CN113984348A - Automatic plugging mechanism and plugging method - Google Patents
Automatic plugging mechanism and plugging method Download PDFInfo
- Publication number
- CN113984348A CN113984348A CN202111263651.6A CN202111263651A CN113984348A CN 113984348 A CN113984348 A CN 113984348A CN 202111263651 A CN202111263651 A CN 202111263651A CN 113984348 A CN113984348 A CN 113984348A
- Authority
- CN
- China
- Prior art keywords
- plugging
- plug
- camera
- display panel
- clamping mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000008569 process Effects 0.000 claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims abstract description 14
- 230000000694 effects Effects 0.000 claims description 11
- 238000003825 pressing Methods 0.000 claims description 4
- 238000002788 crimping Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses an automatic plugging mechanism which can be applied to the automation work of electrical connection and crimping assembly; the automatic plugging mechanism comprises a manipulator, a camera and a plug assembly, wherein the manipulator is used for driving the display panel to move and plug; the camera shoots the plugging process and the plugging result so as to correct the position and judge the plugging result; the plug assembly comprises a clamping mechanism and a sensing unit, the clamping mechanism is used for fixing and positioning the plug, the clamping mechanism is installed in a sliding mode in the inserting movement direction, and the sensing unit is used for sensing the stress or displacement of the clamping mechanism in the sliding process. The utility model also discloses an automatic plugging method for working by using the mechanism. The automatic plugging mechanism judges the plugging result under the condition that the display panel does not work by electrifying, prevents misleading of the plugging result caused by the quality problem of the product, and has simple structure and easy operation.
Description
Technical Field
The utility model belongs to the technical field of photoelectric detection, and particularly relates to an automatic plugging mechanism and a plugging method.
Background
In the existing display panel industry, a process of conveying and operating products by using a tray exists, and equipment needs to detect various functions of the products in the operation process, so that the display panel needs to be lightened in the transportation process, and the optical detection can be finished without separating the products from the tray in the transportation process of the products. To accomplish above-mentioned function, generally need to settle video image signal generator on the tray, after equipment feeding end carries out the material loading with new product, need add automatic grafting mechanism this moment, peg graft with the socket on plug and the display panel on the tray.
In the prior art, after plugging is completed, the plugging effect is generally judged by lighting the display panel through electrification, so that the quality of the display panel or the plug is mistaken as poor plugging, and the specific poor reason cannot be confirmed; and the problem that the plug can be normally lightened when the plug is checked, and the plug can not be normally lightened when the plug is separated from the plug position, namely the plug is not in place actually, and poor contact is caused can also occur. In addition, there may be position error during display panel material loading, also can have position error when the plug is got the material, and the error is accumulated the back, can make the grafting risk very high.
Therefore, it is necessary to provide an automatic plugging mechanism and a plugging method with high automation degree.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, the present invention aims to: the automatic plugging mechanism and the plugging method can automatically judge the plugging result, ensure the plugging effect and improve the plugging efficiency.
In order to realize part or all of the purposes of the utility model, the utility model provides the following technical scheme:
an automatic plugging mechanism comprises a manipulator, a camera and a plug assembly, wherein the manipulator is used for driving a display panel to move and plug; the camera shoots the plugging process and the plugging result so as to correct the position and judge the plugging result; the plug assembly comprises a clamping mechanism and a sensing unit, wherein the clamping mechanism is used for fixing and positioning a plug, the clamping mechanism is installed in a sliding mode in the plugging movement direction, and the sensing unit is used for sensing the stress or displacement of the clamping mechanism in the sliding process; the manipulator, the clamping mechanism, the camera and the sensing unit are electrically connected with the controller.
During operation, after the plug moves to the grafting position, the controller reads the positional information that the camera was shot, with the motion of control manipulator, realize position correction, make socket and plug parallel and level on the display, calculate the required translation distance of manipulator completion grafting according to shooting information again, make the grafting distance confirm, after the grafting is accomplished, the controller confirms the positional information after the grafting again, guarantee the socket, marker positional information on the plug is the same with the settlement information, guarantee to peg graft on the relative position with this and put in place, avoid judging the grafting effect through the mode that makes display panel circular telegram display picture, prevent to judge the quality problems of display panel, plug, socket itself as the grafting problem by mistake. In the instant time of completion of grafting, the manipulator still exerts grafting power to display panel under the control of controller, nevertheless the completion of grafting this moment, and the plug atress is transmitted to fixture, because fixture slidable mounting on the direction of motion of pegging graft produces the displacement under the effect of force for certain displacement or pressure information are received to the sensing unit, and the controller is with the information contrast of receiving with setting up the information, further judges the grafting effect.
The clamping mechanism is a finger cylinder, the sensing unit is a pressure sensor, and a pressing block right opposite to the pressure sensor is arranged on the finger cylinder body. The displacement information of the clamping mechanism is converted into pressure information, so that the measurement of slight variation is facilitated, and the measurement precision is improved. When the pressure is too small, the socket is probably not inserted into the plug, and the socket and the plug are different in height and need to be aligned again; when the pressure is too high, the quality problem of the plug or the socket on the display panel is shown, and the maintenance and the confirmation of workers are required.
The clamping jaw of the clamping mechanism is provided with a profiling structure corresponding to the shape of the side face of the plug, so that the positioning precision of the plug on the clamping jaw is improved, and particularly the position precision in the plugging direction is improved.
The plug assembly further comprises a plug jig, the plug jig is installed on the installation seat, a positioning column is arranged on the plug jig and used for positioning when the plug is placed, the plug is placed on the plug jig initially, the clamping mechanism is grabbed by the plug jig, the levelness of the plug on the clamping jaw is guaranteed, and manual or other clamping jaw structures can be conveniently placed on the plug.
The plug assembly further comprises a movement mechanism, wherein the movement mechanism is one or a plurality of combinations of an X-direction movement mechanism, a Y-direction movement mechanism and a rotary movement mechanism and is used for moving the plug to a plugging position from the plug jig, so that the initial placement position of the plug is convenient to operate, and the situation that the plug jig is in the focus of a camera lens and hinders shooting is avoided.
The camera lens is upwards installed in the bottom of the workbench, the workbench is provided with a through hole at a corresponding position, and due to the fact that the inserting is in motion in the horizontal direction, the camera shoots the inserting process upwards from the bottom, so that relative position information can be conveniently collected, the calculated amount of the controller is reduced, the working efficiency is improved, and the camera lens can be arranged as required in practice. The light source is arranged on the workbench according to needs, is annular and is positioned on the outer circumference of the through hole, and light is supplemented in the shooting process.
The display panel inserting device is characterized in that a tray used for placing a display panel to be inserted is arranged on one side of the inserting position, limiting blocks are arranged on the periphery of the tray, and the placing position of the display panel is roughly positioned, so that the inserting port can be stably moved into the field range of a camera after the manipulator absorbs the display panel.
An automatic plugging method comprises the following steps:
s1, moving or placing the display panel and the plug to a plugging position, and controlling the manipulator to align the socket on the display panel with the plug and plug the socket under the feedback of the camera by the controller;
and S2, feeding back pressure or displacement information detected instantly after plugging to the controller by the sensing unit, and judging the plugging effect by the controller.
In step S1, after the socket is aligned with the plug, the controller calculates the plugging distance according to the relative position information of the display panel and the plug fed back by the camera, and controls the manipulator to move the distance for plugging, thereby ensuring the controllability of the plugging motion.
In step S2, the controller sets the pressure range to 4-12N when the sensing unit collects pressure information.
After the plugging is finished in the step S1, the camera takes a picture, the controller confirms whether the relative position information of the mark on the socket of the display panel and the mark on the plug is the same as the setting information according to the picture taking information, and if not, the step S1 is repeated, the plugging effect is judged according to the mark information, and the plugging in place is ensured from the position relation.
Compared with the prior art, the utility model has the beneficial effects that:
1. shooting the plugging process and the plugging result through a camera, calculating the relative position between the plug and the socket on the display panel by using a controller, correcting the position in time in the plugging process, calculating the plugging movement amount, and improving the plugging success rate and the stability; after the plugging is finished, the position information of the markers on the socket and the plug is compared with the set information, so that the plugging effect is judged, the quality problems of the display panel, the plug and the socket are prevented from being judged by mistake as the plugging problem, and the judgment is convenient and timely.
2. Through the fixture slidable mounting with the plug, produce the displacement behind the atress to displacement or atress are surveyed, further judge the grafting result, form dual affirmation, are favorable to in time screening the defective products, prevent to get into next process, improve work efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the specific embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of an automatic plugging mechanism according to a first embodiment;
FIG. 2 is a schematic structural view of the workbench and plug assembly of FIG. 1;
FIG. 3 is a schematic structural view of the plug assembly of FIG. 1;
FIG. 4 is an enlarged view taken at A in FIG. 3;
FIG. 5 is a right side view of the automatic plugging mechanism of FIG. 1;
fig. 6 is a record of the monitoring result of the sensing unit according to the first embodiment.
Reference numerals: 10-mechanical arm, 11-suction cup, 12-limiting block, 20-workbench, 21-camera, 22-light source, 30-plug component, 31-mounting seat, 32-plug jig, 321-positioning column, 33-clamping mechanism, 330-profiling structure, 331-pressing block, 34-sensing unit, 35-linear sliding rail, 351-sliding block, 352-baffle, 36-motion mechanism, 100-display screen, 200-plug and 300-camera visual range.
Detailed Description
The technical solutions in the specific embodiments of the present invention will be clearly and completely described below, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
the automatic docking mechanism shown in connection with fig. 1-3 includes a robot 10, a camera 21, and a plug assembly 30. Be equipped with sucking disc 11 on the manipulator 10, the quantity of sucking disc 11 is with arrange that the assurance is stable to snatching of display panel 100, respectively sets up one for the four corners in this embodiment, absorbs display panel 100 and drives display panel 100 through sucking disc 11 and remove. The plug assembly 30 comprises a mounting seat 31, and a plug jig 32, a clamping mechanism 33 and a moving mechanism 36 which are mounted on the mounting seat 31, wherein the plug jig 32 is used for placing the plug 200, and the clamping mechanism 33 is used for clamping the plug 200 from the plug jig 32 and moving the plug 200 to the plugging position under the driving of the moving mechanism 36. In another embodiment, the movement mechanism 36 may not be provided, but the plug 200 may be fixed directly to the plug-in position by the holding mechanism 33. The camera 21 is arranged on the workbench 20, the plugging position is within the visual field range of the camera 21, and the camera 21 is used for shooting the relative positions of the socket on the display panel 100 and the plug 200 in the plugging process and the plugging completion. The manipulator 10, the gripping mechanism 33, the movement mechanism 36, and the camera 21 are electrically connected to the controller.
As shown in fig. 1 and 2, a tray for placing the display panel 100 to be plugged is disposed on one side of the workbench 20, and a limiting block 12 for limiting a placing position is disposed around the tray, so that the placing position of the display panel 100 can be roughly positioned, and the position of the plug interface can be stably moved into the visual field of the camera 21 after being sucked by the manipulator 10.
In this embodiment, camera 21 locates the workstation 20 bottom, and the camera lens is up, still is equipped with to be annular light source 22 corresponding to the position on workstation 20, to the regional light filling of shooting, improves and shoots the definition. In another embodiment, the camera 21 and the light source 22 may be provided on the side surface of the table 20, or a plurality of cameras may be arranged to capture the relative positions of the socket and the plug 200 on the display panel 100.
As shown in fig. 3 and 4, the plug fixture 32 is provided with a positioning post 321 for positioning the plug 200 when it is placed. When the plug 200 is placed manually or automatically, the positioning post 321 is inserted into a corresponding hole on the plug 200, so that the placing position of the plug 200 is fixed, and the clamping mechanism 33 can clamp the plug conveniently. The jaws of the clamping mechanism 33 are provided with profile structures 330 corresponding to the sides of the plug 200, so that the clamping is firm and the relative position of the plug 200 on the jaws is fixed. In this embodiment, the clamping mechanism 33 is a finger cylinder, but in other embodiments, other clamping jaw configurations are possible.
As shown in fig. 3, the clamping mechanism 33 is slidably mounted in the plugging movement direction, and slides under the action of a force after plugging; the plug assembly 30 further includes a sensing unit 34 for collecting displacement of the clamping mechanism 33 or a received plugging force, measuring a received pressure in this embodiment, and comparing a force received within a certain time after completion of crimping with a predetermined force range, thereby determining a plugging result. In this embodiment, the linear sliding rail 35 is parallel to the upper surface of the mounting seat 31, one side of the linear sliding rail 35 is fixed on the moving mechanism 36, the clamping mechanism 33 is installed on the slider 351 of the linear sliding rail 35, the moving direction of the slider 351 is the same as the stress direction of the plug 200, when the plug is inserted in place, the clamping mechanism 33 is stressed to move on the linear sliding rail 35, and a baffle 352 is further arranged at one end of the linear sliding rail 35; meanwhile, the force applied by the clamping mechanism 33 is transmitted to the sensing unit 34, wherein the sensing unit 34 may be a pressure sensor. In order to facilitate the installation of the sensor unit 34, a pressing block 331 facing the pressure sensor is provided on the holding mechanism 33. In another embodiment, two magnets with magnetic repulsion may be used to mount the clamping mechanism 33, wherein one magnet is connected to the clamping mechanism 33, and the other magnet is mounted on the moving mechanism 36, so as to weaken the friction force of the movement of the clamping mechanism 33, achieve the forced movement, and facilitate the pressure feedback of the sensing unit 34. The sensing unit 34 may also be a displacement sensor, which directly measures the displacement of the clamping mechanism 33, or converts the pressure change into a position change, and the displacement-pressure related change is widely applied in the sensing and testing device, and is not described herein.
In this embodiment, in order to facilitate the installation of the slider 351 and the clamping mechanism 33, a plurality of connecting plates are added between the slider 351 and the clamping mechanism, so that the screws can be locked conveniently during installation, and the screws are all installed from the upper side to the lower side.
In the present embodiment, the moving mechanism 36 is a lifting cylinder for driving the clamping mechanism 33, the sensing unit 34 and the linear slide 35 to move in the Y-axis direction, and the linear slide 35 is installed at the side of the lifting cylinder. The initial placing position of the plug jig 32, namely the plug 200, is below the plugging position, and the plug 200 moves upwards to the plugging position from the initial position under the action of the lifting air cylinder. In other possible embodiments, the moving mechanism 36 may also be a movement or a rotation in the X-axis direction, so as to place the initial placement position of the plug 200 at a position where the manual or automatic clamping jaws are easy to place, and avoid the plug fixture 32 from affecting the shooting of the camera 21.
Fig. 5 shows a right side view of the automatic docking mechanism of the present invention when the display panel 100 and the plug 200 reach the docked position, where the jacks on both the plug 200 and the display panel 100 are within the field of view 300 of the camera.
The automatic plugging method for plugging by applying the automatic plugging mechanism comprises the following steps:
s1, the display panel 100 and the plug 200 are moved or placed to the plugging position, and the controller controls the manipulator 10 to align and plug the socket on the display panel 100 with the plug 200 under the feedback of the camera 21. Specifically, the manipulator 10 sucks the display panel 100 from the tray to the plugging position; placing the plug 200 on the plug jig 32 by a manual or other clamping jaw structure, and clamping the plug 200 from the plug jig 32 by the clamping mechanism 33 and moving to the plugging position under the action of the moving mechanism 36; in the process, the camera 21 shoots the plug 200 and the socket on the display panel 100, the controller controls the manipulator 10 to move according to the shooting result to correct the position, so that the plug 200 and the socket on the display panel 100 reach the specified position, and at the moment, the plug 200 and the socket are opposite to each other, and the manipulator 10 continues to move to enable the plug to be plugged;
and S2, feeding back pressure or displacement information detected instantly after plugging to the controller by the sensing unit, and judging the plugging effect by the controller. Specifically, after the plugging is completed, the controller reads the pressure applied to the clamping mechanism 33 fed back by the sensing unit 34 within 0.2s, and compares the pressure with a set pressure range, and the plugging is indicated to be in place within the set pressure range. The pressure is too low, which indicates that the jack may not be inserted into the plug 200, and the two have a difference in height and need to be aligned again; if the pressure is too high, it indicates that the quality of the plug 200 or the jack on the display panel 100 is poor, and the worker needs to check the quality. The time setting of 0.2s can be changed manually according to the plugging object and different precision requirements.
In step S1, after the socket is aligned with the plug 200, the controller calculates the plugging distance according to the relative position information of the display panel 100 and the plug 200 fed back by the camera 21, and controls the manipulator 10 to move the distance for plugging, thereby ensuring the controllability of the plugging motion.
In this embodiment, the sensing unit 34 is a pressure sensor, so in step S2, the inventors have found through extensive research that when the pressure range is set to 4-12N by the controller, a relatively good plugging effect can be obtained, and the plugging test efficiency can be significantly improved. When the production line produces and tests the same product next time, the set range value can be obtained in historical production data and can be directly applied.
After the plugging is completed in step S1, the camera 21 takes a picture, the controller determines whether the relative position information of the mark on the socket of the display panel 100 and the mark on the plug 200 is the same as the setting information according to the photographing information, and if not, repeats step S1.
In one embodiment, as shown in fig. 6, when 43 display panels 100 are actually plugged into the plug 200, the abscissa is the serial numbers of the plugged display panels 100 and the plug 200, and the ordinate is the plugging force with the unit of 0.01N, the pressure information fed back by the sensing unit 34 is provided. As can be seen from the figure, the normal range of the plugging force is 6-8N, and the plugging force of serial number 20 is less than 4N, which may be caused by quality problems or misalignment between the socket on the display panel 100 and the plug 200 during the plugging process, and a re-alignment attempt is required; the insertion force of serial numbers 38 and 39 is far greater than 8N, and reaches about 15N, which indicates that the socket or plug 200 has a quality problem.
After the plugging is completed, the clamping mechanism 33 releases the plug 200, and the manipulator 10 can transfer the display panel 100 with the plug 200 to a testing station for display detection.
It should be noted that the present embodiment is only an example of the insertion of the socket of the display panel 100 and the plug 200, and in practice, the present invention may also be applied to other automatic insertion work, such as batch work in a production line or laboratory work.
The above detailed description of the automatic plugging mechanism provided by the present invention applies specific examples to explain the structure and the working principle of the present invention, and the above descriptions of the embodiments are only used to help understand the method and the core idea of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. An automatic plugging mechanism is characterized by comprising a manipulator (10), a camera (21) and a plug assembly (30), wherein the manipulator (10) is used for driving a display panel (100) to move and plug; the camera (21) shoots the plugging process and the plugging result so as to correct the position and judge the plugging result; the plug assembly (30) comprises a clamping mechanism (33) and a sensing unit (34), the clamping mechanism (33) is used for fixing and positioning the plug (200), the clamping mechanism (33) is installed in a sliding mode in the plugging movement direction, and the sensing unit (34) is used for sensing the stress or displacement of the clamping mechanism (33) in the sliding process; the manipulator (10), the clamping mechanism (33), the camera (21) and the sensing unit (34) are electrically connected with the controller.
2. The automatic plugging mechanism according to claim 1, wherein said clamping mechanism (33) is a finger cylinder, said sensing unit (34) is a pressure sensor, and a pressing block (331) opposite to said pressure sensor is disposed on said finger cylinder.
3. The automatic plugging mechanism according to claim 1, wherein the clamping jaws of the clamping mechanism (33) are provided with profiling structures (330) corresponding to the shape of the side surfaces of the plug (200).
4. The automatic plugging mechanism according to claim 1, wherein said plug assembly (30) further comprises a plug fixture (32), said plug fixture (32) is mounted on said mounting seat (31), said plug fixture (32) is provided with a positioning column (321) for positioning when said plug (200) is placed.
5. The automatic plugging mechanism according to claim 4, wherein said plug assembly (30) further comprises a moving mechanism (36), said moving mechanism (36) is one or several combinations of X-direction moving mechanism, Y-direction moving mechanism and rotary moving mechanism, and is used for moving the plug (200) from the plug fixture (32) to the plugging position.
6. The automatic plugging mechanism according to claim 1, wherein said camera (21) is mounted at the bottom of the workbench (20) with its lens facing upward, and said workbench (20) is provided with a through hole at the corresponding position.
7. An automatic plugging method is characterized by comprising the following steps:
s1, moving or placing the display panel (100) and the plug (200) to a plugging position, and controlling the manipulator (10) to align and plug the socket on the display panel (100) with the plug (200) under the feedback of the camera (21) by the controller;
s2, the sensing unit (34) feeds back the pressure or displacement information detected at the moment of plugging completion to the controller, and the controller judges the plugging effect.
8. The automatic plugging method according to claim 7, wherein in step S1, after the socket is aligned with the plug (200), the controller calculates a plugging distance according to the relative position information of the display panel (100) and the plug (200) fed back by the camera (21), and controls the robot (10) to move the distance for plugging.
9. The automatic plugging method according to claim 7, wherein in step S2, when the sensing unit (34) collects pressure information, the controller sets a pressure range to 4-12N.
10. The plugging method according to claims 7-9, wherein after the plugging is completed in step S1, the camera (21) takes a picture, the controller determines whether the relative position information of the mark on the socket of the display panel (100) and the mark on the plug (200) is the same as the setting information according to the picture information, and if not, repeats step S1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111263651.6A CN113984348B (en) | 2021-10-28 | 2021-10-28 | Automatic plugging mechanism and plugging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111263651.6A CN113984348B (en) | 2021-10-28 | 2021-10-28 | Automatic plugging mechanism and plugging method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113984348A true CN113984348A (en) | 2022-01-28 |
| CN113984348B CN113984348B (en) | 2024-03-08 |
Family
ID=79743468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111263651.6A Active CN113984348B (en) | 2021-10-28 | 2021-10-28 | Automatic plugging mechanism and plugging method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113984348B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117949855A (en) * | 2024-03-22 | 2024-04-30 | 宁德时代新能源科技股份有限公司 | Detection equipment and battery production line |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109655469A (en) * | 2018-12-27 | 2019-04-19 | 深圳市燕麦科技股份有限公司 | A kind of the docking test device and its docking test method of flexible circuit board |
| CN209400668U (en) * | 2018-12-27 | 2019-09-17 | 深圳市燕麦科技股份有限公司 | A kind of docking test device of flexible circuit board |
| CN210745159U (en) * | 2020-01-20 | 2020-06-12 | 武汉华信谊达科技有限公司 | Automatic plug device of optical module |
| CN212008679U (en) * | 2020-04-09 | 2020-11-24 | 深圳市宏毅泰科技有限公司 | Full-automatic butt joint clamp |
-
2021
- 2021-10-28 CN CN202111263651.6A patent/CN113984348B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109655469A (en) * | 2018-12-27 | 2019-04-19 | 深圳市燕麦科技股份有限公司 | A kind of the docking test device and its docking test method of flexible circuit board |
| CN209400668U (en) * | 2018-12-27 | 2019-09-17 | 深圳市燕麦科技股份有限公司 | A kind of docking test device of flexible circuit board |
| CN210745159U (en) * | 2020-01-20 | 2020-06-12 | 武汉华信谊达科技有限公司 | Automatic plug device of optical module |
| CN212008679U (en) * | 2020-04-09 | 2020-11-24 | 深圳市宏毅泰科技有限公司 | Full-automatic butt joint clamp |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117949855A (en) * | 2024-03-22 | 2024-04-30 | 宁德时代新能源科技股份有限公司 | Detection equipment and battery production line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113984348B (en) | 2024-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104596582B (en) | Automatic detecting device for backboard connector | |
| CN110685983B (en) | Screen laminating equipment and screen laminating method | |
| CN106112176B (en) | A kind of Full-automatic laser welding machine | |
| CN108855962B (en) | A detection machine that is used for pressing in electric ceramic particle capacitive tool board | |
| CN106597186B (en) | High-precision alignment adjustment testing device based on synchronous operation | |
| CN213864512U (en) | PCB visual positioning mechanism | |
| WO2023216568A1 (en) | Test device and test method | |
| CN113156596B (en) | Three-piece coupling device and coupling method | |
| WO2024093201A1 (en) | Series plugging and unplugging automatic test device and working method therefor | |
| CN113984348A (en) | Automatic plugging mechanism and plugging method | |
| JPH07263517A (en) | Positioning apparatus for ic socket | |
| CN113552468A (en) | Quality detection and use method of PCB | |
| CN205852022U (en) | A kind of Full-automatic laser welding machine | |
| CN216794212U (en) | Reverse plugging equipment for panel detection | |
| CN111510712A (en) | Set top box WIFI automatic calibration equipment and calibration method thereof | |
| CN114460402A (en) | Automatic plugging test equipment for panel detection | |
| CN206302466U (en) | A kind of mobile phone test equipment | |
| CN207586385U (en) | Two-way VCM motor test equipment | |
| CN115061297A (en) | Dual-camera automatic alignment and plugging system and method for vehicle-mounted liquid crystal display module connector | |
| CN114501980A (en) | Device and method for detecting pins of special-shaped components and automatically plugging in components | |
| CN114527299A (en) | Automatic panel detection equipment | |
| CN114759421A (en) | Plug-in jig for curved surface product | |
| CN110186931B (en) | Terminal full-view visual detection device and method thereof | |
| CN211291501U (en) | Device for detecting in-place splicing of FPC (Flexible printed Circuit) connector | |
| CN209992413U (en) | Automatic optical detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |