1
- 244000062793 Sorghum vulgare Species 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Telephone Set Structure (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of equipment of automation dismantling flex cable, including support frame, robot body, gripper rotating device, operation bench, support frame is movably connected on robot body, and robot body is flexibly connected gripper rotating device, and operation bench is placed on the support frame；The gripper rotating device successively includes executing agency, gripper structure from top to bottom, the gripper structure includes gripper, sucker, gripper setting is fluted, and groove surfaces have network rubber friction pad, controls sucker through lateral air inlet by pulsometer and acts on terminal surfaces；The present invention solves does not judge control system specifically in the prior art, the clamping force of gripper and the coordinated movement of various economic factors of gripper need the technical problems such as raising, clip claw assembly of the invention gives quantitative analysis and calculating, cable terminal surface can be preferably adsorbed in, convenient for disassembling winding displacement, the equipment operation is simple, and accuracy is high, can improve the quality of working efficiency and product.
Description
Technical field
The present invention relates to a kind of automation equipments to disassemble flex cable, specifically designs a kind of automation equipment and carrys out generation
For manual working, the operation of people is simulated using the execution end of equipment, is realized that flex cable is fast and accurately disassembled, is improved work
Make efficiency.
Background technique
Information age today, cell phone has become the necessity in people's life, with the development of global network,
Information age can be more and more perfect, and the present most common mobile phone has an iPhone, Samsung mobile phone, Huawei's mobile phone, millet mobile phone,
OPPO mobile phone, VIVO mobile phone etc..But as the brand of mobile phone increases and quantity increases, Cellphone Repairs also face bigger
Workload.Flex cable is the connecting line of cell phone mainboard connection mobile phone display screen, the connection of camera, keypad and mainboard etc.
Line is an important ring for interior of mobile phone, and feature is small in size, light-weight, so when generally disassembling winding displacement, all by small instruments and tools
Dismantling, such as: small-sized crow bar, tweezers etc..In investigation, Cellphone Repairs shop is all generally to disassemble winding displacement by manually disassembling maintenance
When, in advance by above winding displacement cover board and screw dismounting get off, direction is found by crow bar or tweezers, winding displacement two end terminals are prized
It opens, i.e. a winding displacement dismantling finishes.The winding displacement of present smart phone has been substantially buckle and has been attached, and facilitates peace installation and dismantling
Solution.But at this stage, there is the uncertainty centainly damaged for repairing flex cable, typically manual operation, low efficiency；Cause
This, the equipment for inventing a kind of automation dismantling flex cable can be greatly shortened and be torn open to carry out automation dismantling to flex cable
The time is solved, is improved efficiency, manpower is saved.
CN207509209U discloses a kind of suctorial manipulator mechanism of tool, comprising: lifting platform, elevator, the first machine
Tool arm device, the second robot device and the driving assembly for driving elevator, elevator are slidably mounted on lifting platform, the first machine
Tool arm device and the second robot device are respectively arranged in the both ends of elevator；First robot device is pacified including the first manipulator
Fixed block, the first Suction cup assembly and the second Suction cup assembly are filled, the first manipulator installation fixed block is installed on elevator, the first sucker
Component and the second Suction cup assembly are respectively arranged in the both ends of the first manipulator installation fixed block, and the first Suction cup assembly includes the first suction
Disk rotating block and the first sucker.The present invention is inhaled by the first robot device and third with the first sucker and the second sucker
Second robot device of disk and the 4th sucker realizes the absorption to material.Compared to it is traditional using crawl block to material into
Row crawl, will not cause to damage, be effectively protected material using sucker absorbing material to material.
CN206764810U discloses a kind of vacuum chuck type manipulator end effector, including vacuum chuck and mechanical arm
Ontology, the vacuum chuck include upper gas-guide tube, downtake, Universal-head, sucker disk seat and sucker lip, the lower plate of the sucker disk seat
Face is equipped with sucker cavity, and the sucker lip includes nitrile rubber adhesive layer, silicon rubber contact layer, upper enhancing rib net layer and lower enhancing
Rib net layer；The free end of the robot body is fixedly connected with the upper end of the upper gas-guide tube, under the upper gas-guide tube
End is connect with the upper end fluid communication of the downtake, and the lower end of the downtake passes through the Universal-head and the sucker
The upper end fluid communication connection of the first venthole in seat.The present invention can turn the non-uniform article of contact surface roughness
It moves, squeezes the air between contact surface coarse particles using silicon rubber contact layer, and then enhance the adsorption capacity of vacuum chuck, be reduced to
Improve vacuum chuck internal vacuum bring energy consumption and inconvenient property.But the above prior art is all without specifically judgement control
System processed, the clamping force of gripper and the coordinated movement of various economic factors of gripper need to improve.
Summary of the invention
In order to solve the above problem, for actual conditions, the equipment for having invented a kind of automation dismantling flex cable, the equipment
Mainly for connection screen FPC and connection major-minor plate FPC dismantling, after being powered by external power supply, miniature webcam carries out winding displacement
It is accurately positioned, by control system PLC, controls gripper and cable terminal is clamped, it is recessed that pressure sensor detects gripper
Slot clamping force situation drives sucker by motor control telescopic rod, controls sucker by vacuum pump and acts on cable terminal surface, into
And cable terminal is sucked and is unclamped, it is co-operated by gripper and sucker, and then complete the dismantling process of flex cable.
It is described automation dismantling flex cable equipment include: support frame, robot body, gripper rotating device,
Operation bench, support frame are movably connected on robot body, and robot body is flexibly connected gripper rotating device, manipulation
Platform is placed on the support frame；
Further, the equipment of the automation dismantling flex cable further includes mobile phone clamping device；
Further, the mobile phone clamping device is solid including fixed mobile phone clip main body, spring arrangement, clamping device I, spring
Determine screw, telescopic rod, clamping device II；There are four telescopic rod, spring fixed screw are each, the telescopic rod passes through spring arrangement,
Described telescopic rod one end is fixedly connected with the spring fixed screw being fixed in fixed mobile phone clip main body, the other end and clamping device
I, clamping device II is fixedly connected, and the spring arrangement is in clamped condition；
Further, the robot body includes sequentially connected sliding block I, waist joint, large arm, small from top to bottom
Arm.
Further, the gripper rotating device successively includes executing agency, gripper structure, the machine from top to bottom
Machinery claw structure includes gripper.
Further, the gripper rotating device further includes link block, executing agency, miniature force cell, sliding block
Guide rail II, pressure sensor, miniature webcam, sliding block II；
The gripper structure further include servomotor I, gear I, servomotor II, electric telescopic rod, laterally into
Port, groove, sucker.
Preferably, a kind of equipment of automation dismantling flex cable is powered by external power supply, is handled through voltage-stablizer, electricity
It spreads to entire circuit, the PLC program of control system brings into operation；
The sliding block I connection mechanical arm can slide on slide block guide rail I, and the bottom sliding block I is connected to mechanical arm
Waist joint, waist joint bottom are connected to large arm, drive large arm to rotate about the z axis by servomotor III, the angle of rotation is
360 °, the upper end of large arm is provided with elbow joint I, drives large arm to be moved forward and backward along Y-axis by gear III by servomotor V, preceding
Moveable range afterwards: -10cm--10cm；
Further, waist joint top is fixedly connected with cylindrical sliding block I, and two side bottom of waist joint, which has, to be extended downwards
The protruding portion of protruding portion, elbow joint I and waist joint extended downwardly is hinged；
The bottom end of large arm is also equipped with elbow joint II, is connected to forearm, small by gear IV drive by servomotor VI
Arm is moved up and down along Z axis, up and down moveable range: 2cm--5cm；
Further, the elbow joint II and forearm are hinged；
Forearm bottom end is connected to wrist joint, drives wrist joint rotation, the angle of rotation by gear II by servomotor IV
Degree range: -45 ° -- 45 °, wrist joint bottom is connected with link block, and link block lower end is connected to executing agency；The executing agency
It is provided with slide block guide rail II, sliding block II, miniature force cell, pressure sensor, miniature webcam；The top sliding block II and execution
Mechanism connection, the bottom sliding block II is connect with gripper；
Further, link block end be connected with the slide block guide rail II of executing agency, sliding block II, miniature force cell,
Pressure sensor, miniature webcam；
Further, the link block end is flexibly connected with slide block guide rail II, and slide block guide rail II can be around the perpendicular of link block
Straight axis moves in a circle；
Further, there is extension, it is left that slide block guide rail II passes through the executing agency at left and right sides of the executing agency
The extension of right two sides, horizontal plane successively includes slide block guide rail II from top to bottom on the inside of the executing agency, miniature webcam,
Sliding block II；
Further, the miniature webcam is placed on the upside of sliding block II, and miniature force cell is placed on the right side of executing agency,
Pressure sensor is placed on the left of executing agency；
Preferably, the sliding block II is connect with miniature webcam；The inner wall of the sliding block II connects servomotor II
Outside；
Further, miniature webcam is accurately positioned the position of winding displacement, is provided with servo in sliding block II by camera-shooting scanning
Electric motor I I, servomotor II drive gripper that can rotate about the z axis, and the bottom sliding block II is provided with servomotor I, gear
I, gripper, electric telescopic rod, sucker, sucker top are connected with electric telescopic rod, the level in electric telescopic rod and sliding block II
End face connection；
Further, the gripper is placed in electric telescopic rod two sides, side and tooth of the gripper close to electric telescopic rod
Take turns I gear drive connection；
Further, servomotor I, which controls gear I transmission, makes gripper strained movements；
Further, gripper strained movements are made by gear I transmission, gripper setting is fluted, and groove surfaces have net
Shape rubber friction pad controls sucker through lateral air inlet by vacuum pump and acts on terminal surfaces；
Further, the length of the finger of gripper is determined according to the shape of cable terminal；
Preferably, the length of the finger of the gripper be 35mm, width 10mm；
Preferably, the width of the groove is 10mm, depth 2mm；
Preferably, the network rubber friction pad is with a thickness of 1mm；
Preferably, the mechanical arm mainly works in a plane, for the benefit of clamping of terminal, by gripper
Jaw angle is set as 100 °, which is conducive to terminal edge being caught in groove, it will generation tilts upward axial force F 1, most
Article accurately picks up at last.
Its working method of the device are as follows:
1) artificial first that mobile phone is fixed on operation bench using fixed mobile phone clip main body, mobile phone back upward, in fixing clamp
There is spring arrangement, drives clamping device I, clamping device II to clamp mobile phone by spring arrangement.
2) when the groove on the inside of claw clamps cable terminal, make to lead at claw groove clamping terminal front end 10mm
The clamping to front end is crossed, terminal front end face stress can be made, it is more easily-disassembled.
3) when claw is clamped, clamping force need to be controlled, by calculating, the general clamping force for disassembling cable terminal is
3.32N detects gripper groove clamping situation by pressure sensor, after claw clamps, is driven and is inhaled by motor control telescopic rod
Disk is controlled sucker by vacuum pump and acts on cable terminal surface, when being drawn using sucker, needed controlled suction, pass through meter
It calculates, the general suction for disassembling cable terminal is 2.81N.
4) when clamping force is more than 3.32N and suction is more than 2.81N, when still cannot disassemble winding displacement, there will be alarm
Alarm, gripper stop working, and by manually taking mobile phone away, the later period is manually disassembled.
5) when clamping force and suction act on cable terminal simultaneously, 3cm is lifted up by control system control forearm, it will
The dismantling of winding displacement one end；
By another gripper and the other end of sucker dismantling winding displacement, dismantling process is same as above, when two grippers and
When sucker works at the same time, while the terminal at winding displacement both ends is removed, that is, removes whole winding displacement.
6) it after the completion of dismantling, by mechanical arm by slide block guide rail I above support frame, moves to left, puts winding displacement into storing
Case, storage tank bottom are provided with small-sized sliding rail, pick and place convenient for storage tank.
Technical solution of the present invention is at least had the following advantages and beneficial effects:
1. disassemble flex cable, cable terminal is removed by control system control clip claw assembly, by vacuum pump control
Sucker processed acts on cable terminal surface and is drawn, and flex cable is completed in clip claw assembly and the operation of Suction cup assembly common implementing
Dismantling process, it is easy to operate, quick.
2. the analysis of clip claw assembly quantitative and quantitative calculating, it is ensured that during dismantling, avoid damage cable terminal etc.
Situation；When the clamping power of clip claw assembly is more than the maximum theoretical quantitatively calculated, winding displacement cannot be still removed, then by control system
Control executing agency abandons disassembling, and the later period manually disassembles, and tolls breakdown damage by machinery plus artificial co-operation dismantling, avoidable equipment
Product.
3. Suction cup assembly uses the band special sucker of magnetic material, controlled by vacuum pump and implement operation, can avoid winding displacement end
Sublist surface roughness bring adverse effect；In addition, sucker gives quantitative analysis and quantitative calculating, it is ensured that sucker, which meets, to be inhaled
Condition is taken, convenient for operation.
4. comparing traditional manual operation, present device is easy to operate, and accuracy is high, has a safety feature, and can meet big
Batch demand reduces the labor intensity of worker, improves the quality of working efficiency and product.
Detailed description of the invention
For the clearer technical solution for illustrating the embodiment of the present invention, below to needing attached drawing to be used to make in embodiment
It is simple to introduce, it should be understood that the following drawings illustrates only certain embodiments of the invention, is not construed as to model of the present invention
The limitation enclosed without creative efforts, can obtain according to these attached drawings to those skilled in the art
Obtain other accompanying drawings.
Fig. 1 is the structural schematic diagram of present invention automation dismantling flex cable equipment.
Fig. 2 is the schematic view of the front view of present invention automation dismantling flex cable equipment.
Fig. 3 is the structural schematic diagram that present invention automation dismantling flex cable equipment executes end.
Fig. 4 is the structural schematic diagram of present invention automation dismantling flex cable plant machinery pawl.
Fig. 5 is the partial enlarged view of present invention automation dismantling flex cable plant machinery pawl.
Fig. 6 is the structural schematic diagram of present invention automation dismantling flex cable equipment fixed station.
Fig. 7 is flex cable disassembly flow chart of the present invention.
Fig. 8 is tine resiliency structure simplification figure of the present invention.
Fig. 9 is the horizontal positioned sucker structure schematic diagram of the present invention.
Figure 10 is vacuum pump air circuit connection figure.
Mark in figure: support frame 1, executing agency 2, link block 3, forearm 4, large arm 5, waist joint 6, sliding block I7, sliding block are led
Rail I8, elbow joint I9, elbow joint II10, wrist joint 11, storage tank 12, control system 13, operation bench 14, miniature force cell
15, slide block guide rail II16, pressure sensor 17, miniature webcam 18, sliding block II19, gripper 20, servomotor I21, tooth
Take turns I22, servomotor II23, electric telescopic rod 24, lateral air inlet 25, groove 26, sucker 27, network rubber friction pad
28, fixed mobile phone clip main body 29, spring arrangement 30, clamping device I31, spring fixed screw 32, telescopic rod 33, clamping device
II34, servomotor III35, gear II36, servomotor IV37, servomotor V38, gear III39, gear
IV40, servomotor VI41, tracheae 42, vacuum pump 43, solenoid valve 44.
Specific embodiment
The present invention will be described in the following with reference to the drawings and specific embodiments.
To keep purpose-technical solution and the advantage of the embodiment of the present invention clearer, below in conjunction with attached drawing, to the present invention
Technical solution in embodiment carries out clear, complete description.Obviously, described embodiment is that a part of the invention is implemented
Example, instead of all the embodiments.
Therefore, the model of claimed invention is not intended to limit to the detailed description of the embodiment of the present invention below
It encloses, but is merely representative of section Example of the invention.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside", " back side " is to be based on the orientation or positional relationship shown in the drawings,
Either the invention product using when the orientation or positional relationship usually put.This kind of term is merely for convenience of the description present invention
It is described with simplifying, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation structure
It makes and operates, therefore be not considered as limiting the invention.
It should also be noted that, in the description of the present invention unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.To those skilled in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
As shown in figures 1 to 6, the embodiment of the present invention is:
A kind of equipment of automation dismantling flex cable, comprising: support frame 1, robot body, gripper rotating dress
It sets, operation bench 14, support frame 1 is movably connected on robot body, and robot body is flexibly connected gripper rotating dress
It sets, operation bench 14 is placed on support frame 1；
As a preferred embodiment in the present invention, the equipment of the automation dismantling flex cable further includes Mobile phone clip
Hold device；
As a preferred embodiment in the present invention, the mobile phone clamping device includes fixed mobile phone clip main body 29, bullet
Spring device 30, clamping device I31, spring fixed screw 32, telescopic rod 33, clamping device II34；Telescopic rod 33, spring are fixed
There are four screw 32 is each, the telescopic rod 33 passes through spring arrangement 30, described 33 one end of telescopic rod and is fixed on fixed Mobile phone clip
Spring fixed screw 32 in main body 29 is fixedly connected, and the other end is fixedly connected with clamping device I31, clamping device II34, institute
It is in clamped condition to state spring arrangement 30；
As a preferred embodiment in the present invention, the robot body includes sequentially connected cunning from top to bottom
Block I7, waist joint 6, large arm 5, forearm 4.
As a preferred embodiment in the present invention, the gripper rotating device successively includes execution machine from top to bottom
Structure 2, gripper structure, the gripper structure include gripper 20.
As a preferred embodiment in the present invention, the gripper rotating device further includes link block 3, executing agency
2, miniature force cell 15, slide block guide rail II 16, pressure sensor 17, miniature webcam 18, sliding block II19；
As a preferred embodiment in the present invention, the gripper structure further includes servomotor I21, gear
I22, servomotor II23, electric telescopic rod 24, lateral air inlet 25, groove 26, sucker 27.
As a preferred embodiment in the present invention, it is described it is a kind of automation dismantling flex cable equipment by external electrical
Source power supply, is handled, electric current is transmitted to entire circuit, and the PLC program of control system 13 brings into operation through voltage-stablizer；
As a preferred embodiment in the present invention, the sliding block I7 connection mechanical arm can be on slide block guide rail I8
Sliding, the bottom sliding block I7 are connected to the waist joint 6 of mechanical arm, and 6 bottom of waist joint is connected to large arm 5, passes through servomotor
III35 drives large arm 5 to rotate about the z axis, and the angle of rotation is 360 °, and the upper end of large arm 5 is provided with elbow joint I9, by servo electricity
Motivation V38 drives large arm 5 to be moved forward and backward along Y-axis by gear III39, the moveable range in front and back: -10cm--10cm；
As a preferred embodiment in the present invention, 6 top of waist joint is fixedly connected with cylindrical sliding block I7, and waist closes
Saving 6 liang of side bottoms has the protruding portion extended downwards, and elbow joint I9 and the protruding portion of waist joint 6 extended downwardly are hinged；
As a preferred embodiment in the present invention, the bottom end of large arm 5 is also equipped with elbow joint II10, is connected to forearm
4, drive forearm 4 to move up and down along Z axis by gear IV40 by servomotor VI41, up and down moveable range: 2cm--
5cm；
As a preferred embodiment in the present invention, the elbow joint II10 and forearm 4 are hinged；
As a preferred embodiment in the present invention, 4 bottom end of forearm is connected to wrist joint 11, by servomotor IV37
Wrist joint 11 is driven to rotate by gear II36, the angular range of rotation: -45 ° -- 45 °, 11 bottom of wrist joint is connected with connection
Block 3,3 lower end of link block are connected to executing agency 2；The executing agency 2 is provided with slide block guide rail II16, sliding block II19, miniature
Load cell 15, pressure sensor 17, miniature webcam 18；The top sliding block II19 is connect with executing agency 2, the bottom sliding block II19
Portion is connect with gripper 20；
As a preferred embodiment in the present invention, 3 end of link block is connected with the slide block guide rail of executing agency 2
II16, sliding block II19, miniature force cell 15, pressure sensor 17, miniature webcam 18；
As a preferred embodiment in the present invention, 3 end of link block is flexibly connected with slide block guide rail II16, sliding
Block guide rail II16 can move in a circle around the vertical axis of link block 3；
As a preferred embodiment in the present invention, there is extension, slide block guide rail at left and right sides of the executing agency
II16 passes through the extension at left and right sides of the executing agency, and horizontal plane successively includes from top to bottom on the inside of the executing agency
Slide block guide rail II16, miniature webcam 18, sliding block II19；
As a preferred embodiment in the present invention, the miniature webcam 18 is placed on the upside of sliding block II19, miniature survey
Force snesor 15 is placed in 2 right side of executing agency, and pressure sensor 17 is placed in 2 left side of executing agency；
As a preferred embodiment in the present invention, the sliding block II19 is connect with miniature webcam 18；The sliding block
The outside of the inner wall connection servomotor II23 of II19；
As a preferred embodiment in the present invention, winding displacement is accurately positioned by camera-shooting scanning in miniature webcam 18
Position is provided with servomotor II23 in sliding block II19, and servomotor II23 drives gripper 20 that can rotate about the z axis,
The bottom sliding block II19 is provided with servomotor I21, gear I22, gripper 20, electric telescopic rod 24, sucker 27, sucker 27
Top is connected with electric telescopic rod 24, and electric telescopic rod 24 is connect with the horizontal end face in sliding block II19；
As a preferred embodiment in the present invention, the gripper 20 is placed in 24 two sides of electric telescopic rod, gripper
20 connect close to the side of electric telescopic rod 24 with gear I22 gear drive；
As a preferred embodiment in the present invention, 20 strained movements of gripper, gripper are made by gear I22 transmission
20 settings fluted 26, there is network rubber friction pad 28 on 26 surface of groove, is controlled and is inhaled through lateral air inlet 25 by vacuum pump 43
Disk 27 acts on terminal surfaces；
As a preferred embodiment in the present invention, servomotor I21 control gear I22 transmission opens gripper 20
Tight movement；
As a preferred embodiment in the present invention, the length of the finger of gripper 20 is true according to the shape of cable terminal
It is fixed；
As a preferred embodiment in the present invention, the length of the finger of the gripper 20 is 35mm, width is
10mm；
As a preferred embodiment in the present invention, the width of the groove 26 is 10mm, depth 2mm；
As a preferred embodiment in the present invention, the network rubber friction pad 28 is with a thickness of 1mm；
As a preferred embodiment in the present invention, the mechanical arm mainly works in a plane, for benefit
In the clamping of terminal, 100 ° are set by the jaw angle of gripper 20, which is conducive to for terminal edge to be caught in groove 26,
It will generate and tilt upward axial force F 1, finally accurately pick up article.
As shown in fig. 7, a preferred embodiment of the equipment as automation dismantling flex cable a kind of in the present invention
In embodiment, working method are as follows:
1) artificial first that mobile phone is fixed on operation bench 14 using fixed mobile phone clip main body 29, mobile phone back is upward, fixed
There is spring arrangement 30 in folder, drives clamping device I31, clamping device II34 to clamp mobile phone by spring arrangement 30.
2) when the groove 26 on the inside of claw clamps cable terminal, claw groove 26 is made to clamp terminal front end 10mm
Place, by the clamping to front end, can make terminal front end face stress, more easily-disassembled.
3) when claw is clamped, clamping force need to be controlled, by calculating, the general clamping force for disassembling cable terminal is
3.32N detects 20 groove of gripper, 26 clamping situation by pressure sensor 17, after claw clamps, by motor control telescopic rod
24 drive sucker 27, control sucker 27 by vacuum pump 43 and act on cable terminal surface, when being drawn using sucker 27, need
Controlled suction, by calculating, the general suction for disassembling cable terminal is 2.81N.
4) when clamping force is more than 3.32N and suction is more than 2.81N, when still cannot disassemble winding displacement, there will be alarm
Alarm, gripper 20 stop working, and by manually taking mobile phone away, the later period is manually disassembled.
5) when clamping force and suction act on cable terminal simultaneously, forearm 4 is controlled by control system 13 and is lifted up
3cm disassembles winding displacement one end；
The other end of winding displacement is disassembled by another gripper 20 and sucker 27, dismantling process is same as above, when two machinery
When pawl 20 and sucker 27 work at the same time, while the terminal at winding displacement both ends is removed, that is, removes whole winding displacement.
6) it after the completion of dismantling, by mechanical arm by 1 top slide block guide rail I8 of support frame, moves to left, puts winding displacement into storage
Object case 12,12 bottom of storage tank are provided with small-sized sliding rail, pick and place convenient for storage tank.
As the embodiment of another preferred embodiment in the present invention, gripper 20 and sucker and non-concurrent operation,
But it is first grabbed with gripper 20, a kind of embodiment of the equipment of automation dismantling flex cable, working method are as follows:
1) artificial first that mobile phone is fixed on operation bench 14 using fixed mobile phone clip main body 29, mobile phone back is upward, fixed
There is spring arrangement 30 in folder, drives clamping device I31, clamping device II34 to clamp mobile phone by spring arrangement 30.
2) when the groove 26 on the inside of claw clamps cable terminal, claw groove 26 is made to clamp terminal front end 10mm
Place, by the clamping to front end, can make terminal front end face stress, more easily-disassembled.
3) when claw is clamped, clamping force need to be controlled, by calculating, clamping force needed for general dismounting cable terminal
Range is 3.98N~6.64N, detects 20 groove of gripper, 26 clamping situation by pressure sensor 17, when claw clamps winding displacement end
After son, forearm 4 is controlled by control system 13 and is lifted up 3cm, cable terminal is removed.
4) after cable terminal is removed, it is spaced 0.5s；Then, sucker 27 is driven by motor control telescopic rod 24, passes through vacuum
43 control sucker 27 of pump acts on cable terminal surface, is drawn；By calculating, inhaled according to minipump PH2506B type
For disk in vacuum degree 75kpa, the power that single sucker can bear is 2.81N, and theory suction needed for drawing winding displacement is 2.4N, sucker
It meets the requirements.
5) when clamping force is more than that 6.64N still cannot remove cable terminal, there will be alarm equipment alarm, gripper 20 stops
It only works, by manually taking mobile phone away, the later period carries out manual demolition.
6) other end demolishing process of winding displacement is same as above, when two grippers 20 and sucker 27 work at the same time
Whole winding displacement is completed to remove.
7) it after the completion of whole winding displacement is removed, by mechanical arm by 1 top slide block guide rail I8 of support frame, moves to left to storing
12 top of case, solenoid valve 44 power off, and vacuum expendable pattern, winding displacement falls into storage tank 12, and 12 bottom of storage tank is provided with small-sized sliding rail,
Convenient for storage tank pick-and-place.
The present embodiment is further detailed below:
As shown in figure 8, being directed to the dismantling of this small article of flex cable, higher precision is needed, therefore design machine
It needs to meet structural requirement when machinery claw and sucker, by measurement and numerical analysis, cable terminal general shape is 1.8 × 1.2
× 0.3cm (length × width x thickness), quality 20g, cable terminal position and cell phone mainboard level are at 180 °.
Cable terminal force analysis: gravity G, connector withdrawal force T, clamping force F,
Clamping force F × μ of gripper=(G/2)+T (wherein μ is coefficient of friction), F is minimum grip power at this time
In formula: gravity G=mg=0.02 × 9.8=0.196N, connector withdrawal force T=1N,
Wherein terminal pulling-inserting force calculates: terminal contact engaging and separating force is when male end cooperates with female end into and out required
Frictional force is a part important in connector mechanical performance, and terminal contact engaging and separating force is too small, then terminal is easily releasable, leads to electricity
Contact unstable or failure；Contact engaging and separating force is excessive, causes assembly difficulty, stress condition when being cooperated according to male end and female end with
And existing tine resiliency structure, tine resiliency structure is reduced to Flexural cantilever model；
It is theoretical according to cantilever beam theory and frictional force, contact engaging and separating force formula when male end and female end cooperation can be obtained
T=μ × Fn=μ × (dEWt3/4L3)
In formula: μ --- coefficient of friction；The normal pressure of F --- terminal；D --- tine resiliency displacement structure amount；W --- end
The width of elastic structure；L --- the length of tine resiliency structure；The elasticity modulus of E --- material；The thickness of t --- material.
It consults, the friction chapter of " mechanical engineer's handbook " second edition, chosen material is copper material, obtains friction coefficient μ and takes
0.2 as shown from the above formula, the thickness of the size of bonder terminal contact engaging and separating force and terminal material, elasticity modulus, coefficient of friction,
The width and displacement of elastic construction are directly proportional, are inversely proportional with the jib-length of elastic construction.After the completion of product structure design,
Contact engaging and separating force can be adjusted by changing the parameter (elasticity modulus, surface roughness, coating material and thickness) of terminal material
Size.Pulling-inserting force T=1N can be obtained by computation of table lookup.
Finger position is convenient for changing to increase coefficient of friction, utilizes rubber friction pad in the place of clamping contact, leads to
It crossing and looks into " mechanical design handbook ", knowing that the coefficient of friction of rubber is 0.36, by can be calculated minimum grip power F=3.32N.
In view of the plug that mobile phone model is different, cable terminal male and female end mutually generates acts on not first-class factor, now design
When clamping force, consider that the clamping force of gripper is in 3.98N~6.64N range at this time there are certain safety coefficient s=1.2~2.0
It is interior.
As shown in figure 9, the selection of vacuum chuck: this design uses vacuum chuck, working condition be it is horizontal positioned, i.e., it is required
The theory most suction W wanted can make object mobile, wherein carrying out force analysis such as Fig. 9, can obtain: the required suction W of sucker,
W=m × (g+a/ μ) × s
In formula: m --- quality；G --- acceleration of gravity takes 10m/s herein2；A --- acceleration is promoted, herein according to
Common speed takes 5m/s2；S --- safety coefficient takes 2 herein according to material properties；μ --- coefficient of friction, given friction system
Number is average value, according to the material of workpiece, value 0.1；Suction can be obtained are as follows:
W=m × (g+a/ μ) × s=0.02 × (10+5/0.1) × 2=2.4N
The calculating of sucker specification and quantity: the theoretical suction N of sucker,
μ × 0.1 N=× S × P
Wherein: S is sucking disc area (cm2), P is air pressure (kpa), and μ is coefficient of friction (μ=0.75)；
This design uses vacuum generator for minipump PH2506B, and vacuum degree is -75kpa；
Sucking disc area S=π × r × r=3.14 × 0.4 × 0.4=0.5cm2；
μ × 0.1 × 75 suction N=× 0.5=2.81N.
According to minipump PH2506B type sucker in vacuum degree 75kpa, the power that single sucker can bear is
2.81N, required theory suction is 2.4N, that is, needs a sucker.
The structure of mechanical paw illustrates: mechanical paw of the invention is Double-gear gripper, and the size of gripper is the length of finger
Degree is 35mm, width 10mm, gripper end is equipped with groove, convenient for the clamping to cable terminal, depth of groove 2mm, together
When claw surface have one layer of network rubber friction pad, with a thickness of 1mm, when for claw work, increasing friction force prevents motion process
In fall off.The jaw angle of gripper is set as 100 °, when to clamp terminal, there is tilt angle, convenient for clamping.In addition, according to quilt
The size of crawl terminal opens angle appropriate and goes to grasp at, it is desirable that claw open-angle degree≤80 °, opening diameter≤50mm；
The structure of vacuum chuck illustrates: vacuum chuck of the invention is made of sucker and connector, using metal bone
Frame, sucker use silastic material, and coefficient of friction 0.75, using side intake method, the diameter for designing sucker is 0.8cm, is inhaled
Disk body is formed by connecing vacuum plant, pumping slot, Acetabula device etc., and connector lower end is equipped with small-sized sliding rail, and Acetabula device upper end connects
Sliding rail is connect, small range sliding can be carried out, the position of Acetabula device is adjusted according to terminal surfaces.In addition, Acetabula device bottom is set
There is one layer of magnetic material, convenient for the terminal absorption to metal material.
As shown in figs. 9-10, as a preferred embodiment in the present invention, since cable terminal surface roughness is different,
When being drawn using general sucker, it may occur that sucker gas leak phenomenon, and then suction can not be generated；Therefore two-bit triplet
Solenoid valve 44 is connected with vacuum pump 43, and vacuum pump 43 controls sucker and acts on terminal surfaces, and vacuum pump 43 is connected by tracheae 42
It is connected to sucker, the air-breathing of sucker and the operation of deflation are realized by the energization and power-off of the solenoid valve 44 of two-bit triplet, avoided
The case where sucker can not be drawn.
Embodiments above is merely to illustrate the technical solution being not intended to limit the present invention, and does not depart from any of spirit of that invention
Modification or part replacement, are intended to be within the scope of the claims of the invention.
Claims (10)
1. a kind of equipment of automation dismantling flex cable, it is characterised in that: including support frame (1), robot body, machinery
Pawl rotating device, operation bench (14), support frame (1) are movably connected on robot body, and robot body is flexibly connected
Gripper rotating device, operation bench (14) are placed on support frame (1).
2. a kind of equipment of automation dismantling flex cable according to claim 1, it is characterised in that: the automation is torn open
The equipment for solving flex cable further includes mobile phone clamping device.
3. a kind of equipment of automation dismantling flex cable according to claim 2, it is characterised in that: the mobile phone clamping
Device includes fixed mobile phone clip main body (29), spring arrangement (30), clamping device I (31), spring fixed screw (32), telescopic rod
(33), (34) clamping device II；There are four telescopic rod (33), spring fixed screw (32) are each；
The telescopic rod (33) passes through spring arrangement (30), described telescopic rod (33) one end and is fixed on fixed mobile phone clip main body
(29) the spring fixed screw (32) in is fixedly connected, the other end and clamping device I (31), the fixed company of clamping device II (34)
It connects, the spring arrangement (30) is in clamped condition.
4. a kind of equipment of automation dismantling flex cable according to claim 1, it is characterised in that: the mechanical arm
Ontology includes sequentially connected sliding block I (7), waist joint (6), large arm (5), forearm (4) from top to bottom.
5. a kind of equipment of automation dismantling flex cable according to claim 1, it is characterised in that: the gripper rotation
Rotary device includes successively from top to bottom executing agency (2), gripper structure, and the gripper structure includes gripper (20).
6. a kind of equipment of automation dismantling flex cable according to claim 1, it is characterised in that: the gripper rotation
Rotary device further includes link block (3), miniature force cell (15), slide block guide rail II (16), pressure sensor (17), miniature takes the photograph
As head (18), sliding block II (19).
7. a kind of equipment of automation dismantling flex cable according to claim 5, it is characterised in that: the gripper knot
Structure further includes servomotor (I21), gear I (22), servomotor II (23), electric telescopic rod (24), lateral air inlet
(25), groove (26), sucker (27).
8. a kind of equipment of automation dismantling flex cable according to claim 6, it is characterised in that: the sliding block I (7)
Connection mechanical arm can slide on slide block guide rail I (8), and sliding block I (7) bottom is connected to the waist joint (6) of mechanical arm, waist
Joint (6) bottom is connected to large arm (5), drives large arm (5) to rotate about the z axis by servomotor III (35), the angle of rotation
It is 360 °, the upper end of large arm (5) is provided with elbow joint I (9), drives large arm by gear III (39) by servomotor V (38)
(5) it is moved forward and backward along Y-axis, the moveable range in front and back: -10cm--10cm.
9. a kind of equipment of automation dismantling flex cable according to claim 8, it is characterised in that: on waist joint (6)
Portion is fixedly connected with cylindrical sliding block I (7), and (6) two side bottom of waist joint has a protruding portion extended downwards, elbow joint I (9) with
The protruding portion of waist joint (6) extended downwardly is hinged.
10. a kind of equipment of automation dismantling flex cable according to claim 9, it is characterised in that: the bottom of large arm (5)
End is also equipped with elbow joint II (10), is connected to forearm (4), drives forearm by gear IV (40) by servomotor VI (41)
(4) it is moved up and down along Z axis, up and down moveable range: 2cm--5cm；
The elbow joint II (10) and forearm (4) are hinged.
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| CN201910221496.8A CN110039272B (en) | 2019-03-22 | 2019-03-22 | Automatic change equipment of disassembling cell-phone winding displacement |
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| CN201910221496.8A CN110039272B (en) | 2019-03-22 | 2019-03-22 | Automatic change equipment of disassembling cell-phone winding displacement |
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| CN111890044A (en) * | 2020-08-27 | 2020-11-06 | 成都九系机器人科技有限公司 | Automatic pipe fitting assembling system |
| CN113194190A (en) * | 2021-04-28 | 2021-07-30 | 青岛科技大学 | Intelligent classification processing method for waste mobile phone disassembly fault based on cloud computing |
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| CN110039272B (en) | 2021-03-12 |
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