Automatic electric connector assembling method and automatic electric connector assembler

[0027] The preferred embodiment of the automatic assembly method of the electrical connector provided by the present invention is as follows:

[0028] An automatic assembly method of an electrical connector includes the following steps:

[0029] (1) An indexing turntable is set horizontally, and feeding stations, image inspection stations, inserting stations and unloading stations are evenly distributed along the circumferential direction of the indexing turntable. Each station is corresponding to the indexing turntable. There are jigs for clamping the parts with holes in sequence, and the image capturing device of the image detection system is corresponding to the image detection station;

[0030] (2) Feeding: In the feeding station, the correspondingly set feeding manipulator grabs the parts with holes and moves them to the fixture at the station on the indexing turntable, and the parts with holes are clamped by the fixture;

[0031] (3) Collecting image information to obtain hole position coordinate data: the image capturing device collects the image information of the hole to be assembled of the clamped hole part that rotates to the station with the indexing dial, and the image The computer processing system of the detection system processes the hole position coordinate data of the jack;

[0032] (4) Insertion: In the insertion station, after the hole position coordinate data in step (3) is received by the corresponding positioning claw three-axis insertion mechanism, the positioning claw three-axis insertion mechanism automatically obtains the parts to be inserted. According to the coordinate data, insert the parts to be inserted into the corresponding holes of the parts with holes that are turned from the indexing dial to the station to obtain the assembly;

[0033] (5) Unloading: the components in step (4) are transferred to the unloading station with the indexing turntable, and the components are removed from the indexing turntable by the correspondingly set unloading manipulator.

[0034] With the rotation of the indexing turntable, each fixture on the turntable repeats the above steps (2)-(5).

[0035] In order to further improve the degree of automation, at the feeding station, the feeding conveyor belt is used to feed the feeding robot, and the photoelectric detection device is used to detect whether there are parts with holes on the feeding conveyor belt. If parts are detected, the feeding robot is used Move the parts to the jig of the indexing turntable, and if no parts are detected, the loading manipulator waits; at the inserting station, the stepping feeding device is used to supply the parts to be inserted to the positioning claw three-axis inserting mechanism; at the unloading station , The unloading conveyor belt is used to transport the components unloaded by the unloading manipulator.

[0036] In this embodiment, since the hole of the holed part placed on the conveyor belt faces upward, and the holed part is also clamped on the fixture with the hole up, the imaging device and the positioning claw are three-axis The plug-in mechanism is set up above the corresponding work position of the indexing turntable.

[0037] Figure 1-Figure 6 Shown is an automatic assembly machine for electrical connectors of the present invention. The assembly machine includes an indexing turntable 10 (see figure 2 ), the indexing turntable is positioned by a worm cam divider and a brake motor drive device. Feeding stations, image inspection stations, inserting stations and unloading stations are uniformly distributed along the circumferential direction of the indexing turntable. The indexing turntable 10 is provided with clamps 3 for clamping the parts with holes in sequence corresponding to each station; the corresponding loading, image detection, inserting and unloading stations are equipped with a loading manipulator 1, an image detection system for capturing images Device 9. The positioning claw three-axis insertion mechanism 7 and the unloading manipulator 4 for inserting the parts to be inserted into the hole of the part with holes, the image capturing device 9 and the positioning claw three-axis insertion mechanism 7 are respectively located on the corresponding stations On the extension line of the insertion hole of the holed part, in this embodiment, since the holed part is clamped in the clamp with the insertion hole facing upward, the above-mentioned image capturing device and the positioning claw three-axis insertion mechanism are all set in Above the corresponding station of the indexing turntable. The image capturing device obtains the image information of the jacks to be assembled on the parts with holes and transmits them to the computer processing system of the image detection system. The processed jack hole position coordinate data is transmitted to the positioning claw three-axis insertion mechanism.

[0038] In this embodiment, the corresponding feeding station is also provided with a feeding conveyor belt 5 and a photoelectric detection device for detecting whether there are parts with holes on the feeding conveyor belt. The feeding conveyor belt 5 cuts along the indexing turntable feeding station. The corresponding inserting station is equipped with a stepping feeding device 11 for the positioning claw three-axis inserting mechanism to supply the parts to be inserted; the corresponding unloading station is equipped with a discharge conveyor belt 6, and the discharge conveyor belt is indexed along the The radial extension of the turntable blanking station is arranged.

[0039] The above-mentioned loading manipulator 1 (see image 3 ) Including a base fixed on the base plate 2 and a gripper arranged on the base that can move up and down and extend and retract horizontally. The gripper stretches and moves the material along the radial direction of the indexing turntable. The structure of the unloading manipulator 4 is the same as that of the loading manipulator, and its gripper also telescopically moves the material along the radial direction of the indexing turntable. Capture device 9 (see Figure 4 ) Including a bracket for fixing on the base plate 2 and a vision system, top light source and adjustment components arranged on the bracket. Positioning claw three-axis insertion mechanism 7 (see Figure 5 ) Including a three-axis servo system and a grabbing component installed at the output end of the three-axis servo system. The structure of the step feeding device 11 see Image 6 Shown.

[0040] The working process of the assembling machine when assembling the electrical connector is described below in conjunction with the drawings:

[0041] A. Indexing turntable 0 degree station: electric connector insulator 20 is loaded. Manually place the electrical connector insulator on the feeding conveyor belt 5 with the hole to be installed facing upwards, and transfer the electrical connector insulator to the feeding robot position. The photoelectric detection device detects the parts, and the feeding robot transfers the parts In the jig of the indexing turntable, if no parts are detected, the feeding robot waits.

[0042] B. Indexing turntable 90-degree station: image detection. It is used to memorize the size of the hole on the insulator of the electrical connector and the coordinate position of the relative fixture. The image detection system detects the coordinate of the jack position relative to the frame, and the obtained coordinate data is converted and transferred to the positioning claw three-axis insertion The installation mechanism performs the insertion process;

[0043] C. Indexing turntable 180-degree station: Install pins on the insulator of the electrical connector. A three-axis servo system and a grabbing component in the positioning claw three-axis insertion mechanism take the pins from the stepping feeding device and insert them into the electrical connector insulator.

[0044] D. Indexing turntable 270 degree station: unloading. The assembled components are unloaded on the unloading conveyor belt by the unloading manipulator at the station, sent out by the unloading conveyor belt, and then taken away manually.

[0045] In the working process of the assembly machine of this embodiment, the indexing turntable rotates 90° each time. Since four fixtures are installed on the turntable, the four work stations can simultaneously execute the corresponding process content. Through the continuous indexing turntable Rotation can easily realize continuous automated production.

[0046] In this embodiment, the loading station, the image inspection station, the inserting station and the unloading station are uniformly distributed along the circumferential direction of the indexing carousel. During implementation, each station can be designed according to the timing of the system. Position in the circumferential direction; the image detection station can also be set up in a composite manner with the loading station or the inserting station, that is, the imaging device of the image detection system can be set at the loading station, after the loading is completed , Take pictures directly to obtain the image information, and then rotate the indexing dial to the inserting station; or set the image capturing device at the inserting station. When the loading is completed, the indexing dial is turned to the inserting station, and then take a photo first The image information is processed to obtain coordinate data. After receiving the coordinate data, the positioning claw three-axis insertion mechanism of this station automatically grabs the parts to be inserted and inserts them into the holes of the parts with holes to complete the assembly.