CN114347013A - Method for assembling printed circuit board and FPC flexible cable and related equipment - Google Patents
Method for assembling printed circuit board and FPC flexible cable and related equipment Download PDFInfo
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Abstract
The invention discloses an assembly method of a printed circuit board and an FPC flexible cable and related equipment, wherein the assembly method comprises the following steps: selecting world coordinates of a robot base as a basic coordinate system, and obtaining a pose relation between the basic coordinate system and an image coordinate system through an offline calibration algorithm; positioning to obtain pixel coordinates of the printed circuit board and the FPC flexible cable upper assembly part, and converting the pixel coordinates into the basic coordinate system through the pose relationship to obtain a compensation difference value between the converted pixel coordinates; and the manipulator moves according to the compensation difference value to complete the assembly between the printed circuit board and the FPC flexible cable. According to the invention, the position and posture relation between the basic coordinate system and the image coordinate system is established, the identified pixel coordinates of the assembly materials are converted into the unified coordinate system to calculate the difference value, and the manipulator is further controlled to carry out accurate operation of compensating the difference value, so that efficient and accurate assembly is realized.
Description
Technical Field
The invention belongs to the technical field of mechanical assembly, and particularly relates to an assembly method of a printed circuit board and an FPC flexible cable and related equipment.
Background
The need and trend of social development to improve efficiency and reduce manpower is especially in industrial production, and the assembly process of products is generally required in the processing process of industrial products, so that the assembly plays an important role in the whole product processing process. In the current product assembly, the staff need manually assist the whole process of installed part assembly, and all assemblies are accomplished according to predetermined route to the manipulator, and personnel's intensity of labour is big, and work efficiency is low, and manufacturing cost is high to there is the coordinate deviation between the assembly part on the central point and the material when the manipulator assembles, just can further lead to the precision not high.
Therefore, how to provide high-precision assembly is a problem to be solved urgently.
Disclosure of Invention
The invention aims to provide an assembly method of a printed circuit board and an FPC flexible cable and related equipment, which can realize high-efficiency and accurate assembly by establishing a pose relation between a basic coordinate system and an image coordinate system.
In order to achieve the purpose, the invention adopts the following technical scheme:
the method for assembling the printed circuit board and the FPC flexible cable line comprises the following steps:
selecting world coordinates of a robot base as a basic coordinate system, and obtaining a pose relation between the basic coordinate system and an image coordinate system through an offline calibration algorithm;
positioning to obtain pixel coordinates of the printed circuit board and the FPC flexible cable upper assembly part, and converting the pixel coordinates into the basic coordinate system through the pose relationship to obtain a compensation difference value between the converted pixel coordinates;
and the manipulator moves according to the compensation difference value to complete the assembly between the printed circuit board and the FPC flexible cable.
Further, obtaining a pose relationship between the base coordinate system and the image coordinate system includes:
carrying out primary calibration according to the basic coordinate system and the image coordinate system to obtain a primary transformation matrix;
and performing deviation compensation on the primary transformation matrix, updating the basic coordinate system, and performing secondary calibration to obtain a secondary transformation matrix as a pose relation between the basic coordinate system and the image coordinate system.
Further, performing deviation compensation on the primary transformation matrix, updating the basic coordinate system, and performing secondary calibration, including:
controlling the manipulator to rotate, and calculating the deviation position relation between the rotation center of the manipulator and the Mark point according to the primary transformation matrix;
and compensating the primary transformation matrix according to the deviation position relation, updating the basic coordinate system, and performing secondary calibration to obtain a secondary transformation matrix as the pose relation between the basic coordinate system and the image coordinate system.
Further, the formula applied by the pose relationship is P ═ RQ + P0Where P is the image coordinate system, Q is the base coordinate system, P0Is the offset between the image coordinate system and the base coordinate system, R is the rotation matrix, R ═ Rz*Ry*RxThe method specifically comprises the following steps:
R＝Rz*Ry*Rx＝Rx*Ry*Rz＝X1Y2Z3wherein, in the step (A),
therefore, it is
Wherein c is cos, s is sin, Rx、Ry、RzRotational relationships with the x, y, and z axes, respectively.
Further, obtaining pixel coordinates of the printed circuit board and the FPC flexible cable line upper assembly part through positioning, converting the pixel coordinates into the basic coordinate system through the pose relationship, and obtaining a compensation difference value between the converted pixel coordinates, wherein the step of obtaining the compensation difference value comprises the following steps:
positioning and identifying a first pixel coordinate of an assembly part on the printed circuit board and a second pixel coordinate on the FPC flexible cable;
converting the first pixel coordinate and the second pixel coordinate into a first basic coordinate and a second basic coordinate according to the pose relation;
and further obtaining a coordinate difference value between the first basic coordinate and the second basic coordinate to be used as a compensation difference value of the manipulator.
Further, before obtaining the pixel coordinates of the assembly on the printed circuit board and the FPC flexible cable line, the method further comprises:
obtaining the initial positions of the printed circuit board and the FPC flexible cable on the feeding tool according to the pose relation;
and the manipulator grabs the printed circuit board and the FPC flexible cable according to the initial position and places the printed circuit board on the object placing table.
Furthermore, the first pixel coordinate of the socket serving as an assembly part on the printed circuit board on the object placing table is positioned and identified, and the second pixel coordinate of the plug serving as an assembly part on the FPC flexible cable on the manipulator is positioned and identified.
Still further, the method further comprises:
when the printed circuit board and the FPC flexible cable are assembled, the assembling force and the assembling depth of the manipulator are obtained, and the assembling accuracy is judged according to the assembling force and the assembling depth.
A computer device comprising a memory and a processor, said memory having stored thereon a computer program executable on said processor, said computer program when executed by said processor implementing said method of assembling a printed circuit board with an FPC flexible cable.
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of assembling a printed circuit board with an FPC flexible cable.
According to the technical scheme provided by the embodiment of the application, the pose relation is obtained by carrying out secondary calibration on the acquired basic coordinate system and the acquired image coordinate system, the primary transformation matrix of the basic coordinate system and the image coordinate system is obtained by primary calibration, the secondary calibration compensates the deviation between the rotation center of the manipulator and the mark point, the secondary transformation matrix which is not influenced by the deviation between the grabbing point of the manipulator and the assembly point of the material is obtained and is used as the pose relation, therefore, after the pixel coordinates of the assembly parts on the printed circuit board and the FPC flexible cable are positioned and identified, the pixel coordinates are converted into the uniform coordinate system through the affine transformation matrix to calculate the difference value, the manipulator carries out accurate operation of compensating the difference value according to the difference value, the standard position does not need to be repeatedly adjusted manually, and the corresponding assembly force and assembly depth are detected during assembly, thereby realizing efficient and accurate assembly.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart illustrating steps of a method for assembling a printed circuit board and an FPC flexible cable according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of step S100 of a method for assembling a printed circuit board and an FPC flexible cable according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a step S100 of a method for assembling a printed circuit board and an FPC flexible cable according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a step S200 of a method for assembling a printed circuit board and an FPC flexible cable according to an embodiment of the present invention;
fig. 5 is a schematic flow chart illustrating steps of a method for assembling a printed circuit board and an FPC flexible cable according to an embodiment of the present invention;
FIG. 6 is a schematic perspective view of an apparatus for applying the method of assembling a printed circuit board with an FPC flexible cable according to the present invention;
fig. 7 is a schematic structural diagram of a computer device according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
The embodiment of the application provides an assembly method of a printed circuit board and an FPC flexible cable, which can realize efficient and accurate assembly by establishing a pose relationship between a basic coordinate system and an image coordinate system, as shown in fig. 1, the method includes the steps of:
s100, selecting world coordinates of a robot base as a basic coordinate system, and obtaining a pose relation between the basic coordinate system and an image coordinate system through an offline calibration algorithm;
s200, positioning to obtain pixel coordinates of the printed circuit board and the FPC flexible cable upper assembly part, and converting the pixel coordinates into the basic coordinate system through the pose relationship to obtain a compensation difference value between the converted pixel coordinates;
and S300, the manipulator moves according to the compensation difference value to finish the assembly between the printed circuit board and the FPC flexible cable.
The recognized pixel coordinates of the assembly materials are converted into a unified coordinate system for calculating the difference value by establishing the pose relationship between a basic coordinate system and an image coordinate system, so that the manipulator is controlled to accurately compensate the operation of the difference value, the coordinate deviation between the grabbing point of the manipulator and the assembly point of the materials is solved, the standard position is not required to be adjusted manually, and efficient and accurate assembly is realized.
In this embodiment, the pose relationship obtained in step S100 is specifically obtained by twice calibration, as shown in fig. 2, which specifically includes:
s101, carrying out primary calibration according to the basic coordinate system and the image coordinate system to obtain a primary transformation matrix;
s102, performing deviation compensation on the primary transformation matrix, updating the basic coordinate system, and performing secondary calibration to obtain a secondary transformation matrix as a pose relation between the basic coordinate system and the image coordinate system.
The calibration is used for establishing a primary transformation matrix between a basic coordinate system and an image coordinate system, and specifically, the manipulator is controlled to move in the field of view of the camera, and after a certain number of points are obtained by movement, a corresponding matrix can be obtained by conversion; and then, because coordinate deviation exists between the coordinates of the grabbing point of the manipulator and the assembly point of the material, for example, coordinate deviation exists between the grabbing point of the manipulator and the plug assembly part at the end part of the strip-shaped FPC flexible cable, the deviation is supplemented through secondary calibration, and a secondary transformation matrix is updated to be used as a final pose relation.
The secondary calibration in step S102 is specifically implemented by a rotary manipulator, and as shown in fig. 3, the secondary calibration specifically includes:
s103, controlling the manipulator to rotate, and calculating the deviation position relation between the rotation center of the manipulator and the Mark point according to the primary transformation matrix;
and S104, compensating the primary transformation matrix according to the deviation position relation, updating the basic coordinate system, and performing secondary calibration to obtain a secondary transformation matrix as the pose relation between the basic coordinate system and the image coordinate system.
The formula applied by the pose relationship is P-RQ + P0Where P is the coordinates in the image coordinate system, Q is the coordinates in the base coordinate system, P0Is the offset between the image coordinate system and the base coordinate system, R is the rotation matrix, R ═ Rz*Ry*RxThe method specifically comprises the following steps:
R＝Rz*Ry*Rx＝Rx*Ry*Rz＝X1Y2z3, wherein,
therefore, it is
Wherein c is cos, s is sin, Rx、Ry、RzRotational relationships with the x, y, and z axes, respectively.
In the calculation formula of the pose relationship, the manipulator moves to calibrate the calibration plate for multiple times, and then the offset P between the image coordinate system and the basic coordinate system is calculated0(x0，y0，z0) And a rotational relationship R with the x, y, z axes. Specifically, the coordinates M of enough sampling points are adopted in the basic coordinate system1、 M1……M1From the initial coordinates M in the image coordinate system0Respectively calculating the deviation amount P between the sampling points and the delta M between the sampling points based on the calculation formula and multiple times of calibration0And rotational relationshipR。
As shown in fig. 4, in this embodiment provided by the present application, in step S200, the positioning obtains pixel coordinates of the printed circuit board and the FPC flexible cable line mounting part, and the pixel coordinates are converted into the basic coordinate system through the pose relationship, so as to obtain a compensation difference between the converted pixel coordinates, which may specifically include:
s201, positioning and identifying a first pixel coordinate of an assembly part on the printed circuit board and a second pixel coordinate on the FPC flexible cable;
s202, converting the first pixel coordinate and the second pixel coordinate into a first basic coordinate and a second basic coordinate according to the pose relation;
and S203, obtaining a coordinate difference value between the first basic coordinate and the second basic coordinate to be used as a compensation difference value of the manipulator.
Therefore, pixel coordinates are converted into a unified coordinate system through the affine transformation matrix to calculate the difference, the manipulator carries out accurate operation of compensating the difference according to the difference, and manual repeated adjustment on the standard position is not needed.
In another embodiment of the present application, namely, in the second embodiment, before the positioning in step S200 obtains the pixel coordinates of the assembly on the printed circuit board and the FPC flexible cable, as shown in fig. 5, the method further includes:
s001, obtaining the initial positions of the printed circuit board and the FPC flexible cable on the feeding tool according to the pose relation;
and S002, the manipulator grabs the printed circuit board and the FPC flexible cable according to the initial position and places the printed circuit board on the object placing table.
The positioning identification step in step S200 identifies the socket position of the printed circuit board and the plug position of the FPC flexible cable, which specifically includes: and positioning and identifying a first pixel coordinate of a socket serving as an assembly part on a printed circuit board on the object placing table, positioning and identifying a second pixel coordinate of a plug serving as an assembly part on an FPC flexible cable on the manipulator, and obtaining a compensation difference value between the first pixel coordinate and the second pixel coordinate through the pose relationship.
In this embodiment provided by the present application, as shown in fig. 5, when assembling, the method further includes: s400, when the printed circuit board and the FPC flexible cable are assembled, the assembling force and the assembling depth of the manipulator are obtained, and the assembling accuracy is judged according to the assembling force and the assembling depth.
During assembly, within an allowable accuracy error range, the assembly force and the assembly depth are corresponding, and if the plug and the socket are not aligned, the assembly force is far greater than the force corresponding to the assembly depth, so that the assembly precision between the printed circuit board and the FPC flexible cable line can be reflected by obtaining the assembly force and the assembly depth.
Through the embodiment, it can be seen that before the material is assembled, the pose relationship is obtained by performing secondary calibration on the acquired basic coordinate system and the acquired image coordinate system, the primary transformation matrix of the basic coordinate system and the image coordinate system is obtained by the primary calibration, the secondary calibration compensates the deviation between the rotation center of the manipulator and the mark point, and the secondary transformation matrix which is not affected by the deviation between the grabbing point of the manipulator and the assembling point of the material is obtained and serves as the pose relationship.
Then, an assembling step is carried out, wherein initial positions of the printed circuit board and the FPC flexible cable on a feeding tool are obtained through the pose relation, and the printed circuit board and the FPC flexible cable are grabbed by a mechanical arm according to the initial positions and are placed on a placing table; after the pixel coordinates of the assembly parts on the FPC flexible cable wire on the printed circuit board and the manipulator are located and identified, the pixel coordinates are converted into a unified coordinate system through an affine transformation matrix to be calculated, the manipulator carries out accurate operation of compensating difference values according to the difference values, the standard position does not need to be adjusted manually, corresponding assembly force and assembly depth are detected during assembly, and therefore efficient and accurate assembly is achieved.
As shown in fig. 6, a schematic perspective structure of a device for applying the method for assembling the printed circuit board and the FPC flexible cable provided by the present application is further provided, wherein the first vision unit 11 is disposed on the manipulator 2, and moves synchronously with the manipulator 2 to realize an eye-on-hand structure, so that not only an initial position of a material on a receiving tool can be obtained, but also a socket position of the printed circuit board placed on the receiving tool can be obtained above the placing table along with the manipulator 2; the second vision unit 12 is fixedly arranged on the plane where the base of the manipulator 2 is located, and obtains the plug position of the FPC flexible cable grabbed by the manipulator 2 from top to bottom.
Correspondingly, the first vision unit 11 and the second vision unit 12 respectively correspond to a first image coordinate system and a second image coordinate system, and the pose relationships between the two image coordinate systems and the basic coordinate system are obtained through the method steps in the assembly method provided by the embodiment, so that the first pixel coordinate and the second pixel coordinate are converted, the compensation difference value between the pixel coordinates is obtained, and the assembly of the printed circuit board and the FPC flexible cable is completed.
The arrangement of the ocular visual unit on the hand avoids the problem of position errors after multiple operations due to the separate arrangement of the position of the visual device, for example, on a slidable track, and the line of motion of the manipulator 2 is not affected by additional device structures. Therefore, the technical effect of realizing efficient and accurate assembly of the assembling method of the printed circuit board and the FPC flexible cable line is achieved.
A schematic structural diagram of an embodiment of the computer device disclosed in the present invention is shown in fig. 7, which includes a memory 201 and a processor 202. Wherein the memory 201 may be a magnetic disk, a flash memory or any other non-volatile storage medium. The memory 202 is used for storing instructions in the corresponding embodiment of the assembling method of the printed circuit board and the FPC flexible cable line described above. Processor 202 is coupled to memory 201 and may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 202 is configured to execute the instructions stored in the memory 201, and can implement efficient and accurate assembly by establishing a pose relationship between the base coordinate system and the image coordinate system.
In another embodiment, a computer readable storage medium has stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of assembling a printed circuit board with an FPC flexible cable line. As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is not limited to the above preferred embodiments, and any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The method for assembling the printed circuit board and the FPC flexible cable line comprises the following steps:
selecting world coordinates of a robot base as a basic coordinate system, and obtaining a pose relation between the basic coordinate system and an image coordinate system through an offline calibration algorithm;
positioning to obtain pixel coordinates of the printed circuit board and the FPC flexible cable upper assembly part, and converting the pixel coordinates into the basic coordinate system through the pose relationship to obtain a compensation difference value between the converted pixel coordinates;
and the manipulator moves according to the compensation difference value to complete the assembly between the printed circuit board and the FPC flexible cable.
2. An assembling method of a printed circuit board and an FPC flexible cable line according to claim 1, wherein obtaining the pose relationship between the base coordinate system and the image coordinate system includes:
carrying out primary calibration according to the basic coordinate system and the image coordinate system to obtain a primary transformation matrix;
and performing deviation compensation on the primary transformation matrix, updating the basic coordinate system, and performing secondary calibration to obtain a secondary transformation matrix as a pose relation between the basic coordinate system and the image coordinate system.
3. An assembly method of a printed circuit board and an FPC flexible cable line according to claim 2, wherein performing deviation compensation on the primary transformation matrix and updating the basic coordinate system for secondary calibration includes:
controlling the manipulator to rotate, and calculating the deviation position relation between the rotation center of the manipulator and the Mark point according to the primary transformation matrix;
and compensating the primary transformation matrix according to the deviation position relation, updating the basic coordinate system, and performing secondary calibration to obtain a secondary transformation matrix as the pose relation between the basic coordinate system and the image coordinate system.
4. A method of assembling a printed circuit board with an FPC flexible cable line as claimed in claim 2, wherein: the formula applied by the pose relationship is P-RQ + P0Where P is the coordinates in the image coordinate system, Q is the coordinates in the base coordinate system, P0Is the offset between the image coordinate system and the base coordinate system, R is the rotation matrix, R ═ Rz*Ry*RxThe method specifically comprises the following steps:
R＝Rz*Ry*Rx＝Rx*Ry*Rz＝X1Y2Z3wherein, in the step (A),
therefore, it is
Wherein c is cos, s is sin, Rx、Ry、RzRotational relationships with the x, y, and z axes, respectively.
5. The method for assembling a printed circuit board and an FPC flexible cable line according to claim 1, wherein the positioning obtains pixel coordinates of the printed circuit board and an FPC flexible cable line assembly part, and the pixel coordinates are converted into the basic coordinate system through the pose relationship to obtain a compensation difference value between the converted pixel coordinates, and the method comprises the following steps:
positioning and identifying a first pixel coordinate of an assembly part on the printed circuit board and a second pixel coordinate on the FPC flexible cable;
converting the first pixel coordinate and the second pixel coordinate into a first basic coordinate and a second basic coordinate according to the pose relation;
and further obtaining a coordinate difference value between the first basic coordinate and the second basic coordinate to be used as a compensation difference value of the manipulator.
6. A method of assembling a printed circuit board with an FPC flexible cable line as recited in claim 1, wherein before locating the pixel coordinates of the assembly on the printed circuit board and the FPC flexible cable line, the method further comprises:
obtaining the initial positions of the printed circuit board and the FPC flexible cable on the feeding tool according to the pose relation;
and the manipulator grabs the printed circuit board and the FPC flexible cable according to the initial position and places the printed circuit board on the object placing table.
7. A method of assembling a printed circuit board with an FPC flexible cable line as claimed in claim 6, wherein:
and the first pixel coordinate of the socket serving as an assembly part on the printed circuit board on the object placing table is positioned and identified, and the second pixel coordinate of the plug serving as an assembly part on the FPC flexible cable on the manipulator is positioned and identified.
8. An assembly method of a printed circuit board with an FPC flexible cable line as claimed in any one of claims 1 to 7, further comprising:
when the printed circuit board and the FPC flexible cable are assembled, the assembling force and the assembling depth of the manipulator are obtained, and the assembling accuracy is judged according to the assembling force and the assembling depth.
9. A computer device comprising a memory and a processor, said memory having stored thereon a computer program operable on said processor, wherein said computer program, when executed by said processor, implements the method of assembling a printed circuit board with FPC flexible cable wires as claimed in any one of claims 1 to 8.
10. A computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the method of assembling a printed circuit board with an FPC flexible cable line as claimed in any one of claims 1 to 8.
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| CN116141340B (en) * | 2023-04-20 | 2023-07-14 | 中国信息通信研究院 | Double-robot flexible collaborative manipulator based on circuit board assembly |
| CN117283570A (en) * | 2023-11-21 | 2023-12-26 | 清华大学 | Target guiding type robot system for FPC assembly and control method and device thereof |
| CN117283570B (en) * | 2023-11-21 | 2024-03-12 | 清华大学 | Target guiding type robot system for FPC assembly and control method and device thereof |
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