CN114347013A - Method for assembling printed circuit board and FPC flexible cable and related equipment - Google Patents

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

Assembly method and related equipment of printed circuit board and FPC flexible cable

technical field

The invention belongs to the technical field of mechanical assembly, and in particular relates to an assembly method and related equipment of a printed circuit board and an FPC flexible cable.

Background technique

Improving efficiency and reducing manpower are the needs and trends of social development, especially in industrial production, and the process of product assembly is generally required in the processing of industrial products. Therefore, assembly plays a very important role in the entire product processing process. effect. In a current product assembly, the staff needs to manually assist the whole process of the assembly of the installation parts. The manipulator completes all the assembly according to the predetermined route. The labor intensity of the personnel is high, the work efficiency is low, the production cost is high, and there are problems in the assembly accuracy. There is a coordinate deviation between the center point during assembly and the assembly on the material, which will further lead to poor accuracy.

Therefore, how to provide high-precision assembly is an urgent problem to be solved.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an assembly method and related equipment of a printed circuit board and an FPC flexible cable, which can realize efficient and precise assembly by establishing the pose relationship between the basic coordinate system and the image coordinate system.

In order to achieve the above object, the present invention adopts the following technical solutions:

Assembly method of printed circuit board and FPC flexible cable, including:

The world coordinate of the robot base is selected as the basic coordinate system, and the pose relationship between the basic coordinate system and the image coordinate system is obtained through an offline calibration algorithm;

Obtaining the pixel coordinates of the printed circuit board and the assembly on the FPC flexible cable by positioning, converting the pixel coordinates into the basic coordinate system through the pose relationship, and obtaining the converted pixel coordinates between compensation difference;

The manipulator moves according to the compensation difference to complete the assembly between the printed circuit board and the FPC flexible cable.

Further, obtain the pose relationship between the base coordinate system and the image coordinate system, including:

Perform a calibration according to the basic coordinate system and the image coordinate system to obtain a transformation matrix;

Perform deviation compensation on the primary transformation matrix, update the basic coordinate system for secondary calibration, and obtain a secondary transformation matrix, which is used as the pose relationship between the basic coordinate system and the image coordinate system.

Further, performing bias compensation on the primary transformation matrix, and updating the basic coordinate system for secondary calibration, including:

Control the rotation of the manipulator, and calculate the deviation position relationship between the rotation center of the manipulator and the Mark point according to the primary transformation matrix;

Compensate the primary transformation matrix according to the deviation position relationship, update the basic coordinate system to perform secondary calibration, and obtain a secondary transformation matrix as the pose relationship between the basic coordinate system and the image coordinate system.

Further, the formula applied to the pose relationship is P=RQ+P ₀ , where P is the image coordinate system, Q is the base coordinate system, and P ₀ is the offset between the image coordinate system and the base coordinate system, R is a rotation matrix, R= R _z *R _y *R _x , specifically:

R=R _z *R _y *R _x =R _x *R _y *R _z =X ₁ Y ₂ Z ₃ , where,

Therefore

where c is cos, s is sin, and R _x , R _y , and R _z are the rotational relationships with the x, y, and z axes, respectively.

Further, the pixel coordinates of the assembly on the printed circuit board and the FPC flexible cable are obtained by positioning, and the pixel coordinates are converted into the basic coordinate system through the pose relationship to obtain the converted pixel Compensation difference between coordinates, including:

Locate and identify first pixel coordinates of the assembly on the printed circuit board, and second pixel coordinates on the FPC flexible cable;

converting the first pixel coordinates and the second pixel coordinates into first basic coordinates and second basic coordinates according to the pose relationship;

The coordinate difference between the first base coordinate and the second base coordinate is further obtained as a compensation difference of the manipulator.

Further, before obtaining the pixel coordinates of the assembly on the printed circuit board and the FPC flexible cable, the method further includes:

Obtain the initial position of the printed circuit board and the FPC flexible cable on the incoming tooling through the pose relationship;

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 storage table.

Further, the first pixel coordinates of the socket as an assembly on the printed circuit board on the stage are positioned and identified, and the second pixel coordinates of the plug as an assembly on the FPC flexible cable on the manipulator are positioned and identified.

Further, the method also includes:

During the assembly between the printed circuit board and the FPC flexible cable, the assembly strength and assembly depth of the manipulator are obtained, and the assembly accuracy is determined according to the assembly strength and the assembly depth.

A computer device includes a memory and a processor, the memory stores a computer program that can run on the processor, and when the computer program is executed by the processor, the printed circuit board and the FPC are flexible. Cable assembly method.

A computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, realizes the method for assembling the printed circuit board and the FPC flexible cable.

It can be seen from the technical solutions provided by the above embodiments of the present application that the present application obtains the pose relationship through secondary calibration of the collected basic coordinate system and the image coordinate system, and a primary transformation matrix of the basic coordinate system and the image coordinate system is obtained by one calibration. The secondary calibration compensates the deviation between the rotation center of the manipulator and the mark point, and obtains a secondary transformation matrix that is not affected by the deviation between the gripping point of the manipulator and the assembly point of the material, which is used as the pose relationship. After identifying the pixel coordinates of the printed circuit board and the FPC flexible cable assembly, the pixel coordinates are converted into a unified coordinate system through the affine transformation matrix to calculate the difference, and the manipulator can accurately compensate the difference according to the difference. There is no need to manually adjust the standard position repeatedly, and the corresponding assembly strength and assembly depth are detected during assembly, so as to achieve efficient and precise assembly.

Description of drawings

The accompanying drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

FIG. 1 is a schematic flowchart of method steps of a method for assembling a printed circuit board and an FPC flexible cable according to Embodiment 1 of the present invention;

2 is a schematic flowchart of step S100 of the method for assembling a printed circuit board and an FPC flexible cable according to Embodiment 1 of the present invention;

3 is a schematic flowchart of step S100 of the method for assembling a printed circuit board and an FPC flexible cable according to Embodiment 1 of the present invention;

4 is a schematic flowchart of step S200 of the method for assembling a printed circuit board and an FPC flexible cable according to Embodiment 1 of the present invention;

5 is a schematic flowchart of steps of a method for assembling a printed circuit board and an FPC flexible cable according to Embodiment 1 of the present invention;

6 is a schematic three-dimensional structure diagram of a device applying the assembling method of the printed circuit board and the FPC flexible cable provided by the present invention;

FIG. 7 is a schematic structural diagram of a computer device according to another embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

Example 1

This embodiment of the present application provides an assembly method of a printed circuit board and an FPC flexible cable that can achieve high-efficiency and precise assembly by establishing the pose relationship between the basic coordinate system and the image coordinate system, as shown in FIG. 1 , The method steps include:

S100, selecting the world coordinate of the robot base as the basic coordinate system, and obtaining the pose relationship between the basic coordinate system and the image coordinate system through an offline calibration algorithm;

S200, locate and obtain the pixel coordinates of the assembly on the printed circuit board and the FPC flexible cable, convert the pixel coordinates into the basic coordinate system through the pose relationship, and obtain the converted pixel coordinates Compensation difference between;

S300, the manipulator moves according to the compensation difference to complete the assembly between the printed circuit board and the FPC flexible cable.

By establishing the pose relationship between the basic coordinate system and the image coordinate system, the pixel coordinates of the identified assembly materials are converted into a unified coordinate system to calculate the difference, and then the manipulator is controlled to accurately compensate the difference. The coordinate deviation between the grasping point of the manipulator and the assembly point of the material is eliminated, and there is no need to manually adjust the standard position repeatedly, so as to achieve high-efficiency and precise assembly.

In this embodiment, the pose relationship obtained in step S100 is obtained through two calibrations, as shown in FIG. 2 , which is specifically:

S101, perform a calibration according to the basic coordinate system and the image coordinate system to obtain a transformation matrix;

S102: Perform deviation compensation on the primary transformation matrix, update the basic coordinate system for secondary calibration, and obtain a secondary transformation matrix, which is used as the pose relationship between the basic coordinate system and the image coordinate system.

Among them, the above-mentioned calibration is to establish a transformation matrix between the basic basic coordinate system and the image coordinate system, which is specifically to control the manipulator to move within the field of view of the camera, and after the movement obtains a certain number of points, the corresponding After that, because there is a coordinate deviation between the coordinates of the grasping point of the manipulator and the assembly point of the material, for example, between the grasping point of the manipulator and the plug assembly at the end of the long-shaped FPC flexible cable, the There is a coordinate deviation, so this deviation is supplemented by secondary calibration, and the secondary transformation matrix is updated as the final pose relationship.

The secondary calibration in step S102 is specifically realized by rotating the manipulator, as shown in FIG. 3 , which may specifically include:

S103, control the rotation of the manipulator, and calculate the deviation positional relationship between the rotation center of the manipulator and the Mark point according to the primary transformation matrix;

S104: Compensate the primary transformation matrix according to the deviation position relationship, update the basic coordinate system to perform secondary calibration, and obtain a secondary transformation matrix as the pose relationship between the basic coordinate system and the image coordinate system.

The formula applied to the pose relationship is P=RQ+P ₀ , where P is the coordinate in the image coordinate system, Q is the coordinate in the base coordinate system, and P ₀ is the offset between the image coordinate system and the base coordinate system quantity, R is the rotation matrix, R=R _z *R _y *R _x , specifically:

R=R _z *R _y *R _x =R _x *R _y *R _z =X ₁ Y ₂ Z3, where,

Therefore

where c is cos, s is sin, and R _x , R _y , and R _z are the rotational relationships with the x, y, and z axes, respectively.

In the above calculation formula of the pose relationship, multiple calibrations are performed on the calibration board through the movement of the manipulator, and then the offset P ₀ (x ₀ , y ₀ , z ₀ ) between the image coordinate system and the base coordinate system is calculated, and the rotational relationship R with the x, y, and z axes. _Specifically , the _{coordinates M1} , _M1 ... After several calibrations, the offset P ₀ and the rotation relationship R are calculated.

As shown in FIG. 4 , in this embodiment provided by the present application, in step S200 , the pixel coordinates of the assembly on the printed circuit board and the FPC flexible cable are obtained by locating, and the pixel coordinates are determined by the pose relationship. Converting to the basic coordinate system to obtain the converted compensation difference between the pixel coordinates, which may specifically include:

S201, locate and identify the first pixel coordinates of the assembly on the printed circuit board, and the second pixel coordinates on the FPC flexible cable;

S202, convert the first pixel coordinates and the second pixel coordinates into first basic coordinates and second basic coordinates according to the pose relationship;

S203, obtaining a coordinate difference between the first basic coordinate and the second basic coordinate as a compensation difference of the manipulator.

In this way, the pixel coordinates are converted into a unified coordinate system through the affine transformation matrix to calculate the difference, and the manipulator can accurately compensate the difference according to the difference, so there is no need to manually adjust the standard position repeatedly.

In another embodiment of the present application, that is, the second embodiment, before obtaining the pixel coordinates of the assembly on the printed circuit board and the FPC flexible cable in the positioning in step S200, as shown in FIG. 5 , the method further includes: :

S001, obtaining the initial position of the printed circuit board and the FPC flexible cable on the incoming tooling through the pose relationship;

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 storage table.

The positioning and identification step in the subsequent step S200 identifies the position of the socket of the printed circuit board and the position of the plug of the FPC flexible cable, which is specifically: positioning and identifying the first pixel coordinates of the socket on the printed circuit board as an assembly on the shelf, The second pixel coordinates of the plug on the FPC flexible cable on the manipulator as an assembly part are positioned and recognized, and the compensation difference between the first pixel coordinates and the second pixel coordinates is obtained through the pose relationship.

In the embodiment provided in the present application, as shown in FIG. 5 , when assembling, the method further includes: S400 , when assembling between the printed circuit board and the FPC flexible cable, obtain the assembly force of the manipulator and assembly depth, and the assembly accuracy is determined according to the assembly force and the assembly depth.

Since during assembly, within the allowable accuracy error range, the assembly force and the assembly depth are corresponding. If the plug and socket are not aligned, the assembly force will be much greater than the force corresponding to the assembly depth. The strength and assembly depth can reflect the assembly accuracy between the printed circuit board and the FPC flexible cable.

Through the above embodiment, it can be seen that before the material is assembled in the present application, the pose relationship is obtained by performing secondary calibration on the collected basic coordinate system and the image coordinate system, and one calibration obtains a transformation between the basic coordinate system and the image coordinate system. Matrix, secondary calibration compensates the deviation between the rotation center of the manipulator and the mark point, and obtains a secondary transformation matrix that is not affected by the deviation between the gripping point of the manipulator and the assembly point of the material, as the pose relationship.

After that, the assembly step is performed. First, the initial position of the printed circuit board and the FPC flexible cable on the incoming tooling is obtained through the posture relationship. The robot grabs the printed circuit board and the FPC flexible cable according to the initial position, and the The printed circuit board is placed on the object table; after positioning and identifying the pixel coordinates of the assembly on the printed circuit board and the FPC flexible cable on the manipulator, the pixel coordinates are converted into a unified coordinate system through the affine transformation matrix to calculate the difference. The manipulator accurately compensates the difference according to the difference, so there is no need to manually adjust the standard position repeatedly, and the corresponding assembly strength and assembly depth are detected during assembly, so as to achieve efficient and precise assembly.

As shown in FIG. 6 , a schematic three-dimensional structure diagram of a device for applying the method for assembling a printed circuit board and an FPC flexible cable provided by the present application is also provided, wherein the first vision unit 11 is provided on the manipulator 2 and is connected to the The synchronous movement of the manipulator 2 realizes the structure of the eye on the hand, which can not only obtain the initial position of the material on the incoming tooling, but also follow the manipulator 2 to the top of the storage table to obtain the position of the socket of the printed circuit board placed on it; The second vision unit 12 is fixedly arranged at the position of the plane where the base of the manipulator 2 is located, and obtains the position of the plug of the FPC flexible cable grasped by the manipulator 2 from top to bottom.

Correspondingly, the first visual unit 11 and the second visual unit 12 respectively correspond to a first image coordinate system and a second image coordinate system, and through the method steps in the assembling method provided in the above-mentioned embodiment, the two image coordinate systems are obtained respectively. The pose relationship with the basic coordinate system, so as to convert the first pixel coordinates and the second pixel coordinates and obtain the compensation difference between the pixel coordinates, and complete the assembly of the printed circuit board and the FPC flexible cable.

The setting of the vision unit with eyes on the hand can avoid the problem of position error after multiple operations caused by the separate setting of the position of the vision device, such as being set on a slidable track, and the moving line of the manipulator 2 will not be affected by extra. device structure. Thus, the technical effect of realizing efficient and precise assembly of the method for assembling the printed circuit board and the FPC flexible cable provided by the present application is realized.

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 to store the instructions in the corresponding embodiments of the above-mentioned assembling method of the printed circuit board and the FPC flexible cable. The processor 202 is coupled to the memory 201 and may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 202 is used to execute the instructions stored in the memory 201, and can achieve efficient and precise assembly by establishing the pose relationship between the basic coordinate system and the image coordinate system.

In another embodiment, a computer-readable storage medium has computer program instructions stored thereon, and when the instructions are executed by a processor, implement the steps of the method for assembling a printed circuit board and an FPC flexible cable. 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, etc.) having computer-usable program code embodied therein .

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement or improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. Inside.

Claims (10)

1. Assembly method of printed circuit board and FPC flexible cable, including: The world coordinate of the robot base is selected as the basic coordinate system, and the pose relationship between the basic coordinate system and the image coordinate system is obtained through an offline calibration algorithm; Obtaining the pixel coordinates of the printed circuit board and the assembly on the FPC flexible cable by positioning, converting the pixel coordinates into the basic coordinate system through the pose relationship, and obtaining the converted pixel coordinates between compensation difference; The manipulator moves according to the compensation difference to complete the assembly between the printed circuit board and the FPC flexible cable. 2. The method for assembling a printed circuit board and an FPC flexible cable according to claim 1, wherein obtaining the pose relationship between the basic coordinate system and the image coordinate system, comprising: Perform a calibration according to the basic coordinate system and the image coordinate system to obtain a transformation matrix; Perform deviation compensation on the primary transformation matrix, update the basic coordinate system for secondary calibration, and obtain a secondary transformation matrix, which is used as the pose relationship between the basic coordinate system and the image coordinate system. 3. The method for assembling a printed circuit board and an FPC flexible cable according to claim 2, characterized in that, performing deviation compensation on the primary transformation matrix and updating the basic coordinate system for secondary calibration, comprising: Control the rotation of the manipulator, and calculate the deviation position relationship between the rotation center of the manipulator and the Mark point according to the primary transformation matrix; Compensate the primary transformation matrix according to the deviation position relationship, update the basic coordinate system to perform secondary calibration, and obtain a secondary transformation matrix as the pose relationship between the basic coordinate system and the image coordinate system. 4. The method for assembling a printed circuit board and an FPC flexible cable according to claim 2, wherein the formula applied to the pose relationship is P=RQ+P ₀ , wherein P is the coordinate in the image coordinate system , Q is the coordinate in the base coordinate system, P ₀ is the offset between the image coordinate system and the base coordinate system, R is the rotation matrix, R=R _z *R _y *R _x , specifically: R=R _z *R _y *R _x =R _x *R _y *R _z =X ₁ Y ₂ Z ₃ , where,

Therefore

where c is cos, s is sin, and R _x , R _y , and R _z are the rotational relationships with the x, y, and z axes, respectively. 5 . The method for assembling a printed circuit board and an FPC flexible cable according to claim 1 , wherein the pixel coordinates of the assembly part of the printed circuit board and the FPC flexible cable are obtained by positioning, and the pose The relationship converts the pixel coordinates into the basic coordinate system, and obtains the compensation difference between the converted pixel coordinates, including: Locate and identify first pixel coordinates of the assembly on the printed circuit board, and second pixel coordinates on the FPC flexible cable; converting the first pixel coordinates and the second pixel coordinates into first basic coordinates and second basic coordinates according to the pose relationship; The coordinate difference between the first base coordinate and the second base coordinate is further obtained as a compensation difference of the manipulator. 6 . The method for assembling a printed circuit board and an FPC flexible cable according to claim 1 , wherein, before obtaining the pixel coordinates of the assembly on the printed circuit board and the FPC flexible cable by positioning, the method further comprises: 6 . include: Obtain the initial position of the printed circuit board and the FPC flexible cable on the incoming tooling through the pose relationship; 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 storage table. 7. The assembling method of printed circuit board and FPC flexible cable according to claim 6, it is characterized in that: Position and identify the first pixel coordinates of the socket on the printed circuit board as an assembly on the stage, and locate and identify the second pixel coordinates of the plug as an assembly on the FPC flexible cable on the manipulator. 8. The method for assembling a printed circuit board and an FPC flexible cable according to any one of claims 1-7, wherein the method further comprises: During the assembly between the printed circuit board and the FPC flexible cable, the assembly strength and assembly depth of the manipulator are obtained, and the assembly accuracy is determined according to the assembly strength and the assembly depth. 9. A computer device comprising a memory and a processor, wherein a computer program that can be run on the processor is stored on the memory, wherein the computer program is executed by the processor to realize claim 1 The method for assembling the printed circuit board and the FPC flexible cable according to any one of to 8. 10. A computer-readable storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, the printed circuit board and the FPC flexible cable according to any one of claims 1 to 8 are realized assembly method.

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