Research On Mobile Phone IPEX Line Assembly System Based On Dual Industrial Robots Cooperation

Nowadays,the widely used IPEX line in smart phones is IPEX 4 generation dual head IPEX line.Due to the small size and strong flexibility of the IPEX line,the assembly of the IPEX line of mobile phone relies on manual work.With the development of industry,the technology of industrial robot is more and more mature.It is possible to use the automatic assembly system based on industrial robot instead of manual operation.In this paper,the IPEX assembly system of mobile phone is studied,and the IPEX assembly system of mobile phone is proposed.The related active compliance control technology is designed and verified by experiments.According to the requirements of mobile phone IPEX line automatic assembly function,a mobile phone IPEX line automatic assembly system based on industrial robot is proposed.This paper analyzes the characteristics of mobile phone RF line,decomposes the assembly action based on manual assembly,and designs automatic assembly action for two robots respectively.The functions of assembly tools are discussed,and the overall structure of the system is determined.The structure of gripper,press mechanism,IPEX line and mobile phone tooling were designed.Build a visual inspection platform to provide additional information necessary for assembly.According to the function requirements of assembly system,irb120 and sd7/700 robot are determined as the main assembly equipment.In order to ensure the robot’s cooperative work and the correct operation of assembly process,the host computer is used as the server and the robot as the client.TCP / IP is used as the communication mechanism between robot and host computer,and a special communication protocol is designed as the basis of system control.Based on the communication and assembly tools,the automatic assembly process of mobile phone IPEX line is designed.The design of human-computer interface and the programming of robot are completed.In order to improve the reliability of IPEX line assembly,the three-dimensional force sensor is introduced as the information source,and the impedance algorithm is used as the control basis to develop the flexible function.Firstly,the parameters of the impedance model are analyzed,and the causes of errors are analyzed according to its performance on different planes.The adaptive compensation and PID algorithm are designed to optimize the algorithm in non planar situation.Then,the flexible function of IPEX line assembly is developed based on the algorithm.According to the steps of IPEX line buckle and groove smoothing,the possible accidents are considered,and the corresponding experimental scenarios are designed to verify the feasibility and safety of the active compliant function.Based on the above work content,the verification test of mobile phone training assembly system is carried out.It includes the gripper before the system is used,the tool calibration of the press mechanism,the selection of teaching points in the key assembly process,the analysis of assembly accuracy and the total assembly time.The experimental results show that the design of mobile phone training automatic assembly system can meet the design requirements.