TWI782663B - Industrial assembly method and industrial assembly system - Google Patents
Industrial assembly method and industrial assembly system Download PDFInfo
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Description
本發明涉及工業組裝領域，尤其涉及一種工業組裝方法及工業組裝系統。 The invention relates to the field of industrial assembly, in particular to an industrial assembly method and an industrial assembly system.
在對手機的相機進行組裝的過程中，存在因灰塵進入而導致的約為2.5%的相機不良率，進入的灰塵包括無法直接由肉眼觀察的環境灰塵、機械作業灰塵、人工作業灰塵等。在工廠內架設大型無塵室的成本高昂，且機械手臂與人員皆為大型污染源，如何縮小無塵室的空間降低污染進而降低成本，是工業組裝領域面臨的一個問題。 In the process of assembling the camera of a mobile phone, about 2.5% of the camera defect rate is caused by the entry of dust, including environmental dust, mechanical dust, and manual dust that cannot be directly observed by the naked eye. The cost of setting up a large clean room in a factory is high, and both robotic arms and personnel are large sources of pollution. How to reduce the space of the clean room to reduce pollution and thus reduce costs is a problem in the field of industrial assembly.
鑒於以上內容，有必要提供一種工業組裝方法及工業組裝系統，能夠縮小無塵室的空間，降低機械手臂和人員對相機的污染，進而降低成本。 In view of the above, it is necessary to provide an industrial assembly method and an industrial assembly system, which can reduce the space of the clean room, reduce the pollution of the mechanical arm and personnel to the camera, and thereby reduce the cost.
所述工業組裝系統包括：機械手臂、組裝設備及超淨工作臺，所述組裝設備設置於所述超淨工作臺；所述超淨工作臺包括第一開口，所述第一開口用於作為所述機械手臂的遠端運動中心；所述機械手臂用於將攝像頭模組移送至所述組裝設備，所述組裝設備用於對所述攝像頭模組和手機模組進行組裝。 The industrial assembly system includes: a mechanical arm, assembly equipment and a clean workbench, the assembly equipment is arranged on the clean workbench; the clean workbench includes a first opening, and the first opening is used as a The remote motion center of the mechanical arm; the mechanical arm is used to transfer the camera module to the assembly equipment, and the assembly equipment is used to assemble the camera module and the mobile phone module.
可選地，所述系統還包括檢測設備，所述檢測設備設置於所述超 淨工作臺；在所述機械手臂將所述攝像機模組移送至所述組裝設備之前，所述機械手臂還用於將所述攝像頭模組移送至所述檢測設備；所述檢測設備用於對所述攝像頭模組進行檢測，獲得檢測結果。 Optionally, the system also includes a detection device, the detection device is set in the super clean workbench; before the robot arm transfers the camera module to the assembly equipment, the robot arm is also used to transfer the camera module to the inspection equipment; the inspection equipment is used for The camera module performs detection and obtains a detection result.
可選地，所述系統還包括除塵設備，所述除塵設備設置於所述超淨工作臺；當所述檢測結果指示所述攝像頭模組有灰塵時，所述機械手臂將所述攝像頭模組移送至所述除塵設備；所述除塵設備用於對所述攝像頭模組進行除塵；當所述檢測結果指示所述攝像頭模組無灰塵時，所述機械手臂將所述攝像頭模組移送至所述組裝設備。 Optionally, the system further includes a dust removal device, the dust removal device is set on the ultra-clean workbench; when the detection result indicates that the camera module has dust, the mechanical arm will remove the camera module Transfer to the dust removal device; the dust removal device is used to remove dust from the camera module; when the detection result indicates that the camera module is free of dust, the mechanical arm will transfer the camera module to the Assembled equipment.
可選地，所述超淨工作臺還包括第二開口，所述第二開口用於作為所述手機模組的進入口和移出口。 Optionally, the ultra-clean workbench further includes a second opening, and the second opening is used as an entry port and a removal port for the mobile phone module.
可選地，所述機械手臂包括依次連接的主體部、第一連桿、第二連桿、第一夾具；其中，所述第一連桿透過扣環元件與所述第二連桿連接；所述第一夾具用於夾持所述攝像頭模組；所述機械手臂透過所述扣環元件調整所述第一連桿與所述第二連桿之間的連接長度和連接角度，使得所述第二連桿帶動所述第一夾具將所述攝像頭模組從所述第一開口移入所述超淨工作臺，或者從所述第一開口移出所述攝像頭模組。 Optionally, the mechanical arm includes a main body, a first connecting rod, a second connecting rod, and a first clamp connected in sequence; wherein, the first connecting rod is connected to the second connecting rod through a buckle element; The first clamp is used to clamp the camera module; the mechanical arm adjusts the connection length and connection angle between the first connecting rod and the second connecting rod through the buckle element, so that the The second connecting rod drives the first clamp to move the camera module into the clean bench from the first opening, or move the camera module out of the first opening.
可選地，所述機械手臂還包括刀尖點模型，所述刀尖點模型用於設定並校正所述機械手臂的刀尖點，獲得目標刀尖點；所述目標刀尖點包括：所述檢測設備所在的第一位置、所述除塵設備所在的第二位置、所述組裝設備所在的第三位置；所述系統還包括遠端運動中心模型，所述遠端運動中心模型用於計算所述機械手臂的移動路徑，所述移動路徑包括：所述第一夾具進入所述超淨工作臺並移動至所述第一位置的第一移動路徑、所述第一夾具從所述第一位置移動至所述第二位置的第二移動路徑、所述第一夾具從所述第二位置移動至所述第一位置的第三移動路徑、所述第一夾具從所述第一位置移動至所述第三位置的第四移動路徑；所述移動路徑還包括：所述第一夾具從所述第一位置移出所述超淨工作臺的第一退出路 徑、所述第一夾具從所述第三位置移出所述超淨工作臺的第二退出路徑。 Optionally, the mechanical arm also includes a tool tip point model, which is used to set and correct the tool tip point of the mechanical arm to obtain a target tool tip point; the target tool tip point includes: The first position where the detection equipment is located, the second position where the dust removal equipment is located, and the third position where the assembly equipment is located; the system also includes a remote motion center model, and the remote motion center model is used to calculate The moving path of the mechanical arm, the moving path includes: the first moving path where the first gripper enters the ultra-clean workbench and moves to the first position, the first gripper moves from the first a second movement path in which the position moves to the second position, a third movement path in which the first gripper moves from the second position to the first position, and a movement of the first gripper from the first position A fourth movement path to the third position; the movement path also includes: a first exit path for the first clamp to move out of the clean bench from the first position path, the second exit path for the first clamp to move out of the clean bench from the third position.
可選地，所述攝像頭模組包括保護膜；所述檢測設備包括第二夾具及顯微攝影設備，所述第二夾具用於撕取所述保護膜，所述顯微攝影設備用於觀測並獲取被撕取保護膜後的所述攝像頭模組的圖像；所述系統還包括圖像檢測模型，所述圖像檢測模型用於檢測所述圖像，獲得所述檢測結果；所述組裝設備包括組裝治具及托盤，所述組裝治具用於對無灰塵的攝像頭模組和手機模組進行組裝，獲得組裝後的手機模組；所述托盤用於承載所述手機模組或所述組裝後的手機模組。 Optionally, the camera module includes a protective film; the detection device includes a second jig and photomicrography equipment, the second jig is used to tear off the protective film, and the microphotographic equipment is used to observe And acquire the image of the camera module after the protective film is torn off; the system also includes an image detection model, the image detection model is used to detect the image and obtain the detection result; the The assembly equipment includes an assembly jig and a pallet, the assembly jig is used to assemble the dust-free camera module and the mobile phone module to obtain the assembled mobile phone module; the pallet is used to carry the mobile phone module or The assembled mobile phone module.
所述工業組裝方法，利用所述工業組裝系統，包括：將超淨工作臺的第一開口設定為機械手臂的遠端運動中心，依據所述遠程運動中心獲得所述機械手臂的組裝參數；根據所述組裝參數校準所述機械手臂；控制所述機械手臂將攝像頭模組移送至位於所述超淨工作臺的組裝設備，利用所述組裝設備對所述攝像頭模組和手機模組進行組裝。 The industrial assembly method, using the industrial assembly system, includes: setting the first opening of the ultra-clean workbench as the distal motion center of the mechanical arm, and obtaining the assembly parameters of the mechanical arm according to the remote motion center; The assembly parameters calibrate the robotic arm; control the robotic arm to transfer the camera module to the assembly equipment located on the ultra-clean workbench, and use the assembly equipment to assemble the camera module and the mobile phone module.
可選地，在所述機械手臂將所述攝像機模組移送至所述組裝設備之前，所述方法還包括：控制所述機械手臂夾取攝像頭模組，計算所述機械手臂的第一移動路徑，控制所述機械手臂依據所述第一移動路徑將所述攝像頭模組移送至位於所述超淨工作臺的檢測設備；利用所述檢測設備檢測所述攝像頭模組，獲得檢測結果，所述檢測結果包括第一次檢測結果和第二次檢測結果。 Optionally, before the robot arm transfers the camera module to the assembly device, the method further includes: controlling the robot arm to grip the camera module, and calculating the first moving path of the robot arm , controlling the mechanical arm to transfer the camera module to the detection equipment located on the ultra-clean workbench according to the first movement path; using the detection equipment to detect the camera module to obtain a detection result, the The test results include the first test result and the second test result.
可選地，當所述第一次檢測結果指示所述攝像頭模組有灰塵時，計算所述機械手臂的第二移動路徑，控制所述機械手臂，依據所述第二移動路徑將所述攝像頭模組移送至位於所述超淨工作臺的除塵設備，利用所述除塵設備對所述攝像頭模組進行除塵；計算所述機械手臂的第三移動路徑，控制所述機械手臂，依據所述第三移動路徑將除塵後的所述攝像頭模組移送至所述檢測設備，利用所述檢測設備對所述除塵後的攝像頭模組進行檢測，獲得所述第二次檢測結果；當所述第一次檢測結果或所述第二次 檢測結果指示所述攝像頭模組無灰塵時，計算所述機械手臂的第四移動路徑，控制所述機械手臂，依據所述第四移動路徑將所述攝像頭模組移送至位於所述超淨工作臺的組裝設備。 Optionally, when the first detection result indicates that there is dust in the camera module, calculate a second moving path of the mechanical arm, control the mechanical arm, and move the camera according to the second moving path. The module is transferred to the dust removal equipment located on the ultra-clean workbench, and the dust removal equipment is used to remove dust from the camera module; the third moving path of the mechanical arm is calculated, and the mechanical arm is controlled, according to the first The third movement path is to transfer the dust-removed camera module to the detection device, and use the detection device to detect the dust-removed camera module to obtain the second detection result; when the first the second test result or the second When the detection result indicates that the camera module is free of dust, calculate the fourth moving path of the mechanical arm, control the mechanical arm, and move the camera module to the ultra-clean working area according to the fourth moving path. Taiwan assembly equipment.
可選地，所述方法還包括：設定並校正所述機械手臂的刀尖點，獲得目標刀尖點；所述目標刀尖點包括：所述檢測設備所在的第一位置、所述除塵設備所在的第二位置、所述組裝設備所在的第三位置。 Optionally, the method further includes: setting and correcting the tool tip point of the mechanical arm to obtain a target tool tip point; the target tool tip point includes: the first position where the detection device is located, the dust removal device The second location where the assembly equipment is located, and the third location where the assembly equipment is located.
可選地，所述計算所述機械手臂的第一移動路徑包括：根據所述檢測設備所在的第一位置計算所述第一移動路徑，所述第一移動路徑包括所述第一夾具透過所述第一開口進入所述超淨工作臺，移動至所述第一位置的移動路徑；所述計算所述機械手臂的第二移動路徑包括：根據所述檢測設備所在的第一位置和所述除塵設備所在的第二位置計算所述第二移動路徑，所述第二移動路徑包括所述第一夾具從所述第一位置移動至所述第二位置的移動路徑；所述計算所述機械手臂的第三移動路徑包括：根據所述除塵設備所在的第二位置和所述檢測設備所在的第一位置計算所述第三移動路徑，所述第三移動路徑包括所述第一夾具從所述第二位置移動至所述第一位置的移動路徑；所述計算所述機械手臂的第四移動路徑包括：根據所述檢測設備所在的第一位置和所述組裝設備所在的第三位置計算所述第四移動路徑，所述第四移動路徑包括所述第一夾具從所述第一位置移動至所述第三位置的移動路徑。 Optionally, the calculating the first moving path of the robotic arm includes: calculating the first moving path according to the first position where the detection device is located, and the first moving path includes the first gripper passing through the first moving path. The first opening enters the ultra-clean workbench and moves to the movement path of the first position; the calculation of the second movement path of the mechanical arm includes: according to the first position where the detection device is located and the The second position where the dust removal equipment is located calculates the second movement path, and the second movement path includes the movement path of the first fixture moving from the first position to the second position; the calculation of the mechanical The third movement path of the arm includes: calculating the third movement path according to the second position of the dust removal device and the first position of the detection device, the third movement path includes the movement of the first clamp from the The movement path from the second position to the first position; the calculation of the fourth movement path of the mechanical arm includes: calculating according to the first position where the detection equipment is located and the third position where the assembly equipment is located The fourth movement path, the fourth movement path includes a movement path of the first gripper moving from the first position to the third position.
可選地，所述方法還包括：計算所述第一夾具從所述第一位置，透過所述第一開口移出所述超淨工作臺的第一退出路徑；及計算所述第一夾具從所述第三位置，透過所述第一開口移出所述超淨工作臺的第二退出路徑。 Optionally, the method further includes: calculating a first exit path for the first clamp to move out of the clean bench from the first position through the first opening; The third position is a second exit path for moving out of the clean bench through the first opening.
可選地，所述方法還包括：當所述第二次檢測結果指示所述攝像頭模組有灰塵時，控制所述機械手臂，依據所述第一退出路徑將所述攝像頭模組移出所述超淨工作臺；及當對所述攝像頭模組和手機模組進行組裝 後，控制所述機械手臂依據所述第二退出路徑移出所述超淨工作臺。 Optionally, the method further includes: when the second detection result indicates that the camera module has dust, controlling the mechanical arm to move the camera module out of the Ultra-clean workbench; and when said camera module and mobile phone module are assembled Afterwards, controlling the mechanical arm to move out of the ultra-clean workbench according to the second exit path.
相較於習知技術，所述工業組裝方法及工業組裝系統，能夠使用超淨工作臺縮小組裝相機所需的無塵室的空間，利用遠端運動中心演算法輔助機械手臂自主操作，降低機械手臂和人員對相機的污染，進而降低成本；還能輔助對相機進行灰塵檢測和除塵。 Compared with the known technology, the industrial assembly method and industrial assembly system can use the ultra-clean workbench to reduce the space of the clean room required for assembling the camera, and use the remote motion center algorithm to assist the autonomous operation of the mechanical arm, reducing the mechanical Contamination of the camera by arms and personnel, thereby reducing costs; it can also assist in dust detection and dust removal of the camera.
1:工業組裝系統 1: Industrial assembly system
10:超淨工作臺 10: Ultra-clean workbench
H:升降移送設備 H: Lifting and transferring equipment
PH1:手機流水線 PH1: Mobile phone assembly line
101:第一開口 101: first opening
102:第二開口 102: second opening
P1:第一平臺 P1: the first platform
P2:第二平臺 P2: Second Platform
W:萬向輪 W: universal wheel
PH:手機模組 PH:Mobile phone module
C:攝像頭模組 C: Camera module
G:物料區 G: material area
R:回收區 R: Recycling area
3:機械手臂 3: Mechanical arm
30:主體部 30: Main body
L:連接體 L: Connector
300:處理器 300: Processor
301:儲存器 301: storage
31:刀尖點模型 31: Tool point model
32:第一連桿 32: The first connecting rod
K1:第一扣環 K1: first buckle
K2:第二扣環 K2: second buckle
33:第二連桿 33: Second connecting rod
34:第一夾具 34: First Fixture
35:扣環組件 35: Buckle assembly
4:電腦裝置 4:Computer device
40:處理器 40: Processor
41:儲存器 41: Storage
42:遠端運動中心模型 42: Remote Motion Center Model
43:圖像檢測模型 43:Image Detection Model
44:控制模型 44:Control Model
5:檢測設備 5: Testing equipment
51:第二夾具 51: Second Fixture
52:顯微攝影設備 52: Micrographic equipment
531:第三開口 531: The third opening
532:供光設備 532: Light supply equipment
6:除塵設備 6: Dust removal equipment
60:抽氣設備 60: Air extraction equipment
61:吹氣設備 61: Blowing equipment
7:組裝設備 7: Assemble the equipment
70:組裝治具 70: Assembling fixture
71:托盤 71: tray
8:通信模組 8: Communication module
S1~S11:步驟 S1~S11: Steps
為了更清楚地說明本申請實施例或習知技術中的技術方案，下面將對實施例或習知技術描述中所需要使用的附圖作簡單地介紹，顯而易見地，下面描述中的附圖僅僅是本申請的實施例，對於本領域普通技術人員來講，在不付出創造性勞動的前提下，還可以根據提供的附圖獲得其他的附圖。 In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present application, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.
圖1是本申請實施例提供的工業組裝系統的部分架構圖。 Fig. 1 is a partial structural diagram of an industrial assembly system provided by an embodiment of the present application.
圖2是本申請實施例提供的工業組裝系統的整體架構圖。 Fig. 2 is an overall architecture diagram of the industrial assembly system provided by the embodiment of the present application.
圖3是本申請實施例提供的工業組裝系統的部分設備環境圖。 Fig. 3 is a partial equipment environment diagram of the industrial assembly system provided by the embodiment of the present application.
圖4是本申請實施例提供的機械手臂部分的示例圖。 Fig. 4 is an example diagram of the part of the robot arm provided by the embodiment of the present application.
圖5是本申請實施例提供的工業組裝方法的流程圖。 Fig. 5 is a flowchart of an industrial assembly method provided by an embodiment of the present application.
為了能夠更清楚地理解本申請的上述目的、特徵和優點，下面結合附圖和具體實施例對本申請進行詳細描述。需要說明的是，在不衝突的情況下，本申請的實施例及實施例中的特徵可以相互組合。 In order to more clearly understand the above objects, features and advantages of the present application, the present application will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.
在下面的描述中闡述了很多具體細節以便於充分理解本申請，所描述的實施例僅僅是本申請一部分實施例，而不是全部的實施例。基於本申請中的實施例，本領域普通技術人員在沒有做出創造性勞動前提下所獲得的所有其他實施例，都屬於本申請保護的範圍。 A lot of specific details are set forth in the following description to facilitate a full understanding of the application, and the described embodiments are only a part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
除非另有定義，本文所使用的所有的技術和科學術語與屬於本申請的技術領域的技術人員通常理解的含義相同。本文中在本申請的說明書中所使用的術語只是為了描述具體的實施例的目的，不是旨在於限制本申請。 Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are only for the purpose of describing specific embodiments, and are not intended to limit the application.
參閱圖1所示，為本申請較佳實施例的工業組裝系統的部分架構圖。圖2所示，為本申請較佳實施例的工業組裝系統的整體架構圖。圖3是本申請較佳實施例的工業組裝系統的設備環境圖。以下結合圖1至圖3對實現所述工業組裝方法的所述工業組裝系統和具體說明。 Referring to FIG. 1 , it is a partial structural diagram of an industrial assembly system in a preferred embodiment of the present application. As shown in FIG. 2 , it is an overall structure diagram of an industrial assembly system in a preferred embodiment of the present application. Fig. 3 is an equipment environment diagram of the industrial assembly system of the preferred embodiment of the present application. The industrial assembly system for realizing the industrial assembly method and a specific description are given below with reference to FIGS. 1 to 3 .
在一個實施例中，所述工業組裝方法應用於所述工業組裝系統1中，如圖1所示，所述工業組裝系統1包括機械手臂3、組裝設備7及超淨工作臺10，所述組裝設備7設置於所述超淨工作臺10。如圖2和圖3所示，所述工業組裝系統1還包括：檢測設備5、除塵設備6、電腦裝置4、通信模組8；所述檢測設備5和除塵設備6設置於所述超淨工作臺10中。所述通信模組可以是Wi-Fi模組，用於通信連接所述電腦裝置4、所述機械手臂3，以及所述超淨工作臺10中的所述檢測設備5、所述除塵設備6，及所述組裝設備7。
In one embodiment, the industrial assembly method is applied in the industrial assembly system 1. As shown in FIG. The
在一個實施例中，如圖3所示，所述超淨工作臺10設置於第一平臺P1上，所述第一平臺P1可以是底部安裝有萬向輪W的可移動平臺，所述第一平臺P1對接手機模組PH的生產流水線(如圖3所示手機流水線PH1)，所述第一平臺P1的內部安裝有升降移送設備H；所述超淨工作臺10包括第一開口101、第二開口102，所述第一開口101用於作為所述機械手臂3的遠程運動中心(Remote Center Motion，RCM)；所述電腦裝置4包括控制模型44，所述控制模型44用於控制所述第一平臺P1的升降移送設備H與所述第二開口102對接，將所述手機模組PH從所述第二開口102移送至所述超淨工作臺10的所述組裝設備7處，或者從所述組裝設備7處透過所述第二開口102從所述超淨工作臺10移出所述手機模組PH。需要
說明的是，所述第一開口101可以是較小(例如，直徑為2cm)的圓形開口，所述手機模組PH可以是未安裝攝像頭模組C的成品或半成品。
In one embodiment, as shown in FIG. 3 , the
在一個實施例中，如圖3所示，所述機械手臂3設置於第二平臺P2上，所述第二平臺P2可以是底部安裝有萬向輪W的可移動平臺，所述第二平臺P2可以與所述第一平臺P1等高；如圖3和圖4所示，所述機械手臂3包括依次連接的主體部30、第一連桿32、第二連桿33、第一夾具34；其中，所述第一連桿32透過扣環元件35與所述第二連桿33連接。
In one embodiment, as shown in Figure 3, the mechanical arm 3 is set on the second platform P2, the second platform P2 can be a movable platform with universal wheels W installed at the bottom, the second platform P2 can be at the same height as the first platform P1; as shown in Figure 3 and Figure 4, the mechanical arm 3 includes a
在一個實施例中，所述第一連桿32和所述第二連桿33可以是材質、長度相同的合金圓桿，其直徑小於所述第一開口101的直徑。例如圖4所示，所述第一連桿32連接於所述主體部30的法蘭面中心且垂直於所述法蘭面。所述扣環組件35包括第一扣環K1及第二扣環K2，所述第一連桿32穿設於所述第一扣環K1，所述第二連桿33穿設於所述第二扣環K2，由此實現所述第一連桿32和第二連桿33之間的連接，其中，所述第一扣環K1用於穿設於所述第一連桿32的任一位置處；所述第二扣環K2用於與所述第一扣環K1合扣，還用於穿設於所述第二連桿33的任一位置處；所述第二連桿33可以透過用戶的操作，以所述第一連桿32為軸在平面ZOY內作360度轉動；所述第二連桿還可以透過用戶的操作，以所述第一扣環K1與所述第二扣環K2的合扣點為中心，在所述第一連桿32和所述第二連桿33所在的平面XOY內作360度轉動；由此可以得知，可以根據用戶需求，透過所述扣環元件35隨意調整所述第一連桿32和所述第二連桿33的連接長度和連接角度。需要說明的是，在實際操作中，所述第一連桿32和所述第二連桿33之間的連接角度(如圖4中在平面XOY內的角度)閾值範圍為[-75度，75度]。
In one embodiment, the first connecting
在一個實施例中，所述機械手臂3的主體部30可以由多個連接體(如圖4中所示的三個連接體L)組成，透過所述多個連接體的配合做任意角度的運動；所述主體部30包括處理器300、儲存器301，所述儲存器
301中安裝有刀尖點模型31，所述刀尖點模型31用於設定並校正所述第一夾具34的刀尖點(Tool Center Point，TCP)，獲得目標刀尖點；所述目標刀尖點包括：所述檢測設備5所在的第一位置、所述除塵設備6所在的第二位置、所述組裝設備7所在的第三位置。
In one embodiment, the
在一個實施例中，如圖2所示，所述電腦裝置4包括遠端運動中心模型42，所述遠端運動中心模型42用於模擬類比所述工業組裝系統1，將所述第一開口101設置為所述機械手臂3的遠端運動中心，模擬並計算所述機械手臂3的所述第二連桿33和所述第一夾具34透過所述第一開口101進入所述超淨工作臺10的移動範圍閾值，以及所述機械手臂3的組裝參數，所述組裝參數包括所述第一連桿32和所述第二連桿33的連接長度和連接角度。按照計算得到的連接長度和連接角度，利用所述扣環元件35連接所述第一連桿32和所述第二連桿33；所述主體部30透過所述第一連桿32帶動所述第二連桿33和所述第一夾具34，使得所述第二連桿33和所述第一夾具34透過所述第一開口101進入所述超淨工作臺10，在計算得到的移動範圍閾值內做移動；在所述移動範圍閾值內所述第二連桿33和所述第一夾具34的移動，不會碰撞到所述第一開口101。需要說明的是，所述第二連桿33和所述第一夾具34在移出所述超淨工作臺10後的移動範圍，不受所述移動範圍閾值的限制。
In one embodiment, as shown in FIG. 2 , the computer device 4 includes a distal motion center model 42, which is used to simulate and analogize the industrial assembly system 1, and the
在一個實施例中，所述第一夾具34可以內置晶片，回應所述機械手臂3的夾取指令對攝像頭模組C進行夾取，或者回應所述機械手臂3的放置指令對所述攝像頭模組C進行放置，其大小滿足夾持所述攝像頭模組C時也能透過所述第一開口101。所述攝像頭模組C包括保護膜。
In one embodiment, the
在一個實施例中，所述控制模型44用於控制所述機械手臂3下達夾取指令，所述第一夾具34用於回應所述夾取指令，夾持放置在所述超淨工作臺10之外的物料區G的所述攝像頭模組C；所述遠端運動中心模型42用於根據所述檢測設備5所在的第一位置計算第一移動路徑，所述第一
移動路徑包括所述第一夾具34透過所述第一開口101進入所述超淨工作臺10，移動至所述第一位置的移動路徑；所述控制模型44用於控制所述機械手臂3，依據所述第一移動路徑將所述攝像頭模組C移送至位於所述超淨工作臺10的檢測設備5的第一位置處。
In one embodiment, the control model 44 is used to control the mechanical arm 3 to issue a clamping command, the
在一個實施例中，所述檢測設備5包括第二夾具51、顯微攝影設備52、第三開口531、供光設備532。在一個實施例中，所述檢測設備5的第一位置可以是指所述第三開口531所在的位置；所述第二夾具51可以內置晶片，用於回應所述電腦裝置4的撕取指令，對所述第一夾具34夾持的攝像頭模組C的保護膜進行撕取；所述供光設備532用於為所述顯微攝影設備52提供光源；所述顯微攝影設備52包括顯微功能與攝影功能，用於透過所述第三開口531觀測並獲取被撕取保護膜後的所述攝像頭模組C的圖像；所述電腦裝置4還包括圖像檢測模型43，所述圖像檢測模型43用於獲取所述攝像頭模組C的圖像，獲得第一次檢測結果，所述第一次檢測結果包括：所述攝像頭模組C有灰塵和所述攝像頭模組C無灰塵。
In one embodiment, the detection device 5 includes a
在一個實施例中，當所述第一次檢測結果指示所述攝像頭模組C有灰塵時，所述遠端運動中心模型42用於計算所述機械手臂3的第二移動路徑，包括：根據所述檢測設備5所在的第一位置和所述除塵設備6所在的第二位置計算所述第二移動路徑，所述第二移動路徑包括所述第一夾具34從所述第一位置移動至所述第二位置的移動路徑；所述控制模型44用於控制所述機械手臂3，依據所述第二移動路徑將所述攝像頭模組C移送至位於所述超淨工作臺10的除塵設備6。
In one embodiment, when the first detection result indicates that the camera module C has dust, the remote motion center model 42 is used to calculate the second moving path of the mechanical arm 3, including: The first position where the detection device 5 is located and the second position where the dust removal device 6 is located calculate the second movement path, and the second movement path includes the movement of the
在一個實施例中，所述除塵設備6包括抽氣設備60和吹氣設備61，用於回應所述電腦裝置4的除塵指令對所述攝像頭模組C進行預設時間(例如，30秒)的除塵。具體地，所述吹氣設備61可以將所述攝像頭模組C上的部分灰塵或全部灰塵吹落。所述抽氣設備60用於將灰塵從所述攝像頭模組C抽離。需要說明的是，為保證所述超淨工作臺10中的無塵環境，
吹落的灰塵也會由所述抽氣設備60抽離所述超淨工作臺10。
In one embodiment, the dust removal device 6 includes an
在一個實施例中，當除塵結束後，所述遠端運動中心模型42用於計算所述機械手臂3的第三移動路徑，包括：根據所述除塵設備6所在的第二位置和所述檢測設備5所在的第一位置計算所述第三移動路徑，所述第三移動路徑包括所述第一夾具34從所述第二位置移動至所述第一位置的移動路徑；所述控制模型44用於控制所述機械手臂3，依據所述第三移動路徑將除塵後的所述攝像頭模組C移送至所述檢測設備5，所述檢測設備5用於對所述除塵後的攝像頭模組C進行檢測，獲得第二次檢測結果，所述第二次檢測結果包括：所述攝像頭模組C有灰塵和所述攝像頭模組C無灰塵。需要說明的是，所述檢測設備5獲得所述第二次檢測結果的過程，除無需撕取保護膜外，與前述獲得所述第一次檢測結果的過程相同，不再贅述。
In one embodiment, after the dust removal is finished, the remote motion center model 42 is used to calculate the third moving path of the mechanical arm 3, including: according to the second position of the dust removal device 6 and the detected The first position where the device 5 is located calculates the third movement path, and the third movement path includes the movement path of the
在一個實施例中，當所述第一次檢測結果或第二次檢測結果指示所述攝像頭模組C無灰塵時，所述遠端運動中心模型42用於計算所述機械手臂3的第四移動路徑，包括：根據所述檢測設備5所在的第一位置和所述組裝設備7所在的第三位置計算所述第四移動路徑，所述第四移動路徑包括所述第一夾具34從所述第一位置移動至所述第三位置的移動路徑；所述控制模型44用於控制所述機械手臂3，依據所述第四移動路徑將所述攝像頭模組C移送至位於所述超淨工作臺10的組裝設備7。
In one embodiment, when the first detection result or the second detection result indicates that the camera module C is free of dust, the remote motion center model 42 is used to calculate the fourth The moving path includes: calculating the fourth moving path according to the first position where the detection device 5 is located and the third position where the
在一個實施例中，所述組裝設備7包括組裝治具70、托盤71，所述組裝設備7設置於所述超淨工作臺10的所述第二開口102處；所述組裝治具70可以是工藝裝配類治具，用於對所述攝像頭模組C和所述手機模組PH進行組裝；所述托盤71用於與所述第一平臺P1的升降移送設備H對接，承載所述手機模組PH。
In one embodiment, the
在一個實施例中，當所述第二次檢測結果指示所述攝像頭模組C有灰塵時，所述遠端運動中心模型42用於計算所述第一夾具34從所述檢
測設備5所在的所述第一位置，透過所述第一開口101移出所述超淨工作臺10的第一退出路徑；所述控制模型44還用於控制所述機械手臂3，依據所述第一退出路徑將所述攝像頭模組C移出所述超淨工作臺10，到達預設的攝像頭模組C回收區R；所述控制模型44控制所述機械手臂3下達放置指令，所述第一夾具34用於回應所述放置指令，將所述攝像頭模組C放置在所述回收區R。需要說明的是，之後所述工業組裝系統1會利用所述機械手臂3，夾取所述物料區G的其他攝像機模組進行下一次所述工業組裝方法。
In one embodiment, when the second detection result indicates that the camera module C is dusty, the remote motion center model 42 is used to calculate the
The first position where the measuring equipment 5 is located, moves out of the first exit path of the
在一個實施例中，當對所述攝像頭模組C和手機模組PH進行組裝後，所述遠端運動中心模型42用於計算所述第一夾具34從所述組裝設備7所在的第三位置，透過所述第一開口101移出所述超淨工作臺的第二退出路徑；所述控制模型44還用於控制所述機械手臂3依據所述第二退出路徑移出所述超淨工作臺10。
In one embodiment, after the camera module C and the mobile phone module PH are assembled, the remote motion center model 42 is used to calculate the distance between the
在一些實施例中，所述儲存器41、儲存器301用於儲存程式碼和各種資料。例如圖2所示，所述儲存器41可以儲存安裝在所述電腦裝置4中的遠端運動中心模型42、圖像檢測模型43、控制模型44等，還可以用於在電腦裝置4的運行過程中，實現高速、自動地完成程式或資料的存取。所述儲存器41包括唯讀記憶體(Read-Only Memory，ROM)、可程式設計唯讀記憶體(Programmable Read-Only Memory，PROM)、可抹除可程式設計唯讀記憶體(Erasable Programmable Read-Only Memory，EPROM)、一次可程式設計唯讀記憶體(One-time Programmable Read-Only Memory，OTPROM)、電子抹除式可複寫唯讀記憶體(Electrically-Erasable Programmable Read-Only Memory，EEPROM)、唯讀光碟(Compact Disc Read-Only Memory，CD-ROM)或其他光碟儲存器、磁碟儲存器、磁帶儲存器、或者任何其他能夠用於攜帶或儲存資料的電腦可讀的儲存介質。所述儲存器301可以儲存安裝在所述主體部30中的刀尖點模型31等，還可以
用於在主體部30的運行過程中，實現高速、自動地完成程式或資料的存取；所述主體部30包括唯讀儲存器(Read-Only Memory，ROM)、可程式設計唯讀儲存器(Programmable Read-Only Memory，PROM)、可抹除可程式設計唯讀儲存器(Erasable Programmable Read-Only Memory，EPROM)、一次可程式設計唯讀儲存器(One-time Programmable Read-Only Memory，OTPROM)、電子抹除式可複寫唯讀儲存器(Electrically-Erasable Programmable Read-Only Memory，EEPROM)、唯讀光碟(Compact Disc Read-Only Memory，CD-ROM)或其他光碟儲存器、磁碟儲存器、磁帶儲存器、或者任何其他能夠用於攜帶或儲存資料的電腦可讀的儲存介質。
In some embodiments, the storage 41 and the storage 301 are used to store program codes and various data. For example, as shown in FIG. 2 , the storage 41 can store the remote motion center model 42, the image detection model 43, the control model 44, etc. installed in the computer device 4, and can also be used for the operation of the computer device 4. In the process, high-speed and automatic completion of program or data access is realized. The storage 41 includes a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable Read-Only Memory, PROM), an erasable programmable read-only memory (Erasable Programmable Read -Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically-Erasable Programmable Read-Only Memory (EEPROM) , CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other optical disk storage, disk storage, tape storage, or any other computer-readable storage medium that can be used to carry or store data. The storage 301 can store the tool point model 31 installed in the
儘管未示出，所述電腦裝置4還可以包括給各個部件供電的電源(比如電池)，優選的，電源可以透過電源管理裝置與所述至少一個處理器40邏輯相連，從而透過電源管理裝置實現管理充電、放電、以及功耗管理等功能；所述主體部30還可以包括給各個部件供電的電源(比如電池)，優選的，電源可以透過電源管理裝置與所述至少一個處理器300邏輯相連，從而透過電源管理裝置實現管理充電、放電、以及功耗管理等功能。電源還可以包括一個或一個以上的直流或交流電源、再充電裝置、電源故障檢測電路、電源轉換器或者逆變器、電源狀態指示器等任意元件。所述電腦裝置4和所述主體部30還可以包括多種感測器、藍牙模組、Wi-Fi模組等，在此不再贅述。
Although not shown, the computer device 4 may also include a power supply (such as a battery) for supplying power to each component. Preferably, the power supply may be logically connected to the at least one processor 40 through a power management device, thereby realizing Manage functions such as charging, discharging, and power consumption management; the
在一些實施例中，所述至少一個處理器40可以分別由積體電路組成，例如可以分別由單個封裝的積體電路所組成，也可以是分別由多個相同功能或不同功能封裝的積體電路所組成，包括一個或者多個中央處理器(Central Processing unit，CPU)、微處理器、數位訊號處理晶片、圖形處理器及各種控制晶片的組合等。所述至少一個處理器40是所述電腦裝置4的控制核心(Control Unit)，利用各種介面和線路連接整個電腦裝置4的各個部件，透過運行或執行儲存在所述儲存器41內的程式或者模組，以及
調用儲存在所述儲存器41內的資料，以執行電腦裝置4的各種功能和處理資料，例如執行圖5所示的無塵工業組裝的功能。所述至少一個處理器300可以分別由積體電路組成，例如可以分別由單個封裝的積體電路所組成，也可以是分別由多個相同功能或不同功能封裝的積體電路所組成，包括一個或者多個中央處理器(Central Processing unit，CPU)、微處理器、數位訊號處理晶片、圖形處理器及各種控制晶片的組合等。所述至少一個處理器300是所述主體部30的控制核心(Control Unit)，利用各種介面和線路連接整個主體部30的各個部件，透過運行或執行儲存在所述儲存器301內的程式或者模組，以及調用儲存在所述儲存器301內的資料，以執行主體部30的各種功能和處理資料，例如執行圖5所示的無塵工業組裝的功能。
In some embodiments, the at least one processor 40 may be composed of integrated circuits, for example, may be composed of a single packaged integrated circuit, or may be composed of multiple integrated circuits with the same function or different functions. Composed of circuits, including one or more central processing units (Central Processing unit, CPU), microprocessors, digital signal processing chips, graphics processors and combinations of various control chips. The at least one processor 40 is the control core (Control Unit) of the computer device 4, and uses various interfaces and lines to connect the various components of the entire computer device 4, by running or executing programs stored in the memory 41 or mods, and
Call the data stored in the memory 41 to execute various functions of the computer device 4 and process data, for example, execute the function of dust-free industrial assembly shown in FIG. 5 . The at least one processor 300 may be composed of integrated circuits, for example, may be composed of a single packaged integrated circuit, or may be composed of multiple integrated circuits with the same function or different functions, including a Or a combination of multiple central processing units (Central Processing unit, CPU), microprocessors, digital signal processing chips, graphics processors, and various control chips. The at least one processor 300 is the control core (Control Unit) of the
在一些實施例中，所述遠端運動中心模型42、圖像檢測模型43、控制模型44、刀尖點模型31可以分別包括多個由程式碼段所組成的功能模組。所述遠端運動中心模型42、圖像檢測模型43和控制模型44中的各個程式段的程式碼可以儲存於所述電腦裝置4的儲存器41中，並由至少一個處理器40執行，以實現獲得所述機械手臂3的移動路徑和獲得所述檢測結果的功能。所述刀尖點模型31的各個程式段的程式碼可以儲存於所述主體部30的儲存器301中，並由至少一個處理器300所執行，以實現獲得校準所述刀尖點的功能。
In some embodiments, the distal motion center model 42 , the image detection model 43 , the control model 44 , and the tool point model 31 may respectively include a plurality of functional modules composed of program code segments. The program codes of each program segment in the distal motion center model 42, the image detection model 43 and the control model 44 can be stored in the memory 41 of the computer device 4, and executed by at least one processor 40 to The functions of obtaining the moving path of the mechanical arm 3 and obtaining the detection results are realized. The program codes of each program segment of the tool tip model 31 can be stored in the memory 301 of the
本領域技術人員應該瞭解，圖1和圖2示出的所述工業組裝系統1的結構並不構成本申請實施例的限定，既可以是匯流排型結構，也可以是星形結構，所述工業組裝系統1還可以包括比圖示更多或更少的其他硬體或者軟體，或者不同的部件佈置。 Those skilled in the art should understand that the structure of the industrial assembly system 1 shown in Figure 1 and Figure 2 does not constitute a limitation of the embodiment of the present application, it can be a busbar structure or a star structure, and the The industrial assembly system 1 may also include more or less other hardware or software than shown, or a different arrangement of components.
需要說明的是，所述工業組裝系統1僅為舉例，其他現有的或今後可能出現的電子產品或硬體設備如可適應於本申請，也應包含在本申請的保護範圍以內，並以引用方式包含於此。 It should be noted that the industrial assembly system 1 is only an example, and other existing or future electronic products or hardware devices that can be adapted to this application should also be included in the scope of protection of this application, and cited method is included here.
應該瞭解，所述實施例僅為說明之用，在專利申請範圍上並不受 此結構的限制。 It should be understood that the described embodiments are only used for illustration, and are not limited by the scope of the patent application. Limitations of this structure.
如圖5所示，所述工業組裝方法具體包括以下步驟，根據不同的需求，該流程圖中步驟的順序可以改變，某些步驟可以省略。 As shown in FIG. 5 , the industrial assembly method specifically includes the following steps. According to different requirements, the order of the steps in the flow chart can be changed, and some steps can be omitted.
步驟S1，遠端運動中心模型42將超淨工作臺10的第一開口101設定為機械手臂3的遠端運動中心，依據所述遠程運動中心獲得所述機械手臂3的組裝參數。
Step S1 , the remote motion center model 42 sets the
在一個實施例中，遠端運動中心模型42模擬類比所述工業組裝系統1，將所述第一開口101設置為所述機械手臂3的遠端運動中心，模擬並計算所述機械手臂3的第二連桿33和第一夾具34透過所述第一開口101進入所述超淨工作臺10的移動範圍閾值，以及所述機械手臂3的組裝參數，所述組裝參數包括所述第一連桿32和所述第二連桿33的連接長度和連接角度。所述移動範圍閾值包括：所述第二連桿33和所述第一夾具34在所述第一開口101內進行移動並且不會碰撞到所述第一開口101的移動範圍。
In one embodiment, the distal motion center model 42 is analogous to the industrial assembly system 1, the
在一個實施例中，刀尖點模型31將所述檢測設備5、所述除塵設備6、所述組裝設備7設定所述機械手臂3的刀尖點，並對所述機械手臂3的刀尖點進行校正(例如，利用五點校正法進行校準)，獲得目標刀尖點；所述目標刀尖點包括：所述檢測設備5所在的第一位置、所述除塵設備6所在的第二位置、所述組裝設備7所在的第三位置。
In one embodiment, the tool tip point model 31 sets the tool tip point of the mechanical arm 3 by the detection device 5, the dust removal device 6, and the
步驟S2，根據所述組裝參數校準所述機械手臂3。 Step S2, calibrating the robotic arm 3 according to the assembly parameters.
在一個實施例中，用戶按照計算得到的連接長度和連接角度，利用所述扣環元件35連接所述第一連桿32和所述第二連桿33。
In one embodiment, the user uses the
步驟S3，控制所述機械手臂3的第一夾具34夾取攝像頭模組C，計算所述機械手臂3的第一移動路徑，控制所述機械手臂3依據所述第一移動路徑將所述攝像頭模組C移送至位於所述超淨工作臺10的檢測設備5。
Step S3, controlling the
在一個實施例中，所述控制模型44控制所述機械手臂3下達夾取指令，所述第一夾具34回應所述夾取指令，夾持放置在所述超淨工作臺10之外的物料區G的所述攝像頭模組C；所述遠端運動中心模型42根據所述檢測設備5所在的第一位置計算第一移動路徑，所述第一移動路徑包括所述第一夾具34透過所述第一開口101進入所述超淨工作臺10，移動至所述第一位置的移動路徑；所述控制模型44控制所述機械手臂3，依據所述第一移動路徑將所述攝像頭模組C移送至位於所述超淨工作臺10的檢測設備5的第一位置處。
In one embodiment, the control model 44 controls the mechanical arm 3 to issue a clamping command, and the
步驟S4，利用所述檢測設備5檢測所述攝像頭模組C，獲得第一次檢測結果。 Step S4, using the detection device 5 to detect the camera module C, and obtain the first detection result.
在一個實施例中，所述檢測設備5包括第二夾具51、顯微攝影設備52、第三開口531、供光設備532。所述第三開口531用於作為所述第一位置；所述第二夾具51回應所述電腦裝置4的撕取指令，對所述第一夾具34夾持的攝像頭模組C的保護膜進行撕取；所述供光設備532為所述顯微攝影設備52提供光源；所述顯微攝影設備52透過所述第三開口531觀測並獲取被撕取保護膜後的所述攝像頭模組C的圖像；所述電腦裝置4的圖像檢測模型43獲取所述攝像頭模組C的圖像，利用灰塵檢測演算法(例如，OpenCV演算法)獲得第一次檢測結果，所述第一次檢測結果包括：所述攝像頭模組C有灰塵和所述攝像頭模組C無灰塵。
In one embodiment, the detection device 5 includes a
步驟S5，當所述第一次檢測結果指示所述攝像頭模組C有灰塵時，執行步驟S6；當所述第一次檢測結果或第二次檢測結果指示所述攝像頭模組C無灰塵時，執行步驟S9。 Step S5, when the first detection result indicates that the camera module C has dust, execute step S6; when the first detection result or the second detection result indicates that the camera module C has no dust , execute step S9.
步驟S6，計算所述機械手臂3的第二移動路徑，控制所述機械手臂3，依據所述第二移動路徑將所述攝像頭模組C移送至位於所述超淨工作臺10的除塵設備6，利用所述除塵設備6對所述攝像頭模組C進行除塵。
Step S6, calculating the second moving path of the robotic arm 3, controlling the robotic arm 3, and transferring the camera module C to the dust removal equipment 6 located on the
在一個實施例中，所述遠端運動中心模型42計算所述機械手臂
3的第二移動路徑，包括：根據所述檢測設備5所在的第一位置和所述除塵設備6所在的第二位置計算所述第二移動路徑，所述第二移動路徑包括所述第一夾具34從所述第一位置移動至所述第二位置的移動路徑；所述控制模型44控制所述機械手臂3，依據所述第二移動路徑將所述攝像頭模組C移送至位於所述超淨工作臺10的除塵設備6。
In one embodiment, the distal center of motion model 42 calculates the
3, the second moving path includes: calculating the second moving path according to the first position where the detection device 5 is located and the second position where the dust removal device 6 is located, and the second moving path includes the first The movement path of the
在一個實施例中，所述除塵設備6包括抽氣設備60和吹氣設備61，所述除塵設備6回應所述電腦裝置4的除塵指令，對所述攝像頭模組C進行預設時間(例如，30秒)的除塵。當所述攝像頭模組C有灰塵時，該灰塵的部分灰塵(或者全部灰塵)可以由所述吹氣設備61吹落，或者由所述抽氣設備60抽離所述攝像頭模組C。需要說明的是，為保證所述超淨工作臺10中的無塵環境，吹落的灰塵也會由所述抽氣設備60抽離所述超淨工作臺10。
In one embodiment, the dust removal device 6 includes an
步驟S7，計算所述機械手臂3的第三移動路徑，控制所述機械手臂3，依據所述第三移動路徑將除塵後的所述攝像頭模組C移送至所述檢測設備5，利用所述檢測設備5對所述除塵後的攝像頭模組C進行檢測，獲得第二次檢測結果。 Step S7, calculating the third moving path of the robotic arm 3, controlling the robotic arm 3, and transferring the dedusted camera module C to the detection device 5 according to the third moving path, using the The detection device 5 detects the dust-removed camera module C to obtain a second detection result.
在一個實施例中，當除塵結束後，所述遠端運動中心模型42計算所述機械手臂3的第三移動路徑，包括：根據所述除塵設備6所在的第二位置和所述檢測設備5所在的第一位置計算所述第三移動路徑，所述第三移動路徑包括所述第一夾具34從所述第二位置移動至所述第一位置的移動路徑；所述控制模型44控制所述機械手臂3，依據所述第三移動路徑將除塵後的所述攝像頭模組C移送至所述檢測設備5，所述檢測設備5對所述除塵後的攝像頭模組C進行檢測，獲得第二次檢測結果，所述第二次檢測結果包括：所述攝像頭模組C有灰塵和所述攝像頭模組C無灰塵。需要說明的是，所述檢測設備5獲得所述第二次檢測結果的過程，除撕取保護膜外與前述獲得所述第一次檢測結果的過程相同，不再贅述。
In one embodiment, after the dust removal is finished, the remote motion center model 42 calculates the third movement path of the mechanical arm 3, including: according to the second position of the dust removal device 6 and the detection device 5 Calculate the third movement path at the first position, the third movement path includes the movement path of the
步驟S8，當所述第二次檢測結果指示所述攝像頭模組C無灰塵時，執行步驟S9，當所述第二次檢測結果指示所述攝像頭模組C有灰塵時，執行步驟S11。 Step S8, when the second detection result indicates that the camera module C has no dust, execute step S9, and when the second detection result indicates that the camera module C has dust, execute step S11.
步驟S9，計算所述機械手臂3的第四移動路徑，控制所述機械手臂3，依據所述第四移動路徑將所述攝像頭模組C移送至位於所述超淨工作臺10的組裝設備7，利用所述組裝設備7對所述攝像頭模組C和所述手機模組PH進行組裝。
Step S9, calculating the fourth moving path of the robotic arm 3, controlling the robotic arm 3, and transferring the camera module C to the
在一個實施例中，所述遠端運動中心模型42計算所述機械手臂3的第四移動路徑，包括：根據所述檢測設備5所在的第一位置和所述組裝設備7所在的第三位置計算所述第四移動路徑，所述第四移動路徑包括所述第一夾具34從所述第一位置移動至所述第三位置的移動路徑；所述控制模型44控制所述機械手臂3，依據所述第四移動路徑將所述攝像頭模組C移送至位於所述超淨工作臺10的組裝設備7。
In one embodiment, the remote motion center model 42 calculates the fourth moving path of the robotic arm 3, including: according to the first position where the detection device 5 is located and the third position where the
在一個實施例中，所述組裝設備7的組裝治具70對所述攝像頭模組C和所述手機模組PH進行組裝。
In one embodiment, the assembly jig 70 of the
步驟S10，當對所述攝像頭模組C和手機模組PH進行組裝後，所述遠端運動中心模型42計算所述第一夾具34從所述組裝設備7所在的第三位置，透過所述第一開口101移出所述超淨工作臺的第二退出路徑；所述控制模型44控制所述機械手臂3依據所述第二退出路徑移出所述超淨工作臺10。
Step S10, after the camera module C and the mobile phone module PH are assembled, the remote motion center model 42 calculates the
步驟S11，所述遠端運動中心模型42計算所述第一夾具34從所述檢測設備5所在的所述第一位置，透過所述第一開口101移出所述超淨工作臺10的第一退出路徑；所述控制模型44控制所述機械手臂3，依據所述第一退出路徑將所述攝像頭模組C移出所述超淨工作臺10。
In step S11, the distal motion center model 42 calculates the
在一個實施例中，所述機械手臂3依據所述第一退出路徑將所述攝像頭模組C移出所述超淨工作臺10，到達預設的攝像頭模組C回收區R；
所述控制模型44控制所述機械手臂3下達放置指令，所述第一夾具34用於回應所述放置指令，將所述攝像頭模組C放置在所述回收區R。需要說明的是，之後所述工業組裝系統1會利用所述機械手臂3，夾取所述物料區G的其他攝像機模組進行下一次所述工業組裝方法。
In one embodiment, the robotic arm 3 moves the camera module C out of the
應該瞭解，所述實施例僅為說明之用，在專利申請範圍上並不受此結構的限制。 It should be understood that the embodiments are only for illustration, and are not limited by the structure in terms of the scope of the patent application.
對於本領域技術人員而言，顯然本申請不限於上述示範性實施例的細節，而且在不背離本申請的精神或基本特徵的情況下，能夠以其他的具體形式實現本申請。因此，無論從哪一點來看，均應將實施例看作是示範性的，而且是非限制性的，本申請的範圍由所附請求項而不是上述說明限定，因此旨在將落在請求項的等同要件的含義和範圍內的所有變化涵括在本申請內。不應將請求項中的任何附圖標記視為限制所涉及的請求項。此外，顯然“包括”一詞不排除其他單元或，單數不排除複數。裝置請求項中陳述的多個單元或裝置也可以由一個單元或裝置透過軟體或者硬體來實現。第一，第二等詞語用來表示名稱，而並不表示任何特定的順序。 It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, but that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, no matter from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the application is defined by the appended claims rather than the above description, so it is intended to All changes within the meaning and range of equivalents of the elements are embraced in this application. Any reference sign in a claim should not be construed as limiting the claim to which it relates. Furthermore, it is clear that the word "comprising" does not exclude other elements or the singular does not exclude the plural. A plurality of units or devices stated in the device claim can also be realized by one unit or device through software or hardware. The words first, second, etc. are used to denote names without implying any particular order.
最後所應說明的是，以上實施例僅用以說明本申請的技術方案而非限制，儘管參照以上較佳實施例對本申請進行了詳細說明，本領域的普通技術人員應當理解，可以對本申請的技術方案進行修改或等同替換，而不脫離本申請技術方案的精神和範圍。 Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application without limitation. Although the present application has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should understand that the present application can be The technical solution shall be modified or equivalently replaced without departing from the spirit and scope of the technical solution of the present application.
S1~S11:步驟 S1~S11: Steps
Claims (14)
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| CN112247511A (en) * | 2020-10-09 | 2021-01-22 | 深圳市浩林自动化设备有限公司 | Assembling process and assembling equipment of camera module |
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| WO2008110061A1 (en) * | 2007-03-12 | 2008-09-18 | 3I Systems Corp | Plane substrate auto-test system and the method thereof |
| TWM570449U (en) * | 2017-08-21 | 2018-11-21 | 精湛光學科技股份有限公司 | Automatic test and measurement apparatus |
| CN112247511A (en) * | 2020-10-09 | 2021-01-22 | 深圳市浩林自动化设备有限公司 | Assembling process and assembling equipment of camera module |
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