Full-automatic crimping method for VPX connector

Abstract

The invention belongs to the technical field of aerospace equipment manufacturing, and discloses a full-automatic crimping method for a VPX connector. Comprising the steps of material automatic matching, product flexible assembly, pressure curve fitting and intelligent visual detection. The materials subjected to automatic material matching are assembled through product flexible assembly, and pressure detection, pressure fitting comparison and pressure feedback adjustment are conducted in real time according to pressure curve fitting in the assembling process; and after assembly is finished, finished product inspection is performed through intelligent visual inspection. VPX connector crimping is carried out in an intelligent and automatic mode, crimping work of VPX connector plugs / sockets on PCBs of various shapes and specifications is realized, the production efficiency and the production quality are greatly improved, the cost is reduced, and the production reliability is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of aerospace equipment manufacturing technology, and in particular to a fully automated crimping method for VPX connectors. Background Technology

[0002] The VPX series connectors are high-speed, high-density data transmission connectors. They are a standard modular interface designed to provide performance, reliability, and scalability to meet advanced communication and computing needs, and are widely used in military and aerospace fields.

[0003] Currently, VPX series connectors are generally assembled using crimping, pressing all pins into the holes in one go. During crimping, the VPX connector pins and the pinholes on the PCB must align precisely, the connector must close at the correct height, there must be no excess material at the crimping point, and the crimping force must be within the specified range. When the pins are under force, the metal walls of the pins and pinholes directly generate mutual compressive force, resulting in elastic deformation, plastic deformation, and tight contact. Once crimped, the connector is difficult to remove; even if removed, it will render the connector unusable and damage the circuit board. Therefore, from the perspective of improving product quality and controlling costs, it is necessary to ensure successful crimping on the first attempt.

[0004] The quality of crimping directly affects the data transmission capability and efficiency of the circuit structure. During the crimping process of VPX connectors, the crimping force needs to be consistent with the crimping direction to ensure that the pins do not bend as they enter the socket, thus improving the crimping quality. Therefore, it is essential to ensure that the circuit board and VPX connector are relatively stable during crimping to prevent accidental displacement. At the same time, the crimping direction of the VPX connector also needs to be kept stable.

[0005] Existing technologies typically involve adding a pad behind the PCB board and using a pressing method, employing a flat-nose vise or a manual press to achieve crimping. This method requires manual assistance to prevent the circuit board or connector from tilting during the crimping process, which could lead to crimping failure, connector scrapping, impacting product delivery cycles, and increasing production costs.

[0006] The current development of intelligent and automated industrial production in China has made automatic crimping of VPX connectors possible. With the widespread application of computer technology, the field of industrial automation is developing towards intelligence, networking, and integration, enabling automatic control, identification, and recording of production processes, thus improving production efficiency. Furthermore, the application of intelligent technology in monitoring automation systems is becoming increasingly mature. Through automatic data acquisition technology, automatic measurement, signal processing, and control of production process information can be achieved, improving the accuracy and reliability of monitoring.

[0007] Based on the development of the aforementioned intelligent and automated technologies, fully automated crimping of VPX connectors can be achieved. Automated crimping methods significantly reduce the skill requirements of personnel, decrease staffing, and save labor costs. Simultaneously, leveraging the powerful storage and computing capabilities of automated information systems, crimping process parameters and technological parameters for all types of VPX connectors can be stored within the system. The system drives automated equipment to complete production, which also helps achieve product quality consistency, greatly reducing the differences caused by manual operation and significantly improving product quality. Thanks to rapidly developing video surveillance technology, images can be captured at any time to record the entire production process, especially key procedures / steps. Information from these real-time records is fed back to the system to indicate whether the production process / step meets requirements, allowing for timely adjustments and further ensuring production quality. It also enables traceability in subsequent production processes. The resulting video recordings and complete process data are permanently stored in the system, forming comprehensive product production data, which facilitates subsequent information retrieval and production process optimization and improvement. In summary, compared with the traditional manual VPX connector crimping method, the fully automated crimping method significantly improves production efficiency and quality, reduces labor and time costs, and can meet the production requirements of various types and specifications of VPX connector products during the production process. Summary of the Invention

[0008] In response to the above description, this invention designs a fully automated crimping method for VPX connectors. This method employs intelligent and automated techniques to crimp VPX connectors, enabling the crimping of VPX connector plugs / sockets on PCBs of various shapes and specifications. This significantly improves production efficiency and quality, reduces costs, and ensures production reliability.

[0009] The technical solution of the present invention is as follows: a fully automatic crimping method for VPX connectors, including automatic material matching, flexible product assembly, pressure curve fitting, and intelligent visual inspection; the materials after automatic material matching are assembled through flexible product assembly, and pressure detection, pressure fitting comparison, and pressure feedback adjustment are performed in real time according to the pressure curve fitting during the assembly process; after the assembly is completed, the finished product is inspected through intelligent visual inspection.

[0010] The automatic material matching system includes an intelligent material warehouse, a multi-functional robotic arm, and a transfer mechanism.

[0011] The intelligent material storage bin has a multi-layer drawer structure, with each drawer divided according to material type, and each area is equipped with a vision sensor, a pressure sensor, and a motion mechanism.

[0012] The visual sensor uses the Faster R-CNN algorithm of image recognition technology to scan the material outline, quantity and placement angle in real time to generate a material distribution map.

[0013] The pressure sensor is installed at the bottom of each drawer to detect changes in the weight of the material in that drawer and to determine whether the material is missing.

[0014] The motion mechanism consists of X-axis linear guides and Y-axis linear guides: each drawer of the intelligent material warehouse is equipped with X-axis linear guides and Y-axis linear guides. When the material in the upper drawer blocks the target material in the lower drawer, the corresponding drawer moves along the motion mechanism to eliminate picking interference.

[0015] The multifunctional robotic arm features six degrees of freedom motion control, is based on a Cartesian coordinate system, and is driven by a servo motor.

[0016] The end effector of the multi-functional robotic arm is a four-finger claw structure, with each finger independently driven to adaptively grasp VPX connectors of different sizes. The gripping force is adjustable, and the fingertips have built-in pressure sensors to prevent material damage. The end effector is equipped with a low-pressure suction device, which uses a vacuum pump to generate negative pressure and adsorbs PCB boards through silicone suction cups. During suction, an edge detection algorithm is used to ensure that the adsorption surface is flat.

[0017] The transfer mechanism adopts a circular closed-loop track, which is divided into a main track and a work station branch line. The following requirements are achieved through the PLC controller: (1) Priority scheduling: the products that have been pressed are transferred to the inspection area first, and the materials to be pressed are sorted into the work station according to the production plan; (2) Anti-collision logic: infrared sensors are installed on the circular closed-loop track. When the distance between the two pads is <100mm, the pad behind automatically decelerates and waits.

[0018] The automatic material matching process works as follows: When the VPX connector crimping production process is started, the associated production materials are first obtained based on the product specifications and models input by the user, and located in the corresponding storage area of ​​the intelligent material warehouse. The vision sensor and pressure sensor in the corresponding storage area work together to collect material status data in real time. If insufficient materials, misplacement, or other abnormalities are detected, an early warning signal is issued to prompt the operator to perform maintenance. If the material status is normal, the corresponding area of ​​the intelligent material warehouse automatically pops out. After the multi-functional robot completes the material picking, it is assembled, and then the transfer mechanism transfers the material to the crimping operation area. When the product model and specifications change, the transfer mechanism returns the material to the intelligent material warehouse, and the vision sensor and pressure sensor are activated simultaneously to re-check the material status. After confirming that there are no abnormalities, the matching-positioning-feeding process is re-executed. If the vision sensor detects obstruction or interference between drawers in the intelligent material warehouse, it controls the corresponding drawer to move along the guide rail to eliminate picking obstacles.

[0019] The flexible assembly of the product is achieved through the collaborative action of an adaptive support structure.

[0020] The adaptive support structure includes a pad and a pad block;

[0021] The surface of the pad is distributed with a matrix of positioning holes, the center-to-center distance between adjacent positioning holes is 25mm, the accuracy is 0.2mm, the hole diameter is 5mm~5.05mm, the flatness is ≤0.05mm / m², and the height difference of the top surface after the pad is installed is <0.1mm.

[0022] The pads are divided into support pads for the pressing area and support pads for the non-pressing area. The support pads for the pressing area are cuboid in shape, with two cylinders of 4.98mm diameter machined at the bottom for inserting the pad and preventing the pad from rotating. The support pads for the non-pressing area are stepped cylindrical in shape, with the upper section having a diameter of 10mm for supporting the PCB board and the lower section having a diameter of 4.98mm for inserting the pad. The height of the support pads for the non-pressing area is configured according to the thickness of the PCB board and the components on it.

[0023] The logic of the flexible product assembly is as follows: In the VPX connector crimping preparation scenario, the flexible product assembly meets the needs of different products through differentiated processes:

[0024] (1) Socket crimping process: Place the PCB board directly on the pad, control the multi-functional robot to accurately pick up the VPX connector socket and place it in the crimping area;

[0025] (2) Plug crimping process: According to the preset pad layout scheme, the multi-functional robot is controlled to pick up pads of different specifications according to the coordinates and build an adaptive support structure under the PCB board; after the pad positioning is completed, the multi-functional robot places the VPX connector to the crimping area; throughout the entire assembly process, intelligent vision detection is carried out: the model and installation position of the tooling parts are verified by image recognition, and the placement accuracy of the PCB board and VPX connector is monitored simultaneously to achieve closed-loop control of "dynamic perception-precise assembly".

[0026] The pressure curve fitting is used in the VPX connector crimping process to achieve dynamic modeling and intelligent correction.

[0027] The pressure sensor and displacement sensor sample synchronously, generating a set of (F,x) data points every 100ms. The data is then fitted to form the actual pressure curve, which is compared with the set pressure curve.

[0028] The formula for setting the pressure curve is as follows:

[0029]

[0030] The correspondence between the parameters in the formula and the different types of VPX connectors is shown in Table 1;

[0031] Table 1 Parameter Correspondence Table

[0032]

[0033] When the actual pressure curve exceeds the set fault tolerance zone for three consecutive sampling points, the servo motor speed is adjusted to reduce the pressing speed to prevent damage to the parts. At the same time, it continuously judges whether subsequent sampling points still exceed the fault tolerance zone. If subsequent sampling points still exceed the fault tolerance zone, an emergency stop is automatically triggered and an alarm is sounded.

[0034] The intelligent visual inspection is a multi-dimensional imaging and defect recognition method that is applied to the entire crimping process.

[0035] Multiple workstations are equipped with cameras to acquire visual data, which is synchronized with data from pressure sensors and displacement sensors to achieve spatiotemporal alignment of multi-source data. The visual data includes data acquired by cameras in the intelligent material warehouse, cameras at the end of the multi-functional robotic arm, and cameras at the pressing station.

[0036] The operational logic of the intelligent visual inspection in the production process is as follows:

[0037] Material matching and preparation stage: PCB board identification, reading the model silkscreen on the PCB board, and comparing the appearance of the PCB board to obtain matching pressing process parameters; identifying the pad type based on deep learning target detection to determine whether it is consistent with the process requirements;

[0038] Crimping stage: VPX connector pin coaxiality detection, extraction of pin image edges, calculation of axis deviation, alarm and stop crimping when it exceeds the allowable range;

[0039] Inspection phase: Identification of internal defects in pinholes on PCB boards. By photographing the inner wall of the pinholes, image segmentation and combination algorithms are used to detect whether the crimping is qualified.

[0040] Intelligent visual inspection records the entire process, and all the resulting images are displayed on the monitor of the crimping equipment.

[0041] The beneficial effects of this invention are as follows: The fully automated VPX connector crimping method proposed in this invention can improve crimping efficiency and quality. The entire crimping process is completed through intelligent and automated equipment. Automatic material matching technology can effectively improve the efficiency of material matching during the crimping preparation stage, avoiding human error in material preparation. Furthermore, the use of a multi-functional robotic arm can improve operational accuracy, significantly reduce operator workload, and prevent operator fatigue. Through flexible product assembly technology, the equipment can adapt to crimping various models and specifications of VPX connectors and PCB boards, reducing mold changeover time during production, improving production efficiency, and saving production costs. Intelligent visual inspection technology ensures that the entire crimping production process is under systematic monitoring. With the help of high-resolution cameras and advanced algorithms, the production process can be recorded visually, achieving paperless recording and facilitating later product traceability. The system compares and verifies standard states in the database to achieve intelligent detection, improve inspection accuracy, and avoid human oversight. A pressure curve is set to represent the force-displacement relationship that ensures reliable connector connection, providing operators with intuitive production guidance. Pressure curve fitting technology ensures that the actual crimping force is within the specified range of the set pressure curve, guaranteeing that the real-time crimping force meets predetermined production requirements during the connector crimping stage. This prevents crimping failure due to excessive or insufficient pressure, ensuring crimping quality and improving consistency. After each product is crimped, the system generates an electronic record, documenting data, images, and other information throughout the entire process from preparation to completion of inspection, facilitating later traceability. Attached Figure Description

[0042] Figure 1 This is a technical framework diagram of a fully automated crimping method for VPX connectors according to the present invention;

[0043] Figure 2 This is a schematic diagram of a pad for a fully automatic crimping method for VPX connectors according to the present invention;

[0044] Figure 3 This is a schematic diagram of the crimping area support pad of a fully automatic crimping method for VPX connectors according to the present invention.

[0045] Figure 4 This is a schematic diagram of the non-crimping area support pad of a fully automatic crimping method for VPX connectors according to the present invention. Detailed Implementation

[0046] This invention utilizes automated and intelligent technologies to develop a fully automated crimping method for VPX connectors. This method solves the problems of poor crimping quality and low production efficiency caused by manual crimping of VPX connector plugs and sockets in aerospace products, avoids potential human-caused quality hazards, and improves work efficiency and product quality.

[0047] The fully automated crimping method for VPX connectors proposed in this invention can improve crimping efficiency and quality, and the entire crimping process is completed by intelligent and automated equipment. Automatic material matching technology effectively improves the efficiency of material matching during the crimping preparation stage, avoiding human error in material preparation. The use of multi-functional robotic arms improves operational accuracy, significantly reduces operator workload, and prevents worker fatigue. Flexible product assembly technology allows the equipment to adapt to various models and specifications of VPX connectors and PCB boards, reducing mold changeover time, increasing production efficiency, and saving production costs. Intelligent vision inspection technology monitors the entire crimping process. Utilizing high-resolution cameras and advanced algorithms, it records the production process digitally, enabling paperless recording for easy product traceability. It also compares the results with standard states in a database for intelligent inspection, improving accuracy and preventing human oversight. Pressure curve fitting technology ensures that the real-time crimping force meets production requirements, preventing crimping failure due to excessive or insufficient pressure, guaranteeing crimping quality, and improving consistency. After each product is crimped, the system generates an electronic record documenting data and images from preparation to final inspection, facilitating future traceability.

[0048] A fully automated VPX connector crimping method includes automatic material matching, flexible product assembly, pressure curve fitting, and intelligent visual inspection. After automatic material matching, the materials are assembled using flexible product assembly. During assembly, pressure detection, pressure fitting comparison, and pressure feedback adjustment are performed in real time based on the pressure curve fitting. After assembly, intelligent visual inspection is used for finished product inspection. This fully automated VPX connector crimping method is applicable to VPX connector crimping of PCB boards of various shapes, specifications, and sizes in aerospace products. The technical framework diagram of this method is shown below. Figure 1 As shown.

[0049] The automatic material matching system includes an intelligent material warehouse, a multi-functional robotic arm, and a transfer mechanism.

[0050] The intelligent material storage bin has a multi-layer drawer structure, with each drawer divided according to material type, and each area is equipped with a vision sensor, a pressure sensor, and a motion mechanism.

[0051] The visual sensor uses the Faster R-CNN algorithm of image recognition technology to scan the material outline, quantity and placement angle in real time to generate a material distribution map.

[0052] The pressure sensor is installed at the bottom of each drawer to detect changes in the weight of the material in that drawer and to determine whether the material is missing.

[0053] The motion mechanism consists of X-axis linear guides and Y-axis linear guides: each drawer of the intelligent material warehouse is equipped with X-axis linear guides and Y-axis linear guides. When the material in the upper drawer blocks the target material in the lower drawer, the corresponding drawer moves along the motion mechanism to eliminate picking interference.

[0054] The multifunctional robotic arm features six degrees of freedom motion control, is based on a Cartesian coordinate system, and is driven by a servo motor.

[0055] The end effector of the multi-functional robotic arm is a four-finger claw structure, with each finger independently driven to adaptively grasp VPX connectors of different sizes. The gripping force is adjustable, and the fingertips have built-in pressure sensors to prevent material damage. The end effector is equipped with a low-pressure suction device, which uses a vacuum pump to generate negative pressure and adsorbs PCB boards through silicone suction cups. During suction, an edge detection algorithm is used to ensure that the adsorption surface is flat.

[0056] The transfer mechanism adopts a circular closed-loop track, which is divided into a main track and a work station branch line. The following functions are realized through the PLC controller: (1) Priority scheduling: the products that have been pressed are transferred to the inspection area first, and the materials to be pressed are sorted into the work station according to the production plan; (2) Anti-collision logic: infrared sensors are installed on the circular closed-loop track. When the distance between the two pads is <100mm, the pad behind automatically decelerates and waits.

[0057] The automatic material matching process works as follows: When the VPX connector crimping production process is started, the associated production materials are first obtained based on the product specifications and models input by the user, and located in the corresponding storage area of ​​the intelligent material warehouse. The vision sensor and pressure sensor in the corresponding storage area work together to collect material status data in real time. If insufficient materials, misplacement, or other abnormalities are detected, an early warning signal is issued to prompt the operator to perform maintenance. If the material status is normal, the corresponding area of ​​the intelligent material warehouse automatically pops out. After the multi-functional robot completes the material picking, it is assembled, and then the transfer mechanism transfers the material to the crimping operation area. When the product model and specifications change, the transfer mechanism returns the material to the intelligent material warehouse, and the vision sensor and pressure sensor are activated simultaneously to re-check the material status. After confirming that there are no abnormalities, the matching-positioning-feeding process is re-executed. If the vision sensor detects obstruction or interference between drawers in the intelligent material warehouse, it controls the corresponding drawer to move along the guide rail to eliminate picking obstacles.

[0058] The flexible assembly of the product is achieved through the collaborative action of an adaptive support structure.

[0059] The adaptive support structure includes a pad and a pad block;

[0060] The surface of the pad is distributed with a matrix of positioning holes, the center-to-center distance between adjacent positioning holes is 25mm, the accuracy is 0.2mm, the hole diameter is 5mm~5.05mm, the flatness is ≤0.05mm / m², and the height difference of the top surface after the pad is installed is <0.1mm.

[0061] The pads are divided into support pads for the pressing area and support pads for the non-pressing area. The support pads for the pressing area are cuboid in shape, with two cylinders of 4.98mm diameter machined at the bottom for inserting the pad and preventing the pad from rotating. The support pads for the non-pressing area are stepped cylindrical in shape, with the upper section having a diameter of 10mm for supporting the PCB board and the lower section having a diameter of 4.98mm for inserting the pad. The height of the support pads for the non-pressing area is configured according to the thickness of the PCB board and the components on it.

[0062] The logic of the flexible product assembly is as follows: In the VPX connector crimping preparation scenario, the flexible product assembly meets the needs of different products through differentiated processes:

[0063] (1) Socket crimping process: Place the PCB board directly on the pad, control the multi-functional robot to accurately pick up the VPX connector socket and place it in the crimping area;

[0064] (2) Plug crimping process: According to the preset pad layout scheme, the multi-functional robot is controlled to pick up pads of different specifications according to the coordinates and build an adaptive support structure under the PCB board; after the pad positioning is completed, the multi-functional robot places the VPX connector to the crimping area; throughout the entire assembly process, intelligent vision detection is carried out: the model and installation position of the tooling parts are verified by image recognition, and the placement accuracy of the PCB board and VPX connector is monitored simultaneously to achieve closed-loop control of "dynamic perception-precise assembly".

[0065] The pressure curve fitting is used in the VPX connector crimping process to achieve dynamic modeling and intelligent correction.

[0066] The pressure sensor and displacement sensor sample synchronously, generating a set of (F,x) data points every 100ms. The data is then fitted to form the actual pressure curve, which is compared with the set pressure curve.

[0067] The formula for setting the pressure curve is as follows:

[0068]

[0069] The correspondence between the parameters in the formula and the different types of VPX connectors is shown in Table 1;

[0070] Table 1 Parameter Correspondence Table

[0071]

[0072] When the actual pressure curve exceeds the set fault tolerance zone for three consecutive sampling points, the servo motor speed is adjusted to reduce the pressing speed to prevent damage to the parts. At the same time, it continuously judges whether subsequent sampling points still exceed the fault tolerance zone. If subsequent sampling points still exceed the fault tolerance zone, an emergency stop is automatically triggered and an alarm is sounded.

[0073] The intelligent visual inspection is a multi-dimensional imaging and defect recognition method that is applied to the entire crimping process.

[0074] Multiple workstations are equipped with cameras to acquire visual data, which is synchronized with data from pressure sensors and displacement sensors to achieve spatiotemporal alignment of multi-source data. The visual data includes data acquired by cameras in the intelligent material warehouse, cameras at the end of the multi-functional robotic arm, and cameras at the pressing station.

[0075] The operational logic of the intelligent visual inspection in the production process is as follows:

[0076] Material matching and preparation stage: PCB board identification, reading the model silkscreen on the PCB board, and comparing the appearance of the PCB board to obtain matching pressing process parameters; identifying the pad type based on deep learning target detection to determine whether it is consistent with the process requirements;

[0077] Crimping stage: VPX connector pin coaxiality detection, extraction of pin image edges, calculation of axis deviation, alarm and stop crimping when it exceeds the allowable range;

[0078] Inspection phase: Identification of internal defects in pinholes on PCB boards. By photographing the inner wall of the pinholes, image segmentation and combination algorithms are used to detect whether the crimping is qualified.

[0079] Intelligent visual inspection records the entire process, and all the resulting images are displayed on the monitor of the crimping equipment.

[0080] The implementation scheme of the fully automated VPX connector crimping method of this invention is as follows: Crimping technicians pre-enter product crimping data into the equipment system database to complete basic data maintenance. The system has self-learning capabilities and can continuously improve the equipment system database. After specifying the product model and specifications, during the crimping preparation stage, a multi-functional robotic arm picks up flexible tooling from the intelligent material warehouse, places it on the transfer track, places the PCB board on top, positions the VPX connector, places the pressure block, and completes the product preparation before crimping, then moves to the next process. This process is assisted and monitored by intelligent vision detection technology. The system records and compares the status throughout the process to ensure accurate positioning. After the PCB board and VPX connector enter the crimping stage, the equipment performs the crimping operation. Intelligent vision detection technology assists in monitoring the entire crimping process, and various crimping status information is displayed in real-time on the computer screen for operator monitoring. The crimping force is transmitted to the system in real-time. The system obtains the actual pressure curve using pressure curve fitting technology and compares it with the predetermined target pressure curve (error tolerance range), quickly adjusting the pressure accordingly. After crimping, the product flows to the inspection area. A multi-axis robotic arm picks up the crimped PCB board, and the system automatically scans it using intelligent vision inspection technology, capturing images and inspecting the crimped areas of the connectors and the inside of the pinholes. The results are compared with qualified parameters in the database and displayed on a computer screen. Once inspected and approved, the product is placed in the intelligent material bin. Used flexible tooling is either returned to the preparation area for continuous production or placed in the material bin. After each product is crimped, the system generates an electronic record, documenting data, images, and other information throughout the entire process from preparation to final inspection, facilitating later traceability. Production is a continuous flow operation, with multiple products being manufactured simultaneously in different areas on the same machine.

Claims

1. A fully automated crimping method for VPX connectors, characterized in that, It includes automatic material matching, flexible product assembly, pressure curve fitting, and intelligent visual inspection. After automatic material matching, the materials are assembled through flexible product assembly. During the assembly process, pressure detection, pressure fitting comparison, and pressure feedback adjustment are performed in real time based on the pressure curve fitting. After the assembly is completed, the finished product is inspected through intelligent visual inspection.

2. The fully automatic crimping method for VPX connectors according to claim 1, characterized in that, The automatic material matching system includes an intelligent material warehouse, a multi-functional robotic arm, and a transfer mechanism. The intelligent material storage bin has a multi-layer drawer structure, with each drawer divided according to material type, and each area is equipped with a vision sensor, a pressure sensor, and a motion mechanism. The visual sensor uses the Faster R-CNN algorithm of image recognition technology to scan the material outline, quantity and placement angle in real time to generate a material distribution map. The pressure sensor is installed at the bottom of each drawer to detect changes in the weight of the material in that drawer and to determine whether the material is missing. The motion mechanism consists of X-axis linear guides and Y-axis linear guides: each drawer of the intelligent material warehouse is equipped with X-axis linear guides and Y-axis linear guides. When the material in the upper drawer blocks the target material in the lower drawer, the corresponding drawer moves along the motion mechanism to eliminate picking interference. The multifunctional robotic arm features six degrees of freedom motion control, is based on a Cartesian coordinate system, and is driven by a servo motor. The end effector of the multi-functional robotic arm is a four-finger claw structure, with each finger independently driven to adaptively grasp VPX connectors of different sizes. The gripping force is adjustable, and the fingertips have built-in pressure sensors to prevent material damage. The end effector is equipped with a low-pressure suction device, which uses a vacuum pump to generate negative pressure and adsorbs PCB boards through silicone suction cups. During suction, an edge detection algorithm is used to ensure that the adsorption surface is flat. The transfer mechanism adopts a circular closed-loop track, which is divided into a main track and a workstation branch line. The following requirements are achieved through the PLC controller: (1) Priority scheduling: the products that have been pressed are transferred to the inspection area first, and the materials to be pressed are sorted into the workstation according to the production plan; (2) Anti-collision logic: infrared sensors are installed on the circular closed-loop track. When the distance between the two pads is <100mm, the pad behind automatically decelerates and waits.

3. The fully automatic crimping method for VPX connectors according to claim 2, characterized in that, The automatic material matching logic is as follows: When the VPX connector crimping production process is started, the associated production materials are first obtained based on the product specifications and models input by the user, and located in the corresponding storage area of ​​the intelligent material warehouse; the vision sensor and pressure sensor in the corresponding storage area work together to collect material status data in real time: if insufficient material, misplacement or abnormal placement is detected, an early warning signal is issued to prompt the operator to perform maintenance; if the material status is normal, the corresponding area of ​​the intelligent material warehouse automatically pops out, and after the multi-functional robot completes the material picking, it is assembled, and then the transfer mechanism transfers the material to the crimping operation area; When the product model and specifications change, the transfer mechanism returns the material to the intelligent material warehouse and simultaneously activates the vision sensor and pressure sensor to re-inspect the material status. After confirming that there are no abnormalities, the matching-positioning-feeding process is re-executed. If the vision sensor detects that there is obstruction or interference between the drawers of the intelligent material warehouse, it controls the corresponding drawer to move along the guide rail to eliminate the picking obstacle.

4. The fully automatic crimping method for VPX connectors according to claim 2, characterized in that, The flexible assembly of the product is achieved through the collaborative action of an adaptive support structure. The adaptive support structure includes a pad and a pad block; The surface of the pad is distributed with a matrix of positioning holes, the center-to-center distance between adjacent positioning holes is 25mm, the accuracy is 0.2mm, the hole diameter is 5mm~5.05mm, the flatness is ≤0.05mm / m², and the height difference of the top surface after the pad is installed is <0.1mm. The pads are divided into support pads for the pressing area and support pads for the non-pressing area. The support pads for the pressing area are cuboid in shape, with two cylinders of 4.98mm diameter machined at the bottom for inserting the pad and preventing the pad from rotating. The support pads for the non-pressing area are stepped cylindrical in shape, with the upper section having a diameter of 10mm for supporting the PCB board and the lower section having a diameter of 4.98mm for inserting the pad. The height of the support pads for the non-pressing area is configured according to the thickness of the PCB board and the components on it.

5. The fully automatic crimping method for VPX connectors according to claim 4, characterized in that, The logic of the flexible product assembly is as follows: In the VPX connector crimping preparation scenario, the flexible product assembly meets the needs of different products through differentiated processes: (1) Socket crimping process: Place the PCB board directly on the pad, control the multi-functional robot to accurately pick up the VPX connector socket and place it in the crimping area; (2) Plug crimping process: According to the preset pad layout scheme, the multi-functional robot is controlled to pick up pads of different specifications according to the coordinates and build an adaptive support structure under the PCB board; after the pad positioning is completed, the multi-functional robot places the VPX connector to the designated crimping area of ​​the crimping area; throughout the entire assembly process, intelligent vision detection is carried out: the model and installation position of the tooling parts are verified by image recognition, and the placement accuracy of the PCB board and VPX connector is monitored simultaneously to achieve closed-loop control of "dynamic perception-precise assembly".

6. The fully automatic crimping method for VPX connectors according to claim 4, characterized in that, The pressure curve fitting is used in the VPX connector crimping process to achieve dynamic modeling and intelligent correction. The pressure sensor and displacement sensor sample synchronously, generating a set of (F,x) data points every 100ms. The data is then fitted to form the actual pressure curve, which is compared with the set pressure curve. The formula for setting the pressure curve is as follows: ； The correspondence between the parameters in the formula and the different types of VPX connectors is shown below; When the VPX connector is a 3U plug, A=345.38, B=-1709.86; C=1711.86; D=2861.56; =1.41; =614560.88; =2.96; =-13.14; =0.90; When the VPX connector is a 6U plug, A=10.88, B=-1090.38; C=1092.38; D=7378.34; =3.95; =1.42; =0.71; =2.88; =-2.76; When the VPX connector is a semi-modular socket, A=64.07, B=-358.66; C=360.67; D=609.51; =1225.79; =1.41; =-39778.48; =2.96; =0.90; When the VPX connector is a fully modular socket, A=2.15, B=1.10; C=0.90; D=1058.79; =5.97; =2.03; =0.49; =2.02; =8319.92; When the actual pressure curve exceeds the set tolerance zone for three consecutive sampling points, the servo motor speed is adjusted to reduce the pressing speed to prevent damage to the parts. At the same time, it continuously judges whether subsequent sampling points still exceed the set tolerance zone. If subsequent sampling points still exceed the tolerance zone, an emergency stop is automatically triggered and an alarm is sounded.

7. The fully automatic crimping method for VPX connectors according to claim 4, characterized in that, The intelligent visual inspection is a multi-dimensional imaging and defect recognition method that is applied to the entire crimping process. Multiple workstations are equipped with cameras to acquire visual data, which is synchronized with data from pressure sensors and displacement sensors to achieve spatiotemporal alignment of multi-source data. The visual data includes data acquired by cameras in the intelligent material warehouse, cameras at the end of the multi-functional robotic arm, and cameras at the pressing station. The operational logic of the intelligent visual inspection in the production process is as follows: Material matching and preparation stage: PCB board identification, reading the model silkscreen on the PCB board, and comparing the appearance of the PCB board to obtain matching pressing process parameters; identifying the pad type based on deep learning target detection to determine whether it is consistent with the process requirements; Crimping stage: VPX connector pin coaxiality detection, extraction of pin image edges, calculation of axis deviation, alarm and stop crimping when it exceeds the allowable range; Inspection phase: Identification of internal defects in pinholes on PCB boards. By photographing the inner wall of the pinholes, image segmentation and combination algorithms are used to detect whether the crimping is qualified. Intelligent visual inspection records the entire process, and all the resulting images are displayed on the monitor of the crimping equipment.

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